LegID = {
    "FR_0": 0,  # Front right hip
    "FR_1": 1,  # Front right thigh
    "FR_2": 2,  # Front right calf
    "FL_0": 3,
    "FL_1": 4,
    "FL_2": 5,
    "RR_0": 6,
    "RR_1": 7,
    "RR_2": 8,
    "RL_0": 9,
    "RL_1": 10,
    "RL_2": 11,
    "FR_w": 12, # Front right wheel
    "FL_w": 13, # Front left wheel
    "RR_w": 14, # Rear right wheel
    "RL_w": 15, # Rear left wheel
}

HIGHLEVEL = 0xEE
LOWLEVEL = 0xFF
TRIGERLEVEL = 0xF0
PosStopF = 2.146e9
VelStopF = 16000.0