uint8 levelFlag
uint16 commVersion
uint16 robotID
uint32 SN
uint8 bandWidth
uint8 mode
IMU imu
float32[3] position 
float32[3] velocity 
float32 yawSpeed
Cartesian[4] footPosition2Body 
Cartesian[4] footSpeed2Body	
int16[4] footForce
uint8[40] wirelessRemote
uint32 reserve
uint32 crc