Data Formats

G2-L sends output over UDP. The quick-start archive includes decoder sample code; use the decoder and field definitions paired with the deployed application and firmware version.

UDP Ports

Port	Purpose
15000	Glove data transmission
51000	Machine-information push messages

Published Header and State Fields

Field	Type	Value or meaning
Header1	uint8_t	0x55
Header2	uint8_t	0xAA
ID	uint16_t	0x8001
Length	uint16_t	Total packet length
timestamp	uint64_t	Timestamp
InputDevice	uint8_t	0 Unknown; 1 Glove; 2 Handle
TeleopModel	uint8_t	0 Unknown; 1 Half; 2 Full
CalibrationState	uint8_t	0 Unknown; 1 Uncalibrated; 2 Calibrating; 3 Calibrated
TakeoverState	uint8_t	0 Unknown; 1 Inactive; 2 Active; 3 Transitioning; 4 EmergencyStopped
ControlMode	uint8_t	0 Unknown; 1 Absolute; 2 Relative
CalibrationCallback	uint8_t	0 Unknown; 1 UnStop; 2 MissData

The source does not specify the full payload byte layout. Do not derive pose or control-payload offsets from this status table; use the delivered decoder and matching versioned field specification.

Integration Checklist

• [ ] Listen for glove data on 15000 and machine information on 51000.
• [ ] Validate the 0x55 0xAA header, ID, Length, and timestamp continuity.
• [ ] Confirm CalibrationState is Calibrated before teleoperation.
• [ ] Record the application, glove firmware, and decoder-example versions together.

See Coordinate systems for the world-frame definition.