uint8[2] head
uint8 levelFlag
uint8 frameReserve

uint32[2] SN
uint32[2] version
uint16 bandWidth
IMU imu
MotorState[20] motorState
BmsState bms
int16[4] footForce
int16[4] footForceEst
uint8 mode
float32 progress
uint8 gaitType		   
float32 footRaiseHeight		  
float32[3] position 
float32 bodyHeight			  
float32[3] velocity 
float32 yawSpeed				   
float32[4] rangeObstacle
Cartesian[4] footPosition2Body 
Cartesian[4] footSpeed2Body	
uint8[40] wirelessRemote
uint32 reserve

uint32 crc