uint8 levelFlag uint16 commVersion uint16 robotID uint32 SN uint8 bandWidth uint8 mode IMU imu float32 forwardSpeed float32 sideSpeed float32 rotateSpeed float32 bodyHeight float32 updownSpeed float32 forwardPosition # (will be float type next version) float32 sidePosition # (will be float type next version) Cartesian[4] footPosition2Body Cartesian[4] footSpeed2Body int16[4] footForce int16[4] footForceEst uint32 tick uint8[40] wirelessRemote uint32 reserve uint32 crc # Under are not defined in SDK yet. Cartesian[4] eeForce # It's a 1-DOF force in real robot, but 3-DOF is better for visualization. float32[12] jointP # for visualization