``` y r 125 reg.pid_velocity 0.001 2.5 0.0 0.01 1000.0 3.0 100.0 \ && y cmd 125 restart y pub --period=0.1 \ 10:reg.udral.service.common.readiness '!$ "B(1,1) * 3"' \ 50:reg.udral.physics.dynamics.rotation.planar '{torque: 4, kinematics: {angular_position: NAN, angular_velocity: !$ "A(1,1) * 10"}}' ```
