packet.txt

State Message:
little endian
packet length in bytes (not inclusive) (4 bytes)
type (4 bytes) (1E for state message)
comm_type (4 bytes) (1 for all message)
reply_code (4 bytes) (0 for no reply)
state data:
 data (data_length bytes)
 data_length (4 bytes)
 value (4 bytes)
 type (4 btyes)
 level (1 byte)

Joint State Message:
little endian
packet length in bytes (not inclusive) (4 bytes) (56 for IRB120)
type (4 bytes) (0A for joint message)
comm_type (4 bytes) (1 for all messages)
reply_code (4 bytes) (0 for no reply)
joint data:
 sequence (4 byte int, can be 0)
 joint0 (float)
 joint1 (float)
 joint2 (float)
 joint3 (float)
 joint4 (float)
 joint5 (float)
 joint6 (float)
 joint7 (float)
 joint8 (float)
 joint9 (float)

Joint Trajectory Pt Message:
little endian
packet length (4 bytes) (60)
type (4 bytes) (0B = 11 for joint pt message)
comm_type (4 bytes) (1 for all messages)
reply_code (4 bytes) (0 except for stop command)
joint trajectory point:
 sequence (signed 4 byte int, special values for first in download(-1), first in stream(-2), last(-3), and stop(-4) command)
 joint positions
  joint0 (float)
  joint1 (float)
  joint2 (float)
  joint3 (float)
  joint4 (float)
  joint5 (float)
  joint6 (float)
  joint7 (float)
  joint8 (float)
  joint9 (float)
 joint velocity (float)