23 lines
1.3 KiB
Plaintext
23 lines
1.3 KiB
Plaintext
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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uint8 mode
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float32 progress # new on Go1, reserve
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IMU imu
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uint8 gaitType # new on Go1, 0.idle 1.trot 2.trot running 3.climb stair
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float32 footRaiseHeight # (unit: m, default: 0.08m), foot up height while walking
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float32[3] position # (unit: m), from own odometry in inertial frame, usually drift
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float32 bodyHeight # (unit: m, default: 0.28m)
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float32[3] velocity # (unit: m/s), forwardSpeed, sideSpeed, rotateSpeed in body frame
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float32 yawSpeed # (unit: rad/s), rotateSpeed in body frame
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Cartesian[4] footPosition2Body # foot position relative to body
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Cartesian[4] footSpeed2Body # foot speed relative to body
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int8[20] temperature
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BmsState bms
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int16[4] footForce # Old version Aliengo is different
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int16[4] footForceEst # Old version Aliengo does not have
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uint8[40] wirelessRemote
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uint32 reserve # Old version Aliengo does not have
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uint32 crc |