rokae xcore protocol scriptly re-made

rokae/assets/protocols/collision.get_params.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "safety",
+    "command": "collision.get_params",
+	"p_type": 0
+}

rokae/assets/protocols/collision.set_params.json

@@ -0,0 +1,7 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "safety",
+    "command": "collision.set_params",
+    "data": {},
+	"p_type": 0
+}

rokae/assets/protocols/controller.get_params.json

@@ -0,0 +1,6 @@
+{   
+    "id":"xxxxxxxxxxx",
+    "module":"system",
+    "command":"controller.get_params",
+	"p_type": 0
+}

rokae/assets/protocols/controller.heart.json

@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "controller.heart",
+  "p_type": 0
+}

rokae/assets/protocols/controller.reboot.json

@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "system",
+    "command": "controller.reboot",
+    "data": {
+        "arg": 6
+    },
+	"p_type": 0
+}

rokae/assets/protocols/controller.set_params.json

@@ -0,0 +1,9 @@
+{
+    "id": "xxxxxxxxxxx",
+    "module": "system",
+    "command": "controller.set_params",
+    "data": {
+        "time": "2020-02-28 15:28:30"
+    },
+	"p_type": 0
+}

rokae/assets/protocols/device.get_params.json

@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "device.get_params",
+  "p_type": 0
+}

rokae/assets/protocols/diagnosis.get_params.json

@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.get_params",
+  "data": {
+	"version": "1.4.1"
+  },
+  "p_type": 0
+}

rokae/assets/protocols/diagnosis.open.json

@@ -0,0 +1,13 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.open",
+  "data": {
+	  "open": false,
+	  "display_open": false,
+	  "overrun": false,
+	  "turn_area": false,
+	  "delay_motion": false
+  },
+  "p_type": 0
+}

rokae/assets/protocols/diagnosis.save.json

@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.save",
+  "data": {
+	  "save": true
+  },
+  "p_type": 0
+}

rokae/assets/protocols/diagnosis.set_params.json

@@ -0,0 +1,11 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "robot",
+  "command": "diagnosis.set_params",
+  "data": {
+	"display_pdo_params": [],
+	"frequency": 50,
+	"version": "1.4.1"
+  },
+  "p_type": 0
+}

rokae/assets/protocols/drag.get_params.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "dynamic",
+    "command": "drag.get_params",
+	"p_type": 0
+}

rokae/assets/protocols/drag.set_params.json

@@ -0,0 +1,11 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "dynamic",
+    "command": "drag.set_params",
+    "data": {  
+        "enable": true,
+        "space": 0,
+        "type": 0
+    },
+	"p_type": 0
+}

rokae/assets/protocols/fieldbus_device.get_params.json

@@ -0,0 +1,6 @@
+{    
+	"id": "xxxxxxxxxxx",
+	"module": "fieldbus",
+	"command": "fieldbus_device.get_params",
+	"p_type": 0
+}

rokae/assets/protocols/fieldbus_device.load_cfg.json

@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "fieldbus_device.load_cfg",
+    "data": {
+        "file_name": "fieldbus_device.json"
+    },
+	"p_type": 0
+}

rokae/assets/protocols/fieldbus_device.set_params.json

@@ -0,0 +1,10 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "fieldbus_device.set_params",
+    "data": {
+        "device_name": "modbus_1",
+        "enable": true
+    },
+	"p_type": 0
+}

rokae/assets/protocols/io_device.load_cfg.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "io",
+    "command": "io_device.load_cfg",
+	"p_type": 0
+}

rokae/assets/protocols/jog.get_params.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "jog.get_params",
+	"p_type": 0
+}

rokae/assets/protocols/jog.set_params.json

@@ -0,0 +1,10 @@
+{
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "jog.set_params",
+    "data": {  
+        "step": 1000,
+        "override": 0.2,
+        "space": 5
+    }
+}

rokae/assets/protocols/jog.start.json

@@ -0,0 +1,10 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "jog.start",
+    "data": {  
+        "index": 0,
+        "direction": true,
+        "is_ext": false
+    }
+}

rokae/assets/protocols/log_code.data.code_list.json

@@ -0,0 +1,8 @@
+{
+    "id": "log_code.data.code_list",
+    "s": {
+        "log_code.data": {
+            "code_list": []
+        }
+    }
+}

rokae/assets/protocols/log_code.data.json

@@ -0,0 +1,7 @@
+{
+    "id": "xxxxxxxxxxx",
+	"g": {
+        "log_code.data": "null"
+    },
+	"p_type": 1
+}

rokae/assets/protocols/modbus.get_params.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "modbus.get_params",
+	"p_type": 0
+}

rokae/assets/protocols/modbus.get_values.json

@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "modbus.get_values",
+    "data": {
+        "mode": "all"
+    },
+	"p_type": 0
+}

rokae/assets/protocols/modbus.load_cfg.json

@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "modbus.load_cfg",
+    "data": {
+        "file" : "registers.json"
+     },
+	 "p_type": 0
+}

rokae/assets/protocols/modbus.set_params.json

@@ -0,0 +1,13 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "fieldbus",
+    "command": "modbus.set_params",
+    "data": {  
+        "enable_slave": true,
+        "ip": "192.168.0.160",
+        "port": 502,
+        "slave_id": 0,
+        "enable_master": false
+    },
+	"p_type": 0
+}

rokae/assets/protocols/move.get_joint_pos.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_joint_pos",
+	"p_type": 0
+}

rokae/assets/protocols/move.get_monitor_cfg.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_monitor_cfg",
+	"p_type": 0
+}

rokae/assets/protocols/move.get_params.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_params",
+	"p_type": 0
+}

rokae/assets/protocols/move.get_pos.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_pos",
+	"p_type": 0
+}

rokae/assets/protocols/move.get_quickstop_distance.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_quickstop_distance",
+	"p_type": 0
+}

rokae/assets/protocols/move.get_quickturn_pos.json

@@ -0,0 +1,6 @@
+{
+    "id" : "xxxxxxxxx",
+    "module": "motion",
+    "command": "move.get_quickturn_pos",
+	"p_type": 0
+}

rokae/assets/protocols/move.quick_turn.json

@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.quick_turn",
+    "data": {  
+        "name":"home"
+    },
+	"p_type": 0
+}

rokae/assets/protocols/move.set_monitor_cfg.json

@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.set_monitor_cfg",
+    "data": {
+       "ref_coordinate": 1
+    },
+	"p_type": 0
+}

rokae/assets/protocols/move.set_params.json

@@ -0,0 +1,17 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.set_params",
+    "data": {
+		"MOTION": {
+			"JOINT_MAX_SPEED": [1.0,0.0,0.0,0.0,0.0,0.0],
+			"JOINT_MAX_ACC": [1.0,0.0,0.0,0.0,0.0,0.0],
+			"JOINT_MAX_JERK": [1.0,0.0,0.0],
+			"TCP_MAX_SPEED": 500,
+			"DEFAULT_ACC_PARAMS": [0.3,1.0],
+			"VEL_SMOOTH_FACTOR": 3.33,
+			"ACC_RAMPTIME_JOG": 0.01
+	   }
+    },
+    "p_type": 0
+}

rokae/assets/protocols/move.set_quickstop_distance.json

@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.set_quickstop_distance",
+    "data":{
+        "distance": 2
+    },
+	"p_type": 0
+}

rokae/assets/protocols/move.set_quickturn_pos.json

@@ -0,0 +1,16 @@
+{
+    "id" : "xxxxxxxxx",
+    "module": "motion",
+    "command": "move.set_quickturn_pos",
+    "data": {
+        "enable_home": false,
+        "enable_drag": false,
+        "enable_transport": false,
+        "joint_home": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
+        "joint_drag": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
+        "joint_transport": [0.0,0.0,0.0,0.0,0.0,0.0,0.0],
+        "end_posture": 0,
+        "home_error_range":[0.0,0.0,0.0,0.0,0.0,0.0,0.0]
+    },
+	"p_type": 0
+}

rokae/assets/protocols/move.stop.json

@@ -0,0 +1,9 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "motion",
+    "command": "move.stop",
+    "data":{
+        "stoptype": 0
+    },
+	"p_type": 0
+}

rokae/assets/protocols/overview.get_autoload.json

@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.get_autoload",
+  "p_type": 0
+}

rokae/assets/protocols/overview.get_cur_prj.json

@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.get_cur_prj",
+  "p_type": 0
+}

rokae/assets/protocols/overview.reload.json

@@ -0,0 +1,10 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.reload",
+  "data": {
+	  "prj_path": "",
+	  "tasks": []
+  },
+  "p_type": 0
+}

rokae/assets/protocols/overview.set_autoload.json

@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "overview.set_autoload",
+  "data": {
+    "autoload_prj_path": ""
+  },
+  "p_type": 0
+}

rokae/assets/protocols/register.set_value.json

@@ -0,0 +1,12 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "fieldbus",
+  "command": "register.set_value",
+  "data": {
+	"name": "",
+	"type": "bool",
+	"bias": 0,
+	"value": 0
+  },
+  "p_type": 0
+}

rokae/assets/protocols/rl_task.pp_to_main.json

@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.pp_to_main",
+  "data": {
+	"tasks": []
+  },
+  "p_type": 0
+}

rokae/assets/protocols/rl_task.run.json

@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.run",
+  "data": {
+	"tasks": []
+  },
+  "p_type": 0
+}

rokae/assets/protocols/rl_task.set_run_params.json

@@ -0,0 +1,10 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.set_run_params",
+  "data": {
+	"loop_mode": true,
+	"override": 1.0
+  },
+  "p_type": 0
+}

rokae/assets/protocols/rl_task.stop.json

@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "project",
+  "command": "rl_task.stop",
+  "data": {
+	"tasks": []
+  },
+  "p_type": 0
+}

rokae/assets/protocols/safety.safety_area.overall_enable.json

@@ -0,0 +1,9 @@
+{
+    "id": "xxxxxxxxxxx",
+	"c": {
+        "safety.safety_area.overall_enable": {
+            "enable": true
+        }
+    },
+	"p_type": 1
+}

rokae/assets/protocols/safety.safety_area.safety_area_enable.json

@@ -0,0 +1,10 @@
+{
+    "id": "xxxxxxxxxxx",
+	"c": {
+        "safety.safety_area.safety_area_enable": {
+            "id": 0,
+            "enable": true
+        }
+    },
+	"p_type": 1
+}

rokae/assets/protocols/safety.safety_area.set_param.json

@@ -0,0 +1,7 @@
+{
+    "id": "xxxxxxxxxxx",
+	"c": {
+        "safety.safety_area.set_param": null
+    },
+	"p_type": 1
+}

rokae/assets/protocols/safety.safety_area.signal_enable.json

@@ -0,0 +1,9 @@
+{
+    "id": "xxxxxxxxxxx",
+	"c": {
+		"safety.safety_area.signal_enable": {
+			"signal": true
+		}
+	},
+	"p_type": 1
+}

rokae/assets/protocols/safety_area_data.json

@@ -0,0 +1,7 @@
+{
+    "id": "xxxxxxxxxxx",
+	"g": {
+        "safety_area_data": null
+    },
+	"p_type": 1
+}

rokae/assets/protocols/servo.clear_alarm.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "robot",
+    "command": "servo.clear_alarm",
+	"p_type": 0
+}

rokae/assets/protocols/socket.get_params.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "network",
+    "command": "socket.get_params",
+	"p_type": 0
+}

rokae/assets/protocols/socket.set_params.json

@@ -0,0 +1,18 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "network",
+    "command": "socket.set_params",
+    "data": {
+        "enable": true,
+        "ip": "",
+        "name": "c1",
+        "port": "8080",
+        "suffix": "\r",
+        "type": 1,
+        "reconnect_flag": false,
+        "auto_connect": true,
+        "disconnection_triggering_behavior": 0,
+        "disconnection_detection_time": 10
+    },
+	"p_type": 0
+}

rokae/assets/protocols/soft_limit.get_params.json

@@ -0,0 +1,6 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "safety",
+    "command": "soft_limit.get_params",
+	"p_type": 0
+}

rokae/assets/protocols/soft_limit.set_params.json

@@ -0,0 +1,13 @@
+{   
+    "id": "xxxxxxxxxxx",
+    "module": "safety",
+    "command": "soft_limit.set_params",
+    "data": {  
+        "enable": true,
+        "upper": [0,0,0,0,0,0,0],
+        "lower": [0,0,0,0,0,0,0],
+        "reduced_upper": [0,0,0,0,0,0,0],
+        "reduced_lower": [0,0,0,0,0,0,0]
+    },
+	"p_type": 0
+}

rokae/assets/protocols/state.get_state.json

@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.get_state",
+  "p_type": 0
+}

rokae/assets/protocols/state.get_tp_mode.json

@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.get_tp_mode",
+  "p_type": 0
+}

rokae/assets/protocols/state.set_tp_mode.json

@@ -0,0 +1,9 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.set_tp_mode",
+  "data": {
+	  "tp_mode": "with"
+  },
+  "p_type": 0
+}

rokae/assets/protocols/state.switch_auto.json

@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_auto",
+  "p_type": 0
+}

rokae/assets/protocols/state.switch_manual.json

@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_manual",
+  "p_type": 0
+}

rokae/assets/protocols/state.switch_motor_off.json

@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_motor_off",
+  "p_type": 0
+}

rokae/assets/protocols/state.switch_motor_on.json

@@ -0,0 +1,6 @@
+{
+  "id": "xxxxxxxxxxx",
+  "module": "system",
+  "command": "state.switch_motor_on",
+  "p_type": 0
+}

rokae/assets/protocols/system_io.query_configuration.json

@@ -0,0 +1,6 @@
+{    
+	"id": "xxxxxxxxxxx",
+	"module": "io",
+	"command": "system_io.query_configuration",
+	"p_type": 0
+}

rokae/assets/protocols/system_io.query_event_cfg.json

@@ -0,0 +1,6 @@
+{    
+	"id": "xxxxxxxxxxx",
+	"module": "io",
+	"command": "system_io.query_event_cfg",
+	"p_type": 0
+}

rokae/assets/protocols/system_io.update_configuration.json

@@ -0,0 +1,10 @@
+{  
+    "id": "xxxxxxxxxxx",
+	"module": "io",
+	"command": "system_io.update_configuration",
+    "data": {
+        "input_system_io": {},
+        "output_system_io": {}
+    },
+	"p_type": 0
+}

rokae/assets/protocols/原理/解包示例.txt

@@ -0,0 +1,56 @@
+b'\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340\x01o429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}\x04\x00\x00\x00-h\x02\x00{\n\t"command" : "diagnosis.result",\n\t"data" : \n\t[\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0'
+b'.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t0.00049929277011941824,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.00012044146029883355,\n\t\t\t\t-0.0022272681986605192,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t1.3482253018526145e-06,\n\t\t\t\t-0.002697798\x04\x008290070812,\n\t\t\t\t0.00050648330506263212,\n\t\t\t\t-0.0,\n\t\t\t\t0.0020753681479851243,\n\t\t\t\t2.8762139772855775e-05,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t3.5952674716069715e-05,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.0001496530085056402,\n\t\t\t\t0.0001276319952420475,\n\t\t\t\t-0.0027252127434780845,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t-0.0026977988290070812,\n\t\t\t\t8.5387602450665581e-06,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t0.00206862702147'
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+b'-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.00021840051467521813,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\x04\x00,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n'
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+b'\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0\x04\x00.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.'
+b'0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 3,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\x04\x00\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n'
+b'\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 5,\n\t\t\t"name" : "device_servo_trq_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.\x04\x000,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n'
+b'\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1\x04\x00.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.'
+b'0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 3,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t\x04\x001.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0,\n\t\t\t\t1.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 4,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : '
+b'\n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 5,\n\t\t\t"name" : "device_safety_estop",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5\x04\x00.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429'
+b'065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.55163404\x01n29065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}\x04\x00\x00\x00-\x8f\x02\x00{\n\t"command"'
+
+
+
+> - 封包解包顺序：帧长度二字节/包长度四字节/协议二字节/预留二字节，\x04\x00:\x00\x00\tR:\x02:\x00
+> - 帧长度和包长度没有必然关系，单帧的时候是帧长度减去包长度等于6，包长度指的是所有内容的长度
+> - HMI内部每次发送1024个字节，进行分包，有效内容长度规则是：第一帧 frm_value-6(帧大小减去包头长度)，第二帧（包含）及之后的帧，帧大小即是数据长度
+
+
+==================================================================================================
+单包多帧示例
+\x04\x00\x00\x00-h\x02\x00
+frm_value = int.from_bytes(b"\x04\x00") = 1024     |  每次发送的帧的报文总长度，包括包头（如果有），但不包括帧头
+pkg_value = int.from_bytes(b"\x00\x00-h") = 11624  |  包长度是不包括所有的帧和包报文头的，单包单帧的情况也是一样的
+pkg_size = 6 字节
+有效数据长度 = 10240 + 402 + 1004 - 20 - 2(首个帧头) = 11624
+有效数据长度+包报文头 = 11624 + 6 = 11630
+有效数据长度+包报文头+帧报文头 = 11624 + 6 + 22 = 11652
+首帧长度 1018=frm_value-pkg_size=1024-6：如下是第一帧和第二帧的拼接
+b'{\n\t"command" : "diagnosis.result",\n\t"data" : \n\t[\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 1,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t0.00049929277011941824,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.00012044146029883355,\n\t\t\t\t-0.0022272681986605192,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t-0.0027270103772138884,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t1.3482253018526145e-06,\n\t\t\t\t-0.002697798'
+单帧长度 1024：如下是第二帧和第三帧的拼接
+b'8290070812,\n\t\t\t\t0.00050648330506263212,\n\t\t\t\t-0.0,\n\t\t\t\t0.0020753681479851243,\n\t\t\t\t2.8762139772855775e-05,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t3.5952674716069715e-05,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t0.0001496530085056402,\n\t\t\t\t0.0001276319952420475,\n\t\t\t\t-0.0027252127434780845,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t-0.0026977988290070812,\n\t\t\t\t8.5387602450665581e-06,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t0.0020686270214758614,\n\t\t\t\t-0.0,\n\t\t\t\t7.1905349432139438e-06,\n\t\t\t\t1.3482253018526145e-06,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t2.8762139772855775e-05,\n\t\t\t\t-0.0,\n\t\t\t\t6.7411265092630715e-06,\n\t\t\t\t-0.0,\n\t\t\t\t0.00049929277011941824,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0\n\t\t\t]\n\t\t},\n\t\t{\n\t\t\t"channel" : 2,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t1.1984224905356572e-06,\n\t\t\t\t0.00010705907582118537,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0024236097500266104,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0,\n\t\t\t\t-0.0024240092241901226,\n\t\t'
+
+---------------------------------------------------------------------------------------------------
+第一帧有效 - 402
+b'{\n\t"command" : "diagnosis.result",\n\t"data" : \n\t[\n\t\t{\n\t\t\t"channel" : 0,\n\t\t\t"name" : "hw_joint_vel_feedback",\n\t\t\t"value" : \n\t\t\t[\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0.0,\n\t\t\t\t0'
+---------------------------------------------------------------------------------------------------
+中间有 10 帧，共计 10240 个字节，也有 10 个 \x04\x00，共计 20 个字节
+---------------------------------------------------------------------------------------------------
+最后一帧有效 - 1004
+b'065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.55163404\x01n29065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17,\n\t\t\t\t-5.5516340429065717e-17\n\t\t\t]\n\t\t}\n\t],\n\t"module" : "robot"\n}'
+---------------------------------------------------------------------------------------------------
+
+==================================================================================================
+单包单帧示例
+\x00\\\x00\x00\x00V\x02\x00
+frm_value = int.from_bytes(b"\x00\\") = 92         |  每次发送的帧的报文总长度，包括包头（如果有），但不包括帧头
+pkg_value = int.from_bytes(b"\x00\x00\x00V") = 86  |  包长度是不包括所有的帧和包报文头的，单包单帧的情况也是一样的
+pkg_size = 6
+有效数据长度 = 86
+有效数据长度+包报文头 = 86 + 6 = 92
+有效数据长度+包报文头+帧报文头 = 86 + 6 +2 = 94
+帧长度 86=frm_value-pkg_size=92-6
+
+b'\x00\\\x00\x00\x00V\x02\x00{\n\t"data" : \n\t{\n\t\t"name" : "xCore"\n\t},\n\t"id" : "controller.heart-1719734550.9790015"\n}'