[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] arm_l1_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] arm_l3_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] arm_l4_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] leg_l1_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] leg_l2_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] leg_l3_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] leg_l4_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] leg_l5_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] arm_r1_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] arm_r3_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] arm_r4_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] leg_r1_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] leg_r2_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] leg_r3_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] leg_r4_joint disconnect
[2025-02-12 14:24:00.893] [error] [thread:8798] [rlcontroller.cpp init:529] leg_r5_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] arm_l1_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] arm_l3_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] arm_l4_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] leg_l1_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] leg_l2_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] leg_l3_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] leg_l4_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] leg_l5_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] arm_r1_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] arm_r3_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] arm_r4_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] leg_r1_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] leg_r2_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] leg_r3_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] leg_r4_joint disconnect
[2025-02-12 14:26:07.324] [error] [thread:8837] [rlcontroller.cpp init:529] leg_r5_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] arm_l1_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] arm_l3_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] arm_l4_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] leg_l1_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] leg_l2_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] leg_l3_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] leg_l4_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] leg_l5_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] arm_r1_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] arm_r3_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] arm_r4_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] leg_r1_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] leg_r2_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] leg_r3_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] leg_r4_joint disconnect
[2025-02-12 17:04:19.392] [error] [thread:16531] [rlcontroller.cpp init:528] leg_r5_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] arm_l1_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] arm_l3_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] arm_l4_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] leg_l1_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] leg_l2_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] leg_l3_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] leg_l4_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] leg_l5_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] arm_r1_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] arm_r3_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] arm_r4_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] leg_r1_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] leg_r2_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] leg_r3_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] leg_r4_joint disconnect
[2025-02-13 10:25:02.635] [error] [thread:3822] [rlcontroller.cpp init:528] leg_r5_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] arm_l1_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] arm_l3_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] arm_l4_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] leg_l1_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] leg_l2_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] leg_l3_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] leg_l4_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] leg_l5_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] arm_r1_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] arm_r3_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] arm_r4_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] leg_r1_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] leg_r2_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] leg_r3_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] leg_r4_joint disconnect
[2025-02-13 10:25:55.442] [error] [thread:3853] [rlcontroller.cpp init:528] leg_r5_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-13 10:55:52.160] [error] [thread:4766] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-13 10:57:45.111] [error] [thread:4823] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-13 13:59:26.717] [error] [thread:6972] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-13 13:59:26.718] [error] [thread:6972] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-13 15:44:50.596] [error] [thread:15074] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-13 15:47:06.020] [error] [thread:15522] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-13 15:47:06.020] [error] [thread:15522] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-13 15:47:06.020] [error] [thread:15522] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-13 15:47:06.020] [error] [thread:15522] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-13 15:47:06.020] [error] [thread:15522] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-13 15:47:06.021] [error] [thread:15522] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-13 15:47:06.021] [error] [thread:15522] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-13 15:47:06.021] [error] [thread:15522] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-13 15:47:06.021] [error] [thread:15522] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-13 15:47:06.021] [error] [thread:15522] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-13 15:47:06.021] [error] [thread:15522] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-13 15:47:06.021] [error] [thread:15522] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-13 15:47:06.021] [error] [thread:15522] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-13 15:47:06.021] [error] [thread:15522] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-13 15:47:06.021] [error] [thread:15522] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-13 15:47:06.021] [error] [thread:15522] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-13 15:49:55.998] [error] [thread:15608] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-13 15:50:14.053] [error] [thread:15617] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-13 15:51:22.538] [error] [thread:15650] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-13 15:51:53.652] [error] [thread:15681] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-13 15:51:53.652] [error] [thread:15681] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-13 15:51:53.652] [error] [thread:15681] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-13 15:51:53.652] [error] [thread:15681] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-13 15:51:53.652] [error] [thread:15681] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-13 15:51:53.652] [error] [thread:15681] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-13 15:51:53.652] [error] [thread:15681] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-13 15:51:53.652] [error] [thread:15681] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-13 15:51:53.652] [error] [thread:15681] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-13 15:51:53.653] [error] [thread:15681] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-13 15:51:53.653] [error] [thread:15681] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-13 15:51:53.653] [error] [thread:15681] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-13 15:51:53.653] [error] [thread:15681] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-13 15:51:53.653] [error] [thread:15681] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-13 15:51:53.653] [error] [thread:15681] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-13 15:51:53.653] [error] [thread:15681] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-17 14:04:01.222] [error] [thread:4017] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-17 14:04:01.222] [error] [thread:4017] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-17 14:04:01.222] [error] [thread:4017] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-17 14:04:01.222] [error] [thread:4017] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-17 14:04:01.222] [error] [thread:4017] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-17 14:04:01.222] [error] [thread:4017] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-17 14:04:01.223] [error] [thread:4017] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-17 14:04:01.223] [error] [thread:4017] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-17 14:04:01.223] [error] [thread:4017] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-17 14:04:01.223] [error] [thread:4017] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-17 14:04:01.223] [error] [thread:4017] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-17 14:04:01.223] [error] [thread:4017] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-17 14:04:01.223] [error] [thread:4017] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-17 14:04:01.223] [error] [thread:4017] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-17 14:04:01.223] [error] [thread:4017] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-17 14:04:01.223] [error] [thread:4017] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-17 14:15:14.437] [error] [thread:4107] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-17 14:15:25.939] [error] [thread:4111] [walkcontroller.cpp updateStateEstimation:67]  leg_l1_joint disconnect
[2025-02-17 14:15:27.351] [error] [thread:4111] [runcontroller.cpp updateStateEstimation:65]  arm_l1_joint disconnect
[2025-02-17 14:15:29.368] [error] [thread:4111] [walkcontroller.cpp updateStateEstimation:67]  leg_l1_joint disconnect
[2025-02-17 14:15:34.007] [error] [thread:4111] [runcontroller.cpp updateStateEstimation:65]  arm_l1_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 14:29:57.754] [error] [thread:19801] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 14:33:19.240] [error] [thread:19876] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 14:34:26.385] [error] [thread:19924] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 14:34:26.386] [error] [thread:19924] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 14:37:46.916] [error] [thread:20007] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 14:40:24.040] [error] [thread:20080] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 14:40:24.040] [error] [thread:20080] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 14:40:24.040] [error] [thread:20080] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 14:40:24.040] [error] [thread:20080] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 14:40:24.040] [error] [thread:20080] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 14:40:24.040] [error] [thread:20080] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 14:40:24.040] [error] [thread:20080] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 14:40:24.040] [error] [thread:20080] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 14:40:24.040] [error] [thread:20080] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 14:40:24.040] [error] [thread:20080] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 14:40:24.040] [error] [thread:20080] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 14:40:24.040] [error] [thread:20080] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 14:40:24.040] [error] [thread:20080] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 14:40:24.041] [error] [thread:20080] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 14:40:24.041] [error] [thread:20080] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 14:40:24.041] [error] [thread:20080] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 14:51:36.755] [error] [thread:20269] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 14:57:29.841] [error] [thread:20372] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 15:10:02.865] [error] [thread:22188] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 15:15:46.326] [error] [thread:22347] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 16:17:10.310] [error] [thread:22779] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 16:17:10.311] [error] [thread:22779] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 16:38:52.308] [error] [thread:23035] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 16:48:12.677] [error] [thread:23210] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 16:48:12.677] [error] [thread:23210] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 16:48:12.677] [error] [thread:23210] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 16:48:12.677] [error] [thread:23210] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 16:48:12.677] [error] [thread:23210] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 16:48:12.677] [error] [thread:23210] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 16:48:12.677] [error] [thread:23210] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 16:48:12.677] [error] [thread:23210] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 16:48:12.677] [error] [thread:23210] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 16:48:12.678] [error] [thread:23210] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 16:48:12.678] [error] [thread:23210] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 16:48:12.678] [error] [thread:23210] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 16:48:12.678] [error] [thread:23210] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 16:48:12.678] [error] [thread:23210] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 16:48:12.678] [error] [thread:23210] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 16:48:12.678] [error] [thread:23210] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 16:53:10.844] [error] [thread:23286] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 16:58:59.508] [error] [thread:23383] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 16:58:59.509] [error] [thread:23383] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:01:27.621] [error] [thread:23484] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:04:37.947] [error] [thread:23573] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:05:06.490] [error] [thread:23615] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:05:28.548] [error] [thread:23665] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:05:55.517] [error] [thread:23707] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:05:55.518] [error] [thread:23707] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:09:32.665] [error] [thread:23800] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:09:32.666] [error] [thread:23800] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:10:00.762] [error] [thread:23849] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:10:00.763] [error] [thread:23849] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:12:04.181] [error] [thread:23909] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:12:25.282] [error] [thread:23955] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:17:56.021] [error] [thread:24045] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:17:56.022] [error] [thread:24045] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:18:17.798] [error] [thread:24091] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:18:55.203] [error] [thread:24135] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:19:16.712] [error] [thread:24182] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:19:36.092] [error] [thread:24226] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:19:36.092] [error] [thread:24226] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:19:36.092] [error] [thread:24226] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:19:36.092] [error] [thread:24226] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:19:36.092] [error] [thread:24226] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:19:36.092] [error] [thread:24226] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:19:36.092] [error] [thread:24226] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:19:36.092] [error] [thread:24226] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:19:36.092] [error] [thread:24226] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:19:36.092] [error] [thread:24226] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:19:36.093] [error] [thread:24226] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:19:36.093] [error] [thread:24226] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:19:36.093] [error] [thread:24226] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:19:36.093] [error] [thread:24226] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:19:36.093] [error] [thread:24226] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:19:36.093] [error] [thread:24226] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:19:59.591] [error] [thread:24280] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:34:15.040] [error] [thread:24898] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:35:37.795] [error] [thread:24978] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:35:37.796] [error] [thread:24978] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:51:33.221] [error] [thread:25363] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:51:33.222] [error] [thread:25363] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:56:46.298] [error] [thread:25475] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:57:36.994] [error] [thread:25519] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:58:13.021] [error] [thread:25569] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 17:59:23.711] [error] [thread:25621] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 18:00:19.034] [error] [thread:25677] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 18:00:19.035] [error] [thread:25677] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 18:00:55.224] [error] [thread:25726] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 18:02:50.096] [error] [thread:25804] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 18:05:09.367] [error] [thread:25990] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-18 18:06:09.611] [error] [thread:26043] [rlcontroller.cpp init:527] arm_l1_joint disconnect
[2025-02-18 18:06:09.611] [error] [thread:26043] [rlcontroller.cpp init:527] arm_l3_joint disconnect
[2025-02-18 18:06:09.611] [error] [thread:26043] [rlcontroller.cpp init:527] arm_l4_joint disconnect
[2025-02-18 18:06:09.611] [error] [thread:26043] [rlcontroller.cpp init:527] leg_l1_joint disconnect
[2025-02-18 18:06:09.611] [error] [thread:26043] [rlcontroller.cpp init:527] leg_l2_joint disconnect
[2025-02-18 18:06:09.611] [error] [thread:26043] [rlcontroller.cpp init:527] leg_l3_joint disconnect
[2025-02-18 18:06:09.611] [error] [thread:26043] [rlcontroller.cpp init:527] leg_l4_joint disconnect
[2025-02-18 18:06:09.611] [error] [thread:26043] [rlcontroller.cpp init:527] leg_l5_joint disconnect
[2025-02-18 18:06:09.611] [error] [thread:26043] [rlcontroller.cpp init:527] arm_r1_joint disconnect
[2025-02-18 18:06:09.611] [error] [thread:26043] [rlcontroller.cpp init:527] arm_r3_joint disconnect
[2025-02-18 18:06:09.611] [error] [thread:26043] [rlcontroller.cpp init:527] arm_r4_joint disconnect
[2025-02-18 18:06:09.611] [error] [thread:26043] [rlcontroller.cpp init:527] leg_r1_joint disconnect
[2025-02-18 18:06:09.611] [error] [thread:26043] [rlcontroller.cpp init:527] leg_r2_joint disconnect
[2025-02-18 18:06:09.612] [error] [thread:26043] [rlcontroller.cpp init:527] leg_r3_joint disconnect
[2025-02-18 18:06:09.612] [error] [thread:26043] [rlcontroller.cpp init:527] leg_r4_joint disconnect
[2025-02-18 18:06:09.612] [error] [thread:26043] [rlcontroller.cpp init:527] leg_r5_joint disconnect
[2025-02-21 16:46:06.530] [error] [thread:11169] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-21 16:46:06.531] [error] [thread:11169] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-21 16:48:50.794] [error] [thread:11500] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-21 16:49:32.030] [error] [thread:11555] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-21 17:08:39.964] [error] [thread:12584] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-21 17:08:45.212] [error] [thread:12603] [walkcontroller.cpp updateStateEstimation:67]  leg_l1_joint disconnect
[2025-02-21 17:08:46.220] [error] [thread:12603] [runcontroller.cpp updateStateEstimation:65]  arm_l1_joint disconnect
[2025-02-21 17:08:48.236] [error] [thread:12603] [walkcontroller.cpp updateStateEstimation:67]  leg_l1_joint disconnect
[2025-02-27 15:30:30.655] [error] [thread:6318] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 15:30:30.655] [error] [thread:6318] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 15:30:30.656] [error] [thread:6318] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 15:32:11.941] [error] [thread:6743] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 15:32:11.942] [error] [thread:6743] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 16:29:32.217] [error] [thread:8961] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 16:29:38.875] [error] [thread:8980] [walkcontroller.cpp updateStateEstimation:67]  leg_l1_joint disconnect
[2025-02-27 16:29:58.061] [error] [thread:9010] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 16:29:58.062] [error] [thread:9010] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 16:30:08.146] [error] [thread:9029] [walkcontroller.cpp updateStateEstimation:67]  leg_l1_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 16:30:22.794] [error] [thread:9050] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 16:31:20.644] [error] [thread:9107] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 16:31:23.674] [error] [thread:9126] [walkcontroller.cpp updateStateEstimation:67]  leg_l1_joint disconnect
[2025-02-27 16:34:42.302] [error] [thread:9181] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 16:34:42.303] [error] [thread:9181] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 16:37:24.881] [error] [thread:9249] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 16:37:24.881] [error] [thread:9249] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 16:37:24.881] [error] [thread:9249] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 16:37:24.881] [error] [thread:9249] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 16:37:24.881] [error] [thread:9249] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 16:37:24.881] [error] [thread:9249] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 16:37:24.882] [error] [thread:9249] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 16:37:24.882] [error] [thread:9249] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 16:37:24.882] [error] [thread:9249] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 16:37:24.882] [error] [thread:9249] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 16:37:24.882] [error] [thread:9249] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 16:37:24.882] [error] [thread:9249] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 16:37:24.882] [error] [thread:9249] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 16:37:24.882] [error] [thread:9249] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 16:37:24.882] [error] [thread:9249] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 16:37:24.882] [error] [thread:9249] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 16:37:59.513] [error] [thread:9291] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 16:37:59.513] [error] [thread:9291] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 16:37:59.513] [error] [thread:9291] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 16:37:59.513] [error] [thread:9291] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 16:37:59.513] [error] [thread:9291] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 16:37:59.513] [error] [thread:9291] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 16:37:59.513] [error] [thread:9291] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 16:37:59.513] [error] [thread:9291] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 16:37:59.513] [error] [thread:9291] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 16:37:59.513] [error] [thread:9291] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 16:37:59.513] [error] [thread:9291] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 16:37:59.513] [error] [thread:9291] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 16:37:59.513] [error] [thread:9291] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 16:37:59.514] [error] [thread:9291] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 16:37:59.514] [error] [thread:9291] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 16:37:59.514] [error] [thread:9291] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 16:40:27.931] [error] [thread:9375] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 16:40:27.931] [error] [thread:9375] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 16:40:27.931] [error] [thread:9375] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 16:40:27.931] [error] [thread:9375] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 16:40:27.931] [error] [thread:9375] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 16:40:27.931] [error] [thread:9375] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 16:40:27.931] [error] [thread:9375] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 16:40:27.931] [error] [thread:9375] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 16:40:27.931] [error] [thread:9375] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 16:40:27.931] [error] [thread:9375] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 16:40:27.931] [error] [thread:9375] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 16:40:27.932] [error] [thread:9375] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 16:40:27.932] [error] [thread:9375] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 16:40:27.932] [error] [thread:9375] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 16:40:27.932] [error] [thread:9375] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 16:40:27.932] [error] [thread:9375] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 16:41:06.040] [error] [thread:9419] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 16:41:06.041] [error] [thread:9419] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 16:42:25.849] [error] [thread:9481] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 16:45:06.005] [error] [thread:9568] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 16:45:09.639] [error] [thread:9588] [walkcontroller.cpp updateStateEstimation:67]  leg_l1_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 20:16:11.146] [error] [thread:11250] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 20:16:57.264] [error] [thread:11298] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 20:16:57.264] [error] [thread:11298] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 20:16:57.264] [error] [thread:11298] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 20:16:57.264] [error] [thread:11298] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 20:16:57.264] [error] [thread:11298] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 20:16:57.264] [error] [thread:11298] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 20:16:57.264] [error] [thread:11298] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 20:16:57.264] [error] [thread:11298] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 20:16:57.264] [error] [thread:11298] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 20:16:57.265] [error] [thread:11298] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 20:16:57.265] [error] [thread:11298] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 20:16:57.265] [error] [thread:11298] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 20:16:57.265] [error] [thread:11298] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 20:16:57.265] [error] [thread:11298] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 20:16:57.265] [error] [thread:11298] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 20:16:57.265] [error] [thread:11298] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-02-27 20:18:49.097] [error] [thread:11354] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-23 17:46:41.239] [error] [thread:5732] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 17:41:12.827] [error] [thread:23429] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 17:41:12.828] [error] [thread:23429] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 17:44:01.596] [error] [thread:23544] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 17:44:13.144] [error] [thread:23580] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 17:44:20.428] [error] [thread:23620] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 17:44:20.429] [error] [thread:23620] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 17:44:20.429] [error] [thread:23620] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 17:44:20.429] [error] [thread:23620] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 17:48:31.956] [error] [thread:23765] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:19:44.108] [error] [thread:23989] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:19:44.109] [error] [thread:23989] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:22:04.420] [error] [thread:24044] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:22:38.371] [error] [thread:24091] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:22:38.372] [error] [thread:24091] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:31:06.629] [error] [thread:24196] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:34:06.270] [error] [thread:24331] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:37:22.616] [error] [thread:24439] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:37:54.562] [error] [thread:24486] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:39:22.177] [error] [thread:24529] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:41:54.794] [error] [thread:24604] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:43:54.472] [error] [thread:24670] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:47:01.690] [error] [thread:24721] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:47:01.691] [error] [thread:24721] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:48:05.961] [error] [thread:24778] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:50:19.834] [error] [thread:25231] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:50:19.834] [error] [thread:25231] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:50:19.834] [error] [thread:25231] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:50:19.834] [error] [thread:25231] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:50:19.834] [error] [thread:25231] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:50:19.834] [error] [thread:25231] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:50:19.834] [error] [thread:25231] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:50:19.834] [error] [thread:25231] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:50:19.834] [error] [thread:25231] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:50:19.834] [error] [thread:25231] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:50:19.834] [error] [thread:25231] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:50:19.834] [error] [thread:25231] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:50:19.834] [error] [thread:25231] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:50:19.835] [error] [thread:25231] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:50:19.835] [error] [thread:25231] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:50:19.835] [error] [thread:25231] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:50:19.835] [error] [thread:25231] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:50:19.835] [error] [thread:25231] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-24 19:50:43.909] [error] [thread:25266] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-24 19:50:54.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.604] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.604] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.604] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.604] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.604] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.604] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.604] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.604] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.604] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.604] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.606] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.606] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.606] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.606] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.606] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.606] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.606] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.606] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.606] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.606] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.608] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.608] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.608] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.608] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.608] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.608] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.608] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.608] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.608] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.608] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.610] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.610] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.610] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.610] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.610] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.610] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.610] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.610] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.610] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.610] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.612] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.612] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.612] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.612] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.612] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.612] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.612] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.612] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.612] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.612] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.614] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.614] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.614] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.614] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.614] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.614] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.614] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.614] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.614] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.614] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.616] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.616] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.616] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.616] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.616] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.616] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.616] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.616] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.616] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.616] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.618] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.618] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.618] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.618] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.618] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.618] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.618] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.618] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.618] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.618] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.620] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.620] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.620] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.620] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.620] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.620] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.620] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.620] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.620] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.620] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.622] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.622] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.622] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.622] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.622] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.622] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.622] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.622] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.622] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.622] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.624] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.624] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.624] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.624] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.624] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.624] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.624] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.624] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.624] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.624] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.626] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.626] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.626] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.626] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.626] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.626] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.626] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.626] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.626] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.626] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.628] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.628] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.628] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.628] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.628] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.628] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.628] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.628] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.628] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.628] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.630] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.630] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.630] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.630] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.630] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.630] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.630] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.630] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.630] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.630] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.632] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.632] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.632] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.632] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.632] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.632] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.632] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.632] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.632] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.632] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.634] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.634] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.634] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.634] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.634] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.634] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.634] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.634] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.634] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.634] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.636] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.636] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.636] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.636] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.636] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.636] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.636] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.636] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.636] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.636] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.638] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.638] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.638] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.638] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.638] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.638] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.638] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.638] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.638] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.638] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.640] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.640] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.640] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.640] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.640] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.640] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.640] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.640] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.640] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.640] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.642] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.642] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.642] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.642] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.642] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.642] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.642] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.642] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.642] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.642] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.644] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.644] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.644] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.644] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.644] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.644] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.644] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.644] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.644] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.644] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.646] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.646] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.646] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.646] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.646] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.646] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.646] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.646] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.646] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.646] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.648] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.648] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.648] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.648] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.648] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.648] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.648] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.648] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.648] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.648] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.650] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.650] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.650] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.650] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.650] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.650] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.650] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.650] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.650] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.650] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.652] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.652] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.652] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.652] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.652] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.652] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.652] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.652] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.652] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.652] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.654] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.654] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.654] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.654] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.654] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.654] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.654] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.654] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.654] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.654] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.656] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.656] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.656] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.656] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.656] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.656] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.656] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.656] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.656] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.656] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.658] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.658] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.658] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.658] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.658] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.658] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.658] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.658] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.658] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.658] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.660] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.660] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.660] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.660] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.660] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.660] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.660] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.660] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.660] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.660] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.662] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.662] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.662] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.662] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.662] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.662] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.662] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.662] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.662] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.662] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.664] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.664] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.664] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.664] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.664] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.664] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.664] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.664] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.664] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.664] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.666] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.666] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.666] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.666] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.666] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.666] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.666] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.666] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.666] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.666] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.668] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.668] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.668] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.668] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.668] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.668] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.668] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.668] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.668] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.668] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.670] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.670] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.670] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.670] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.670] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.670] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.670] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.670] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.670] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.670] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.672] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.672] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.672] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.672] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.672] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.672] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.672] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.672] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.672] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.672] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.674] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.674] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.674] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.674] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.674] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.674] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.674] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.674] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.674] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.674] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.676] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.676] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.676] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.676] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.676] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.676] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.676] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.676] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.676] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.676] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.678] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.678] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.678] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.678] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.678] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.678] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.678] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.678] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.678] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.678] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.680] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.680] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.680] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.680] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.680] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.680] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.680] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.680] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.680] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.680] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.682] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.682] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.682] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.682] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.682] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.682] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.682] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.682] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.682] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.682] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.684] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.684] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.684] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.684] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.684] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.684] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.684] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.684] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.684] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.684] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.686] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.686] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.686] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.686] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.686] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.686] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.686] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.686] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.686] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.686] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.688] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.688] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.688] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.688] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.688] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.688] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.688] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.688] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.688] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.688] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.690] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.690] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.690] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.690] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.690] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.690] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.690] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.690] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.690] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.690] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.692] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.692] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.692] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.692] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.692] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.692] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.692] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.692] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.692] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.692] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.694] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.694] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.694] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.694] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.694] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.694] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.694] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.694] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.694] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.694] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.696] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.696] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.696] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.696] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.696] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.696] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.696] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.696] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.696] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.696] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.698] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.698] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.698] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.698] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.698] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.698] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.698] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.698] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.698] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.698] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.700] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.700] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.700] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.700] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.700] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.700] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.700] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.700] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.700] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.700] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.702] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.702] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.702] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.702] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.702] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.702] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.702] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.702] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.702] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.702] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.704] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.704] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.704] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.704] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.704] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.704] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.704] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.704] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.704] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.704] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.706] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.706] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.706] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.706] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.706] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.706] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.706] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.706] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.706] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.706] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.708] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.708] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.708] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.708] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.708] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.708] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.708] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.708] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.708] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.708] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.710] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.710] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.710] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.710] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.710] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.710] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.710] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.710] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.710] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.710] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.712] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.712] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.712] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.712] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.712] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.712] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.712] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.712] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.712] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.712] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.714] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.714] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.714] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.714] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.714] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.714] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.714] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.714] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.714] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.714] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.716] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.716] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.716] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.716] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.716] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.716] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.716] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.716] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.716] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.716] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.718] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.718] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.718] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.718] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.718] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.718] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.718] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.718] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.718] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.718] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.720] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.720] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.720] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.720] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.720] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.720] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.720] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.720] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.720] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.720] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.722] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.722] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.722] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.722] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.722] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.722] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.722] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.722] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.722] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.722] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.724] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.724] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.724] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.724] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.724] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.724] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.724] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.724] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.724] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.724] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.726] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.726] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.726] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.726] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.726] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.726] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.726] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.726] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.726] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.726] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.728] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.728] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.728] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.728] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.728] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.728] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.728] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.728] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.728] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.728] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.730] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.730] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.730] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.730] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.730] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.730] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.730] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.730] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.730] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.730] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.732] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.732] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.732] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.732] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.732] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.732] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.732] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.732] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.732] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.732] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.734] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.734] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.734] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.734] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.734] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.734] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.734] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.734] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.734] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.734] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.736] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.736] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.736] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.736] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.736] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.736] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.736] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.736] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.736] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.736] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.738] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.738] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.738] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.738] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.738] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.738] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.738] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.738] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.738] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.738] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.742] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.742] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.742] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.742] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.742] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.742] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.742] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.742] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.742] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.742] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.744] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.744] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.744] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.744] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.744] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.744] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.750] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.750] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.752] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.933] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.933] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.933] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.933] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.933] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.933] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.933] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.933] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.933] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.933] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.935] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.935] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.935] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.935] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.935] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.935] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.935] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.935] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.935] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.935] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.937] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.937] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.937] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.937] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.937] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.937] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.937] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.937] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.937] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.937] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.939] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.939] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.939] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.939] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.939] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.939] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.939] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.939] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.939] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.939] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.941] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.941] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.941] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.941] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.941] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.941] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.941] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.941] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.941] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.941] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.943] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.943] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.943] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.943] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.943] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.943] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.943] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.943] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.943] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.943] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.945] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.945] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.945] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.945] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.945] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.945] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.945] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.945] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.945] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.945] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.947] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.947] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.947] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.947] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.947] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.947] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.947] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.947] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.947] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.947] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.949] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.949] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.949] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.949] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.949] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.949] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.949] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.949] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.949] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.949] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.951] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.951] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.951] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.951] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.951] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.951] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.951] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.951] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.951] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.951] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.953] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.953] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.953] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.953] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.953] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.953] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.953] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.953] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.953] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.953] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.955] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.955] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.955] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.955] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.955] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.955] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.955] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.955] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.955] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.955] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.957] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.957] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.957] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.957] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.957] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.957] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.957] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.957] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.957] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.957] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.959] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.959] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.959] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.959] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.959] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.959] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.959] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.959] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.959] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.959] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.961] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.961] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.961] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.961] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.961] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.961] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.961] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.961] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.961] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.961] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.963] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.963] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.963] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.963] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.963] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.963] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.963] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.963] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.963] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.963] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.965] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.965] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.965] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.965] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.965] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.965] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.965] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.965] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.965] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.965] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.967] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.967] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.967] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.967] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.967] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.967] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.967] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.967] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.967] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.967] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.969] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.969] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.969] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.969] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.969] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.969] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.969] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.969] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.969] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.969] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.971] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.971] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.971] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.971] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.971] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.971] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.971] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.971] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.971] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.971] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.973] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.973] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.973] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.973] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.973] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.973] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.973] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.973] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.973] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.973] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.975] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.975] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.975] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.975] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.975] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.975] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.975] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.975] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.975] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.975] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.977] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.977] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.977] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.977] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.977] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.977] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.977] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.977] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.977] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.977] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.979] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.979] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.979] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.979] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.979] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.979] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.979] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.979] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.979] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.979] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.981] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.981] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.981] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.981] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.981] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.981] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.981] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.981] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.981] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.981] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.983] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.983] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.983] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.983] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.983] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.983] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.983] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.983] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.983] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.983] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.985] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.985] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.985] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.985] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.985] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.985] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.985] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.985] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.985] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.985] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.987] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.987] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.987] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.987] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.987] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.987] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.987] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.987] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.987] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.987] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.989] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.989] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.989] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.989] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.989] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.989] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.989] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.989] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.989] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.989] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.991] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.991] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.991] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.991] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.991] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.991] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.991] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.991] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.991] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.991] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.993] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.993] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.993] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.993] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.993] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.993] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.993] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.993] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.993] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.993] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.995] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.995] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.995] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.995] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.995] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.995] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.995] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.995] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.995] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.995] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.997] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.997] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.997] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.997] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.997] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.997] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.997] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.997] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.997] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.997] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:54.999] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:54.999] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:54.999] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:54.999] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:54.999] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:54.999] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:54.999] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:54.999] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:54.999] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:54.999] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.001] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.001] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.001] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.001] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.001] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.001] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.001] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.001] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.001] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.001] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.003] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.003] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.003] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.003] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.003] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.003] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.003] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.003] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.003] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.003] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.005] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.005] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.005] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.005] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.005] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.005] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.005] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.005] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.005] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.005] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.007] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.007] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.007] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.007] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.007] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.007] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.007] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.007] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.007] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.007] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.009] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.009] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.009] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.009] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.009] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.009] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.009] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.009] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.009] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.009] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.011] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.011] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.011] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.011] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.011] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.011] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.011] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.011] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.011] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.011] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.013] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.013] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.013] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.013] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.013] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.013] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.013] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.013] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.013] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.013] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.015] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.015] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.015] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.015] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.015] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.015] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.015] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.015] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.015] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.015] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.017] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.017] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.017] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.017] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.017] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.017] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.017] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.017] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.017] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.017] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.019] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.019] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.019] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.019] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.019] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.019] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.019] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.019] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.019] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.019] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.021] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.021] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.021] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.021] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.021] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.021] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.021] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.021] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.021] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.021] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.023] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.023] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.023] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.023] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.023] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.023] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.023] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.023] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.023] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.023] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.025] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.025] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.025] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.025] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.025] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.025] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.025] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.025] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.025] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.025] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.027] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.027] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.027] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.027] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.027] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.027] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.027] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.027] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.027] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.027] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.029] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.029] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.029] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.029] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.029] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.029] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.029] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.029] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.029] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.029] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.031] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.031] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.031] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.031] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.031] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.031] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.031] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.031] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.031] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.031] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.033] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.033] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.033] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.033] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.033] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.033] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.033] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.033] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.033] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.033] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.035] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.035] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.035] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.035] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.035] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.035] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.035] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.035] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.035] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.035] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.037] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.037] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.037] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.037] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.037] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.037] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.037] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.037] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.037] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.037] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.039] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.039] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.039] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.039] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.039] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.039] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.039] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.039] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.039] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.039] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.041] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.041] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.041] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.041] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.041] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.041] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.041] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.041] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.041] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.041] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.043] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.043] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.043] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.043] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.043] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.043] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.043] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.043] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.043] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.043] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.045] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.045] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.045] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.045] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.045] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.045] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.045] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.045] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.045] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.045] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.047] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.047] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.047] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.047] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.047] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.047] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.047] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.047] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.047] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.047] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.049] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.049] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.049] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.049] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.049] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.049] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.049] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.049] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.049] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.049] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.051] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.051] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.051] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.051] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.051] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.051] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.051] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.051] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.051] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.051] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.053] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.053] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.053] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.053] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.053] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.053] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.053] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.053] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.053] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.053] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.055] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.055] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.055] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.055] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.055] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.055] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.055] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.055] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.055] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.055] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.057] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.057] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.057] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.057] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.057] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.057] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.057] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.057] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.057] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.057] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.059] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.059] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.059] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.059] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.059] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.059] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.059] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.059] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.059] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.059] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.061] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.061] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.061] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.061] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.061] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.061] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.061] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.061] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.061] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.061] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.063] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.063] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.063] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.063] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.063] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.063] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.063] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.063] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.063] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.063] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.065] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.065] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.065] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.065] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.065] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.065] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.065] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.065] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.065] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.065] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.067] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.067] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.067] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.067] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.067] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.067] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.067] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.067] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.067] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.067] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.069] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.069] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.069] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.069] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.069] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.069] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.069] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.069] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.069] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.069] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.071] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.071] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.071] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.071] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.071] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.071] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.071] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.071] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.071] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.071] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.073] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.073] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.073] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.073] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.073] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.073] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.073] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.073] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.073] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.073] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.075] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.075] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.075] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.075] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.075] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.075] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.075] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.075] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.075] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.075] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.077] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.077] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.077] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.077] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.077] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.077] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.077] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.077] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.077] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.077] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.079] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.079] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.079] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.079] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.079] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.079] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.079] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.079] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.079] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.079] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.081] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.081] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.081] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.081] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.081] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.081] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.081] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.081] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.081] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.081] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.083] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.083] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.083] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.083] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.083] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.083] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.083] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.083] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.083] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.083] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.085] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.085] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.085] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.085] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.085] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.085] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.085] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.085] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.085] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.085] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.087] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.087] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.087] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.087] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.087] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.087] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.087] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.087] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.087] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.087] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.089] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.089] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.089] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.089] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.089] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.089] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.089] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.089] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.089] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.089] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.091] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.091] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.091] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.091] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.091] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.091] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.091] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.091] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.091] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.091] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.093] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.093] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.093] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.093] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.093] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.093] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.093] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.093] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.093] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.093] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.095] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.095] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.095] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.095] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.095] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.095] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.095] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.095] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.095] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.095] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.097] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.097] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.097] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.097] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.097] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.097] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.097] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.097] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.097] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.097] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.099] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.099] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.099] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.099] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.099] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.099] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.099] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.099] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.099] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.099] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.101] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.101] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.101] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.101] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.101] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.101] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.101] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.101] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.101] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.101] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.103] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.103] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.103] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.103] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.103] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.103] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.103] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.103] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.103] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.103] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.105] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.105] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.105] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.105] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.105] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.105] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.105] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.105] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.105] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.105] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.107] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.107] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.107] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.107] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.107] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.107] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.107] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.107] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.107] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.107] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.109] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.109] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.109] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.109] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.109] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.109] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.109] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.109] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.109] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.109] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.111] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.111] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.111] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.111] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.111] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.111] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.111] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.111] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.111] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.111] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.113] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.113] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.113] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.113] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.113] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.113] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.113] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.113] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.113] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.113] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.115] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.115] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.115] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.115] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.115] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.115] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.115] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.115] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.115] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.115] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.117] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.117] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.117] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.117] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.117] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.117] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.117] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.117] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.117] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.117] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.119] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.119] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.119] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.119] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.119] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.119] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.119] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.119] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.119] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.119] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.121] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.121] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.121] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.121] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.121] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.121] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.121] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.121] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.121] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.121] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.123] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.123] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.123] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.123] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.123] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.123] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.123] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.123] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.123] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.123] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.125] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.125] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.125] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.125] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.125] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.125] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.125] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.125] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.125] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.125] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.127] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.127] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.127] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.127] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.127] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.127] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.127] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.127] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.127] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.127] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.129] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.129] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.129] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.129] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.129] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.129] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.129] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.129] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.129] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.129] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.131] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.131] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.131] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.131] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.131] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.131] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.131] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.131] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.131] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.131] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.133] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.133] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.133] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.133] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.133] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.133] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.133] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.133] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.133] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.133] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.135] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.135] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.135] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.135] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.135] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.135] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.135] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.137] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.137] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.137] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.137] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.137] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.137] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.137] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.137] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.137] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.139] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.139] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.139] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.139] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.139] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.139] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.141] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.141] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.141] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.141] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.141] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.141] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.143] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.143] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.143] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.143] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.342] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.342] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.342] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.342] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.342] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.342] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.342] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.342] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.342] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.342] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.344] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.344] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.344] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.344] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.344] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.344] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.344] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.344] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.344] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.344] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.346] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.346] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.346] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.346] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.346] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.346] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.346] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.346] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.346] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.346] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.348] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.348] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.348] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.348] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.348] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.348] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.348] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.348] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.348] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.348] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.350] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.350] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.350] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.350] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.350] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.350] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.350] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.350] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.350] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.350] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.352] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.352] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.352] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.352] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.352] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.352] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.352] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.352] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.352] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.352] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.354] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.354] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.354] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.354] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.354] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.354] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.354] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.354] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.354] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.354] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.356] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.356] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.356] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.356] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.356] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.356] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.356] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.356] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.356] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.356] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.358] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.358] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.358] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.358] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.358] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.358] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.358] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.358] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.358] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.358] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.360] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.360] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.360] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.360] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.360] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.360] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.360] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.360] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.360] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.360] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.362] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.362] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.362] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.362] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.362] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.362] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.362] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.362] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.362] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.362] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.364] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.364] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.364] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.364] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.364] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.364] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.364] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.364] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.364] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.364] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.366] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.366] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.366] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.366] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.366] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.366] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.366] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.366] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.366] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.366] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.368] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.368] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.368] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.368] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.368] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.368] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.368] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.368] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.368] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.368] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.370] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.370] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.370] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.370] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.370] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.370] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.370] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.370] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.370] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.370] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.372] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.372] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.372] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.372] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.372] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.372] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.372] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.372] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.372] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.372] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.374] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.374] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.374] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.374] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.374] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.374] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.374] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.374] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.374] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.374] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.376] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.376] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.376] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.376] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.376] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.376] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.376] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.376] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.376] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.376] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.378] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.378] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.378] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.378] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.378] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.378] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.378] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.378] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.378] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.378] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.380] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.380] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.380] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.380] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.380] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.380] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.380] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.380] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.380] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.380] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.382] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.382] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.382] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.382] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.382] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.382] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.382] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.382] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.382] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.382] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.384] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.384] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.384] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.384] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.384] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.384] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.384] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.384] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.384] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.384] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.386] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.386] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.386] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.386] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.386] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.386] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.386] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.386] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.386] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.386] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.388] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.388] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.388] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.388] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.388] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.388] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.388] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.388] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.388] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.388] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.390] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.390] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.390] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.390] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.390] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.390] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.390] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.390] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.390] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.390] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.392] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.392] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.392] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.392] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.392] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.392] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.392] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.392] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.392] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.392] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.394] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.394] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.394] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.394] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.394] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.394] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.394] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.394] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.394] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.394] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.396] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.396] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.396] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.396] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.396] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.396] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.396] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.396] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.396] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.396] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.398] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.398] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.398] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.398] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.398] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.398] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.398] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.398] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.398] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.398] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.400] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.400] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.400] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.400] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.400] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.400] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.400] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.400] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.400] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.400] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.402] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.402] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.402] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.402] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.402] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.402] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.402] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.402] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.402] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.402] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.404] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.404] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.404] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.404] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.404] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.404] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.404] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.404] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.404] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.404] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.406] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.406] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.406] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.406] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.406] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.406] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.406] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.406] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.406] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.406] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.408] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.408] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.408] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.408] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.408] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.408] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.408] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.408] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.408] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.408] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.410] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.410] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.410] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.410] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.410] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.410] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.410] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.410] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.410] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.410] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.412] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.412] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.412] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.412] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.412] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.412] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.412] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.412] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.412] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.412] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.414] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.414] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.414] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.414] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.414] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.414] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.414] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.414] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.414] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.414] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.416] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.416] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.416] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.416] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.416] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.416] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.416] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.416] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.416] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.416] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.418] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.418] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.418] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.418] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.418] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.418] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.418] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.418] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.418] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.418] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.420] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.420] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.420] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.420] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.420] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.420] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.420] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.420] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.420] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.420] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.422] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.422] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.422] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.422] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.422] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.422] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.422] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.422] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.422] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.422] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.424] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.424] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.424] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.424] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.424] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.424] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.424] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.424] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.424] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.424] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.426] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.426] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.426] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.426] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.426] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.426] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.426] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.426] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.426] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.426] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.428] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.428] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.428] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.428] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.428] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.428] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.428] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.428] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.428] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.428] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.430] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.430] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.430] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.430] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.430] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.430] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.430] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.430] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.430] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.430] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.432] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.432] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.432] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.432] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.432] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.432] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.432] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.432] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.432] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.432] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.434] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.434] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.434] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.434] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.434] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.434] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.434] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.434] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.434] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.434] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.436] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.436] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.436] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.436] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.436] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.436] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.436] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.436] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.436] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.436] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.438] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.438] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.438] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.438] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.438] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.438] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.438] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.438] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.438] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.438] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.440] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.440] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.440] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.440] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.440] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.440] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.440] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.440] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.440] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.440] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.442] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.442] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.442] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.442] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.442] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.442] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.442] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.442] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.442] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.442] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.444] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.444] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.444] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.444] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.444] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.444] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.444] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.444] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.444] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.444] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.446] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.446] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.446] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.446] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.446] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.446] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.446] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.446] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.446] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.446] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.448] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.448] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.448] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.448] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.448] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.448] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.448] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.448] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.448] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.448] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.450] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.450] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.450] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.450] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.450] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.450] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.450] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.450] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.450] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.450] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.452] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.452] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.452] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.452] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.452] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.452] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.452] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.452] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.452] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.452] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.454] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.454] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.454] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.454] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.454] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.454] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.454] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.454] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.454] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.454] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.456] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.456] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.456] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.456] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.456] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.456] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.456] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.456] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.456] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.456] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.458] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.458] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.458] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.458] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.458] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.458] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.458] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.458] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.458] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.458] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.460] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.460] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.460] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.460] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.460] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.460] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.460] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.460] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.460] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.460] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.462] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.462] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.462] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.462] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.462] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.462] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.462] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.462] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.462] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.462] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.464] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.464] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.464] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.464] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.464] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.464] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.464] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.464] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.464] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.464] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.466] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.466] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.466] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.466] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.466] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.466] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.466] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.466] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.466] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.466] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.468] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.468] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.468] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.468] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.468] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.468] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.468] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.468] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.468] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.468] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.470] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.470] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.470] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.470] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.470] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.470] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.470] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.470] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.470] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.470] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.472] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.472] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.472] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.472] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.472] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.472] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.472] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.472] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.472] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.472] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.474] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.474] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.474] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.474] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.474] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.474] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.474] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.474] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.474] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.474] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.476] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.476] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.476] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.476] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.476] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.476] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.476] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.476] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.476] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.476] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.478] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.478] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.478] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.478] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.478] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.478] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.478] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.478] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.478] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.478] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.480] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.480] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.480] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.480] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.480] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.480] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.480] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.480] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.480] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.480] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.482] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.482] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.482] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.482] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.482] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.482] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.482] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.482] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.482] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.482] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.484] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.484] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.484] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.484] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.484] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.484] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.484] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.484] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.484] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.484] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.486] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.486] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.486] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.486] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.486] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.486] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.486] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.486] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.486] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.486] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.488] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.488] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.488] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.488] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.488] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.488] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.488] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.488] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.488] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.488] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.490] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.490] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.490] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.490] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.490] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.490] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.490] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.490] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.490] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.490] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.492] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.492] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.492] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.492] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.492] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.492] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.492] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.492] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.492] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.492] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.494] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.494] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.494] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.494] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.494] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.494] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.494] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.494] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.494] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.494] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.496] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.496] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.496] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.496] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.496] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.496] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.496] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.496] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.496] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.496] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.498] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.498] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.498] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.498] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.498] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.498] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.498] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.498] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.498] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.498] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.500] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.500] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.500] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.500] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.500] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.500] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.500] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.500] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.500] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.500] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.502] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.502] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.502] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.502] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.502] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.502] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.502] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.502] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.502] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.502] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.504] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.504] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.504] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.504] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.504] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.504] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.504] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.504] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.504] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.504] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.506] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.506] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.506] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.506] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.506] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.506] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.506] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.506] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.506] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.506] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.508] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.508] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.508] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.508] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.508] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.508] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.508] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.508] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.508] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.508] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.510] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.510] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.510] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.510] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.510] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.510] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.510] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.510] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.510] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.510] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.512] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.512] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.512] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.512] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.512] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.512] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.512] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.512] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.512] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.512] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.514] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.514] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.514] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.514] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.514] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.514] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.514] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.514] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.514] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.514] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.516] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.516] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.516] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.516] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.516] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.516] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.516] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.516] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.516] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.516] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.518] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.518] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.518] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.518] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.518] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.518] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.518] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.518] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.518] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.518] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.520] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.520] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.520] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.520] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.520] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.520] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.520] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.520] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.520] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.520] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.522] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.522] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.522] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.522] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.522] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.522] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.522] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.522] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.522] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.522] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.524] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.524] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.524] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.524] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.524] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.524] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.524] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.524] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.524] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.524] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.526] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.526] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.526] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.526] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.526] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.526] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.526] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.526] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.526] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.526] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.528] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.528] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.528] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.528] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.528] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.528] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.528] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.528] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.528] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.528] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.530] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.530] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.530] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.530] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.530] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.530] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.530] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.530] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.530] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.530] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.532] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.532] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.532] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.532] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.532] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.532] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.532] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.532] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.532] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.532] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.534] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.534] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.534] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.534] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.534] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.534] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.534] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.534] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.534] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.534] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.536] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.536] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.536] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.538] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.538] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.538] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.538] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.538] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.540] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.540] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.540] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.540] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.542] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.542] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.544] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.749] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.751] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.753] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.755] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.757] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.759] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.761] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.763] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.765] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.767] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.769] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.771] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.773] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.775] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.777] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.779] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.781] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.783] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.785] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.787] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.789] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.791] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.793] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.795] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.797] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.799] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.801] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.803] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.805] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.807] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.809] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.811] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.813] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.815] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.817] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.819] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.821] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.823] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.825] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.827] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.829] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.831] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.833] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.835] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.837] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.839] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.841] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.843] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.845] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.847] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.849] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.851] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.853] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.855] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.857] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.859] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.861] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.863] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.865] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.867] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.869] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.871] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.873] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.875] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.877] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.879] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.881] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.883] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.885] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.887] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.889] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.891] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.893] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.895] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.897] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.899] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.901] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.903] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.905] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.907] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.909] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.911] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.913] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.915] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.917] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.919] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.921] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.923] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.925] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.927] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.928] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.928] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.929] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.930] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.930] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.931] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.933] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.933] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.933] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.935] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.935] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.935] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:55.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:55.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:55.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:55.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:55.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:55.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:55.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:55.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:55.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:55.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.160] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.162] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.164] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.166] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.168] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.170] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.172] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.174] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.176] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.178] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.180] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.182] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.184] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.186] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.188] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.190] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.192] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.194] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.196] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.198] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.200] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.202] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.204] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.206] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.208] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.210] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.212] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.214] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.216] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.218] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.220] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.222] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.224] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.226] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.228] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.230] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.232] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.234] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.236] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.238] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.240] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.242] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.244] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.246] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.248] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.250] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.252] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.254] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.256] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.258] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.260] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.262] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.264] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.266] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.268] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.270] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.272] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.274] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.276] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.278] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.280] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.282] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.284] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.286] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.288] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.290] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.292] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.294] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.296] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.298] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.300] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.302] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.304] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.306] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.308] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.310] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.312] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.314] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.316] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.318] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.320] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.322] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.324] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.326] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.328] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.330] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.332] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.334] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.336] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.337] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.338] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.340] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.342] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.342] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.342] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.344] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.344] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.346] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.409] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.409] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.409] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.409] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.409] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.409] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.409] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.409] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.409] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.409] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.411] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.411] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.411] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.411] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.411] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.411] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.411] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.411] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.411] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.411] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.413] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.413] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.413] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.413] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.413] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.413] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.413] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.413] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.413] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.413] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.415] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.415] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.415] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.415] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.415] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.415] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.415] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.415] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.415] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.415] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.417] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.417] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.417] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.417] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.417] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.417] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.417] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.417] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.417] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.417] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.419] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.419] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.419] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.419] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.419] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.419] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.419] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.419] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.419] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.419] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.421] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.421] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.421] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.421] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.421] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.421] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.421] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.421] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.421] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.421] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.423] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.423] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.423] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.423] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.423] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.423] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.423] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.423] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.423] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.423] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.425] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.425] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.425] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.425] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.425] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.425] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.425] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.425] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.425] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.425] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.427] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.427] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.427] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.427] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.427] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.427] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.427] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.427] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.427] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.427] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.429] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.429] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.429] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.429] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.429] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.429] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.429] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.429] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.429] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.429] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.431] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.431] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.431] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.431] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.431] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.431] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.431] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.431] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.431] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.431] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.433] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.433] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.433] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.433] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.433] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.433] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.433] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.433] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.433] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.433] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.435] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.435] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.435] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.435] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.435] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.435] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.435] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.435] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.435] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.435] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.437] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.437] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.437] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.437] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.437] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.437] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.437] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.437] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.437] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.437] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.439] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.439] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.439] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.439] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.439] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.439] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.439] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.439] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.439] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.439] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.441] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.441] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.441] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.441] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.441] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.441] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.441] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.441] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.441] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.441] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.443] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.443] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.443] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.443] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.443] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.443] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.443] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.443] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.443] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.443] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.445] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.445] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.445] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.445] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.445] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.445] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.445] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.445] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.445] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.445] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.447] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.447] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.447] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.447] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.447] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.447] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.447] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.447] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.447] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.447] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.449] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.449] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.449] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.449] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.449] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.449] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.449] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.449] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.449] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.449] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.451] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.451] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.451] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.451] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.451] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.451] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.451] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.451] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.451] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.451] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.453] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.453] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.453] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.453] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.453] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.453] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.453] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.453] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.453] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.453] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.455] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.455] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.455] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.455] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.455] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.455] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.455] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.455] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.455] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.455] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.457] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.457] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.457] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.457] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.457] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.457] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.457] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.457] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.457] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.457] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.459] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.459] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.459] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.459] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.459] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.459] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.459] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.459] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.459] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.459] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.461] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.461] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.461] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.461] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.461] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.461] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.461] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.461] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.461] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.461] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.463] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.463] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.463] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.463] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.463] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.463] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.463] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.463] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.463] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.463] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.465] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.465] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.465] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.465] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.465] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.465] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.465] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.465] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.465] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.465] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.467] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.467] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.467] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.467] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.467] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.467] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.467] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.467] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.467] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.467] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.469] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.469] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.469] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.469] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.469] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.469] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.469] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.469] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.469] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.469] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.471] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.471] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.471] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.471] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.471] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.471] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.471] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.471] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.471] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.471] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.473] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.473] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.473] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.473] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.473] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.473] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.473] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.473] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.473] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.473] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.475] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.475] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.475] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.475] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.475] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.475] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.475] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.475] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.475] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.475] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.477] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.477] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.477] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.477] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.477] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.477] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.477] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.477] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.477] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.477] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.479] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.479] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.479] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.479] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.479] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.479] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.479] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.479] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.479] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.479] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.481] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.481] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.481] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.481] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.481] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.481] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.481] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.481] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.481] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.481] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.483] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.483] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.483] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.483] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.483] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.483] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.483] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.483] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.483] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.483] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.485] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.485] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.485] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.485] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.485] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.485] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.485] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.485] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.485] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.485] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.487] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.487] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.487] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.487] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.487] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.487] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.487] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.487] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.487] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.487] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.489] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.489] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.489] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.489] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.489] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.489] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.489] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.489] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.489] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.489] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.491] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.491] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.491] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.491] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.491] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.491] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.491] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.491] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.491] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.491] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.493] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.493] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.493] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.493] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.493] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.493] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.493] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.493] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.493] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.493] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.495] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.495] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.495] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.495] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.495] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.495] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.495] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.495] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.495] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.495] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.497] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.497] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.497] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.497] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.497] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.497] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.497] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.497] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.497] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.497] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.499] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.499] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.499] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.499] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.499] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.499] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.499] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.499] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.499] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.499] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.501] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.501] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.501] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.501] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.501] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.501] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.501] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.501] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.501] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.501] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.503] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.503] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.503] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.503] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.503] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.503] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.503] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.503] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.503] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.503] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.505] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.505] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.505] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.505] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.505] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.505] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.505] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.505] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.505] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.505] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.507] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.507] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.507] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.507] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.507] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.507] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.507] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.507] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.507] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.507] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.509] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.509] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.509] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.509] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.509] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.509] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.509] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.509] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.509] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.509] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.511] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.511] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.511] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.511] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.511] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.511] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.511] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.511] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.511] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.511] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.513] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.513] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.513] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.513] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.513] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.513] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.513] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.513] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.513] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.513] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.515] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.515] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.515] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.515] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.515] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.515] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.515] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.515] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.515] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.515] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.517] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.517] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.517] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.517] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.517] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.517] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.517] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.517] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.517] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.517] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.519] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.519] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.519] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.519] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.519] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.519] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.519] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.519] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.519] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.519] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.521] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.521] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.521] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.521] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.521] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.521] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.521] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.521] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.521] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.521] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.523] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.523] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.523] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.523] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.523] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.523] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.523] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.523] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.523] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.523] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.525] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.525] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.525] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.525] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.525] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.525] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.525] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.525] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.525] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.525] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.527] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.527] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.527] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.527] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.527] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.527] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.527] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.527] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.527] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.527] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.529] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.529] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.529] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.529] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.529] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.529] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.529] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.529] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.529] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.529] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.531] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.531] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.531] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.531] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.531] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.531] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.531] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.531] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.531] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.531] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.533] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.533] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.533] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.533] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.533] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.533] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.533] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.533] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.533] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.533] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.535] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.535] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.535] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.535] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.535] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.535] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.535] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.535] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.535] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.535] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.537] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.539] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.541] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.543] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.545] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.547] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.549] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.551] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.553] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.555] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.557] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.559] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.561] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.563] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.565] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.567] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.569] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.571] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.573] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.575] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.577] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.579] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.581] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.583] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.585] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.587] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.589] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.591] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.593] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.595] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.597] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.599] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.601] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.603] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.605] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.607] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.609] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.611] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.613] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.615] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.617] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.619] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.621] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.623] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.625] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.627] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.629] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.631] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.633] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.635] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.637] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.639] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.641] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.643] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.645] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.647] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.649] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.651] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.653] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.655] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.657] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.659] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.661] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.663] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.665] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.667] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.669] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.671] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.673] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.675] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.677] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.679] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.681] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.683] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.685] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.687] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.689] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.691] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.693] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.695] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.697] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.699] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.701] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.703] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.705] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.707] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.709] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.711] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.713] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.715] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.717] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.719] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.721] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.723] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.725] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.727] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.729] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.731] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.733] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.735] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.737] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.739] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.740] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.741] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.742] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.742] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.742] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.743] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.744] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.744] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.744] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.744] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.744] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.745] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.746] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.747] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.748] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.750] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.750] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.750] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.750] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.750] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.750] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.750] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.750] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.750] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.750] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.752] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.752] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.752] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.752] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.752] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.752] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.752] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.752] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.752] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.752] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.754] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.754] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.754] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.754] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.754] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.754] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.754] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.754] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.754] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.754] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.756] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.756] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.756] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.756] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.756] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.756] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.756] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.756] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.756] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.756] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.758] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.758] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.758] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.758] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.758] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.758] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.758] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.758] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.758] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.758] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.760] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.760] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.760] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.760] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.760] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.760] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.760] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.760] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.760] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.760] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.762] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.762] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.762] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.762] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.762] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.762] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.762] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.762] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.762] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.762] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.764] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.764] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.764] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.764] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.764] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.764] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.764] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.764] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.764] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.764] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.766] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.766] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.766] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.766] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.766] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.766] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.766] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.766] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.766] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.766] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.768] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.768] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.768] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.768] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.768] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.768] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.768] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.768] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.768] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.768] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.770] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.770] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.770] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.770] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.770] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.770] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.770] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.770] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.770] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.770] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.772] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.772] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.772] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.772] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.772] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.772] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.772] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.772] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.772] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.772] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.774] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.774] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.774] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.774] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.774] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.774] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.774] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.774] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.774] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.774] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.776] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.776] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.776] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.776] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.776] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.776] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.776] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.776] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.776] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.776] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.778] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.778] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.778] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.778] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.778] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.778] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.778] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.778] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.778] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.778] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.780] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.780] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.780] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.780] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.780] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.780] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.780] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.780] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.780] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.780] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.782] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.782] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.782] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.782] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.782] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.782] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.782] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.782] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.782] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.782] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.784] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.784] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.784] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.784] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.784] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.784] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.784] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.784] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.784] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.784] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.786] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.786] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.786] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.786] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.786] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.786] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.786] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.786] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.786] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.786] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.788] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.788] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.788] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.788] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.788] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.788] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.788] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.788] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.788] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.788] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.790] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.790] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.790] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.790] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.790] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.790] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.790] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.790] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.790] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.790] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.792] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.792] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.792] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.792] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.792] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.792] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.792] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.792] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.792] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.792] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.794] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.794] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.794] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.794] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.794] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.794] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.794] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.794] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.794] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.794] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.796] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.796] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.796] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.796] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.796] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.796] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.796] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.796] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.796] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.796] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.798] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.798] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.798] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.798] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.798] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.798] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.798] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.798] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.798] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.798] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.800] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.800] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.800] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.800] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.800] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.800] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.800] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.800] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.800] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.800] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.802] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.802] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.802] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.802] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.802] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.802] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.802] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.802] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.802] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.802] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.804] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.804] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.804] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.804] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.804] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.804] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.804] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.804] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.804] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.804] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.806] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.806] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.806] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.806] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.806] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.806] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.806] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.806] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.806] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.806] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.808] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.808] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.808] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.808] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.808] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.808] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.808] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.808] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.808] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.808] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.810] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.810] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.810] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.810] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.810] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.810] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.810] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.810] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.810] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.810] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.812] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.812] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.812] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.812] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.812] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.812] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.812] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.812] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.812] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.812] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.814] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.814] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.814] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.814] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.814] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.814] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.814] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.814] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.814] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.814] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.816] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.816] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.816] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.816] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.816] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.816] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.816] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.816] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.816] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.816] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.818] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.818] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.818] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.818] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.818] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.818] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.818] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.818] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.818] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.818] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.820] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.820] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.820] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.820] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.820] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.820] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.820] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.820] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.820] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.820] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.822] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.822] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.822] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.822] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.822] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.822] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.822] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.822] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.822] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.822] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.824] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.824] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.824] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.824] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.824] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.824] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.824] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.824] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.824] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.824] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.826] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.826] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.826] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.826] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.826] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.826] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.826] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.826] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.826] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.826] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.828] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.828] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.828] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.828] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.828] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.828] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.828] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.828] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.828] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.828] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.830] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.830] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.830] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.830] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.830] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.830] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.830] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.830] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.830] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.830] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.832] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.832] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.832] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.832] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.832] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.832] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.832] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.832] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.832] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.832] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.834] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.834] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.834] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.834] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.834] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.834] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.834] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.834] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.834] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.834] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.836] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.836] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.836] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.836] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.836] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.836] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.836] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.836] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.836] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.836] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.838] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.838] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.838] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.838] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.838] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.838] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.838] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.838] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.838] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.838] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.840] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.840] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.840] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.840] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.840] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.840] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.840] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.840] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.840] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.840] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.842] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.842] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.842] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.842] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.842] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.842] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.842] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.842] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.842] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.842] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.844] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.844] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.844] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.844] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.844] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.844] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.844] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.844] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.844] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.844] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.846] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.846] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.846] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.846] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.846] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.846] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.846] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.846] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.846] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.846] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.848] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.848] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.848] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.848] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.848] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.848] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.848] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.848] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.848] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.848] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.850] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.850] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.850] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.850] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.850] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.850] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.850] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.850] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.850] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.850] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.852] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.852] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.852] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.852] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.852] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.852] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.852] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.852] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.852] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.852] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.854] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.854] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.854] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.854] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.854] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.854] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.854] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.854] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.854] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.854] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.856] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.856] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.856] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.856] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.856] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.856] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.856] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.856] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.856] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.856] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.858] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.858] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.858] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.858] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.858] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.858] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.858] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.858] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.858] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.858] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.860] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.860] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.860] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.860] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.860] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.860] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.860] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.860] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.860] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.860] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.862] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.862] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.862] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.862] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.862] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.862] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.862] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.862] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.862] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.862] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.864] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.864] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.864] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.864] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.864] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.864] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.864] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.864] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.864] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.864] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.866] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.866] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.866] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.866] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.866] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.866] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.866] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.866] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.866] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.866] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.868] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.868] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.868] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.868] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.868] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.868] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.868] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.868] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.868] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.868] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.870] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.870] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.870] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.870] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.870] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.870] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.870] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.870] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.870] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.870] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.872] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.872] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.872] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.872] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.872] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.872] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.872] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.872] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.872] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.872] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.874] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.874] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.874] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.874] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.874] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.874] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.874] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.874] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.874] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.874] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.876] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.876] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.876] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.876] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.876] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.876] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.876] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.876] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.876] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.876] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.878] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.878] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.878] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.878] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.878] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.878] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.878] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.878] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.878] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.878] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.880] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.880] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.880] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.880] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.880] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.880] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.880] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.880] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.880] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.880] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.882] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.882] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.882] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.882] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.882] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.882] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.882] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.882] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.882] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.882] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.884] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.884] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.884] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.884] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.884] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.884] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.884] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.884] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.884] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.884] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.886] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.886] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.886] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.886] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.886] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.886] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.886] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.886] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.886] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.886] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.888] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.888] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.888] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.888] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.888] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.888] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.888] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.888] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.888] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.888] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.890] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.890] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.890] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.890] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.890] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.890] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.890] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.890] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.890] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.890] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.892] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.892] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.892] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.892] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.892] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.892] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.892] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.892] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.892] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.892] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.894] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.894] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.894] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.894] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.894] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.894] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.894] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.894] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.894] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.894] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.896] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.896] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.896] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.896] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.896] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.896] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.896] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.896] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.896] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.896] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.898] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.898] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.898] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.898] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.898] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.898] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.898] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.898] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.898] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.898] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.900] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.900] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.900] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.900] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.900] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.900] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.900] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.900] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.900] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.900] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.902] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.902] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.902] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.902] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.902] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.902] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.902] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.902] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.902] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.902] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.904] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.904] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.904] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.904] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.904] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.904] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.904] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.904] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.904] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.904] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.906] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.906] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.906] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.906] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.906] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.906] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.906] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.906] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.906] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.906] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.908] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.908] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.908] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.908] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.908] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.908] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.908] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.908] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.908] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.908] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.910] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.910] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.910] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.910] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.910] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.910] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.910] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.910] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.910] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.910] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.912] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.912] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.912] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.912] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.912] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.912] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.912] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.912] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.912] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.912] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.914] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.914] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.914] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.914] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.914] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.914] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.914] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.914] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.914] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.914] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.916] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.916] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.916] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.916] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.916] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.916] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.916] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.916] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.916] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.916] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.918] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.918] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.918] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.918] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.918] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.918] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.918] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.918] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.918] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.918] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.920] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.920] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.920] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.920] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.920] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.920] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.920] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.920] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.920] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.920] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.922] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.922] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.922] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.922] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.922] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.922] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.922] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.922] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.922] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.922] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.924] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.924] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.924] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.924] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.924] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.924] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.924] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.924] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.924] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.924] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.926] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.926] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.926] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.926] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.926] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.926] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.926] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.926] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.926] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.926] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.928] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.928] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.928] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.928] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.928] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.928] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.928] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.928] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.928] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.928] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.930] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.930] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.930] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.930] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.930] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.930] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.930] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.930] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.930] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.930] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.932] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.934] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.936] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.938] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.940] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.942] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.944] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.946] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.948] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.950] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.952] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.954] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.956] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.958] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.960] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.962] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.964] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.966] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.968] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.970] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.972] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.974] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.976] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.978] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.980] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.982] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.984] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.986] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.988] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.990] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.992] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.994] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.996] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:56.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:56.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:56.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:56.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:56.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:56.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:56.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:56.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:56.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:56.998] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.000] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.002] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.004] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.006] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.008] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.010] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.012] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.014] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.016] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.018] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.020] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.022] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.024] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.026] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.028] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.030] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.032] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.034] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.036] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.038] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.040] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.042] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.044] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.046] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.048] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.050] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.052] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.054] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.056] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.058] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.060] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.062] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.064] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.066] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.068] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.070] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.072] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.074] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.076] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.078] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.080] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.082] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.084] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.086] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.088] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.090] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.092] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.094] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.096] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.098] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.100] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.102] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.104] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.106] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.108] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.110] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.112] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.114] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.116] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.118] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.120] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.122] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.124] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.126] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.128] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.130] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.132] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.134] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.136] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.138] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.140] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.142] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.144] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.146] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.148] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.150] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.151] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.151] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.151] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.151] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.151] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.152] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.153] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.153] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.153] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.153] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.154] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.155] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.155] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.155] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.155] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.155] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.155] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.156] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.157] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.157] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.157] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.157] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.157] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.157] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.157] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.158] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.159] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.159] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.159] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.159] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.159] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.159] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.159] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.159] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.159] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.161] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.161] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.161] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.161] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.161] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.161] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.161] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.161] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.161] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.161] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.163] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.163] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.163] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.163] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.163] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.163] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.163] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.163] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.163] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.163] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.165] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.165] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.165] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.165] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.165] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.165] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.165] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.165] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.165] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.165] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.167] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.167] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.167] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.167] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.167] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.167] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.167] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.167] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.167] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.167] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.169] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.169] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.169] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.169] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.169] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.169] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.169] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.169] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.169] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.169] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.171] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.171] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.171] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.171] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.171] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.171] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.171] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.171] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.171] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.171] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.173] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.173] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.173] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.173] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.173] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.173] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.173] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.173] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.173] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.173] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.175] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.175] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.175] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.175] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.175] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.175] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.175] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.175] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.175] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.175] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.177] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.177] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.177] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.177] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.177] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.177] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.177] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.177] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.177] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.177] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.179] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.179] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.179] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.179] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.179] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.179] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.179] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.179] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.179] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.179] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.181] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.181] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.181] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.181] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.181] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.181] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.181] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.181] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.181] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.181] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.183] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.183] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.183] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.183] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.183] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.183] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.183] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.183] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.183] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.183] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.185] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.185] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.185] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.185] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.185] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.185] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.185] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.185] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.185] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.185] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.187] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.187] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.187] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.187] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.187] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.187] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.187] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.187] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.187] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.187] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.189] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.189] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.189] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.189] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.189] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.189] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.189] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.189] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.189] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.189] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.191] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.191] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.191] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.191] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.191] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.191] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.191] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.191] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.191] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.191] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.193] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.193] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.193] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.193] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.193] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.193] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.193] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.193] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.193] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.193] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.195] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.195] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.195] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.195] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.195] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.195] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.195] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.195] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.195] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.195] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.197] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.197] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.197] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.197] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.197] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.197] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.197] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.197] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.197] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.197] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.199] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.199] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.199] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.199] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.199] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.199] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.199] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.199] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.199] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.199] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.201] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.201] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.201] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.201] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.201] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.201] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.201] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.201] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.201] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.201] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.203] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.203] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.203] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.203] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.203] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.203] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.203] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.203] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.203] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.203] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.205] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.205] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.205] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.205] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.205] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.205] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.205] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.205] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.205] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.205] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.207] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.207] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.207] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.207] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.207] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.207] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.207] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.207] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.207] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.207] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.209] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.209] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.209] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.209] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.209] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.209] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.209] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.209] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.209] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.209] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.211] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.211] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.211] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.211] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.211] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.211] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.211] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.211] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.211] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.211] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.213] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.213] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.213] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.213] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.213] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.213] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.213] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.213] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.213] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.213] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.215] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.215] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.215] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.215] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.215] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.215] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.215] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.215] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.215] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.215] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.217] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.217] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.217] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.217] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.217] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.217] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.217] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.217] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.217] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.217] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.219] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.219] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.219] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.219] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.219] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.219] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.219] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.219] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.219] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.219] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.221] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.221] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.221] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.221] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.221] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.221] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.221] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.221] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.221] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.221] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.223] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.223] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.223] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.223] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.223] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.223] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.223] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.223] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.223] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.223] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.225] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.225] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.225] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.225] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.225] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.225] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.225] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.225] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.225] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.225] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.227] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.227] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.227] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.227] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.227] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.227] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.227] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.227] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.227] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.227] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.229] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.229] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.229] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.229] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.229] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.229] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.229] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.229] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.229] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.229] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.231] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.231] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.231] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.231] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.231] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.231] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.231] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.231] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.231] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.231] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.233] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.233] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.233] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.233] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.233] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.233] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.233] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.233] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.233] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.233] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.235] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.235] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.235] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.235] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.235] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.235] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.235] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.235] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.235] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.235] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.237] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.237] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.237] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.237] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.237] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.237] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.237] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.237] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.237] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.237] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.239] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.239] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.239] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.239] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.239] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.239] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.239] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.239] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.239] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.239] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.241] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.241] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.241] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.241] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.241] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.241] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.241] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.241] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.241] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.241] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.243] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.243] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.243] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.243] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.243] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.243] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.243] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.243] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.243] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.243] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.245] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.245] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.245] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.245] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.245] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.245] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.245] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.245] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.245] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.245] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.247] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.247] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.247] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.247] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.247] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.247] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.247] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.247] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.247] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.247] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.249] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.249] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.249] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.249] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.249] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.249] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.249] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.249] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.249] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.249] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.251] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.251] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.251] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.251] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.251] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.251] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.251] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.251] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.251] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.251] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.253] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.253] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.253] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.253] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.253] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.253] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.253] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.253] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.253] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.253] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.255] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.255] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.255] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.255] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.255] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.255] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.255] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.255] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.255] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.255] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.257] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.257] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.257] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.257] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.257] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.257] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.257] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.257] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.257] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.257] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.259] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.259] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.259] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.259] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.259] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.259] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.259] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.259] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.259] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.259] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.261] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.261] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.261] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.261] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.261] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.261] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.261] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.261] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.261] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.261] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.263] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.263] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.263] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.263] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.263] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.263] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.263] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.263] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.263] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.263] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.265] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.265] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.265] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.265] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.265] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.265] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.265] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.265] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.265] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.265] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.267] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.267] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.267] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.267] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.267] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.267] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.267] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.267] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.267] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.267] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.269] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.269] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.269] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.269] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.269] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.269] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.269] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.269] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.269] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.269] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.271] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.271] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.271] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.271] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.271] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.271] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.271] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.271] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.271] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.271] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.273] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.273] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.273] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.273] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.273] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.273] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.273] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.273] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.273] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.273] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.275] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.275] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.275] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.275] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.275] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.275] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.275] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.275] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.275] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.275] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.277] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.277] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.277] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.277] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.277] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.277] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.277] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.277] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.277] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.277] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.279] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.279] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.279] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.279] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.279] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.279] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.279] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.279] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.279] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.279] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.281] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.281] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.281] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.281] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.281] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.281] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.281] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.281] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.281] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.281] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.283] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.283] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.283] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.283] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.283] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.283] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.283] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.283] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.283] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.283] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.285] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.285] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.285] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.285] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.285] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.285] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.285] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.285] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.285] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.285] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.287] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.287] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.287] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.287] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.287] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.287] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.287] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.287] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.287] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.287] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.289] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.289] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.289] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.289] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.289] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.289] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.289] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.289] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.289] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.289] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.291] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.291] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.291] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.291] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.291] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.291] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.291] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.291] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.291] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.291] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.293] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.293] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.293] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.293] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.293] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.293] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.293] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.293] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.293] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.293] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.295] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.295] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.295] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.295] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.295] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.295] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.295] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.295] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.295] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.295] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.297] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.297] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.297] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.297] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.297] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.297] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.297] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.297] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.297] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.297] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.299] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.299] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.299] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.299] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.299] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.299] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.299] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.299] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.299] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.299] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.301] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.301] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.301] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.301] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.301] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.301] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.301] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.301] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.301] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.301] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.303] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.303] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.303] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.303] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.303] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.303] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.303] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.303] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.303] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.303] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.305] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.305] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.305] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.305] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.305] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.305] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.305] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.305] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.305] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.305] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.307] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.307] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.307] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.307] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.307] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.307] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.307] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.307] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.307] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.307] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.309] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.309] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.309] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.309] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.309] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.309] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.309] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.309] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.309] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.309] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.311] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.311] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.311] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.311] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.311] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.311] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.311] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.311] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.311] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.311] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.313] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.313] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.313] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.313] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.313] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.313] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.313] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.313] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.313] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.313] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.315] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.315] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.315] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.315] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.315] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.315] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.315] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.315] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.315] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.315] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.317] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.317] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.317] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.317] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.317] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.317] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.317] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.317] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.317] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.317] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.319] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.319] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.319] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.319] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.319] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.319] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.319] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.319] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.319] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.319] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.321] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.321] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.321] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.321] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.321] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.321] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.321] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.321] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.321] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.321] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.323] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.323] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.323] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.323] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.323] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.323] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.323] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.323] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.323] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.323] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.325] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.325] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.325] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.325] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.325] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.325] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.325] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.325] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.325] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.325] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.327] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.327] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.327] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.327] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.327] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.327] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.327] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.327] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.327] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.327] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.329] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.329] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.329] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.329] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.329] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.329] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.329] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.329] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.329] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.329] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.331] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.331] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.331] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.331] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.331] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.331] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.331] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.331] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.331] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.331] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.333] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.333] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.333] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.333] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.333] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.333] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.333] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.333] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.333] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.333] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.335] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.335] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.335] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.335] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.335] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.335] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.335] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.335] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.335] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.335] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.337] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.337] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.337] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.337] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.337] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.337] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.337] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.337] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.337] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.337] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.339] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.341] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.343] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.345] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.347] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.349] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.351] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.353] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.355] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.357] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.359] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.361] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.363] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.365] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.367] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.369] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.371] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.373] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.375] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.377] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.379] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.381] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.383] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.385] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.387] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.389] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.391] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.393] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.395] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.397] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.399] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.401] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.403] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.405] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-24 19:50:57.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l1_joint disconnect
[2025-04-24 19:50:57.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l2_joint disconnect
[2025-04-24 19:50:57.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l3_joint disconnect
[2025-04-24 19:50:57.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l4_joint disconnect
[2025-04-24 19:50:57.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:76]  leg_l5_joint disconnect
[2025-04-24 19:50:57.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r1_joint disconnect
[2025-04-24 19:50:57.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r2_joint disconnect
[2025-04-24 19:50:57.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r3_joint disconnect
[2025-04-24 19:50:57.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r4_joint disconnect
[2025-04-24 19:50:57.407] [error] [thread:25285] [walkcontroller.cpp updateStateEstimation:89]  leg_r5_joint disconnect
[2025-04-25 09:58:33.667] [error] [thread:6581] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-25 09:58:33.668] [error] [thread:6581] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-25 09:59:02.952] [error] [thread:6646] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-25 10:07:01.739] [error] [thread:6730] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-25 10:07:01.740] [error] [thread:6730] [rlcontroller.cpp init:546] leg_r5_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] arm_l1_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] arm_l2_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] arm_l3_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] arm_l4_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] leg_l1_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] leg_l2_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] leg_l3_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] leg_l4_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] leg_l5_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] arm_r1_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] arm_r2_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] arm_r3_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] arm_r4_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] leg_r1_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] leg_r2_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] leg_r3_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] leg_r4_joint disconnect
[2025-04-25 13:45:12.174] [error] [thread:8356] [rlcontroller.cpp init:546] leg_r5_joint disconnect
