I actually skimmed through the paper but wasn't able to determine if it did take the weight of the exo into account. Do you have a reference for how it specifie

I actually skimmed through the paper but wasn't able to determine if it did take the weight of the exo into account. Do you have a reference for how it specifies that? Also, I saw the BOM in the supplementary material (using 2 x 500g 3700mAh 6S LiPos; 160Wh total), but did not see data on what the range/battery life actually was in the system. That seems like that should be in there somewhere, but doesn't look like it's mentioned anywhere in the paper.