2021-09-01 20:46:41 +08:00
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uint8 levelFlag
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uint16 commVersion # Old version Aliengo does not have
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uint16 robotID # Old version Aliengo does not have
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uint32 SN # Old version Aliengo does not have
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uint8 bandWidth # Old version Aliengo does not have
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IMU imu
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MotorState[20] motorState
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2021-09-02 18:24:10 +08:00
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BmsState bms # new on Go1, battery state
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2021-09-01 20:46:41 +08:00
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int16[4] footForce # force sensors # Old version Aliengo is different
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int16[4] footForceEst # force sensors # Old version Aliengo does not have
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uint32 tick # reference real-time from motion controller (unit: us)
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uint8[40] wirelessRemote # wireless commands
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uint32 reserve # Old version Aliengo does not have
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uint32 crc
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# Old version Aliengo does not have:
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Cartesian[4] eeForceRaw
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Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization
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Cartesian position # will delete
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Cartesian velocity # will delete
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Cartesian velocity_w # will delete
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