| Config | v0 | v1 | v2 | v3 | v4 | v5 | v6 |
| Body Quaternion | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Actuator Position (Qty: 8) | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Actuator Velocity (Qty: 8) | - | - | ✓ | ✓ | ✓ | ✓ | ✓ |
| Actuator Load (Qty: 8) | - | - | - | ✓ | ✓ | ✓ | ✓ |
| Foot Pressure Sensor (Qty: 4) | - | - | - | - | ✓ | ✓ | ✓ |
| 3-axis Accelerometer (Qty: 9) | - | - | - | - | - | ✓ | ✓ |
| 3-axis Gyro (Qty: 9) | - | - | - | - | - | - | ✓ |