Provides high-level motion control services for the robot system. Through HighLevelMotionController, you can control robot gait, tricks, and remote control via RPC communication.

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Interface Definition

HighLevelMotionController is a high-level motion controller for semantic control, supporting control operations such as walking and tricks, encapsulating low-level details for upper system calls.

HighLevelMotionController

Item	Content
Function Name	HighLevelMotionController
Function Declaration	HighLevelMotionController();
Function Overview	Constructor, initializes high-level controller state.
Notes	Constructs internal control resources.

~HighLevelMotionController

Item	Content
Function Name	~HighLevelMotionController
Function Declaration	virtual ~HighLevelMotionController();
Function Overview	Destructor, releases controller resources.
Notes	Used together with the constructor.

Initialize

Item	Content
Function Name	Initialize
Function Declaration	virtual bool Initialize() override;
Function Overview	Initializes the controller and prepares high-level control functions.
Return Value	true means success, false means failure.
Notes	Must be called before first use.

Shutdown

Item	Content
Function Name	Shutdown
Function Declaration	virtual void Shutdown() override;
Function Overview	Shuts down the controller and releases resources.
Notes	Used together with Initialize.

SetGait

Item	Content
Function Name	SetGait
Function Declaration	Status SetGait(const GaitMode gait_mode);
Function Overview	Set the robot's gait mode (e.g., position control stand, force control stand, jogging, etc.).
Parameter Description	gait_mode: Gait control enumeration.
Return Value	Status::OK means success, others mean failure.
Notes	Blocking interface, supports switching between multiple gait modes.

GetGait

Item	Content
Function Name	GetGait
Function Declaration	Status GetGait(GaitMode& gait_mode);
Function Overview	Get the robot's gait mode (e.g., position control stand, force control stand, jogging, etc.).
Parameter Description	gait_mode: Gait control enumeration.
Return Value	Status::OK means success, others mean failure.
Notes	Blocking interface, gets the current gait mode.

ExecuteTrick

Item	Content
Function Name	ExecuteTrick
Function Declaration	Status ExecuteTrick(const TrickAction trick_action);
Function Overview	Execute trick actions (e.g., wiggle hip, lie down, etc.).
Parameter Description	trick_action: Trick action identifier.
Return Value	Status::OK means success, others mean failure.
Notes	Blocking interface, ensure the robot is in a state where tricks can be executed.

• Note: Trick actions must be executed under GaitMode::GAIT_STAND_R(2) (position control stand gait).

SendJoyStickCommand

Item	Content
Function Name	SendJoyStickCommand
Function Declaration	Status SendJoyStickCommand(const JoystickCommand& joy_command);
Function Overview	Send real-time joystick control command.
Parameter Description	joy_command: Control data containing joystick coordinates.
Return Value	Status::OK means success, others mean failure.
Notes	Non-blocking interface, recommended sending frequency is 20Hz.

GetAllGaitSpeedRatio

Item	Content
Function Name	GetAllGaitSpeedRatio
Function Declaration	Status GetAllGaitSpeedRatio(AllGaitSpeedRatio& gait_speed_ratios);
Function Overview	Get all gaits and their corresponding forward, lateral, and rotational speed ratios.
Parameter Description	gait_speed_ratios: All gaits and their corresponding speed ratios.
Return Value	Status::OK means success, others mean failure.
Notes	Blocking interface, used to get speed ratio configuration for all gaits.

SetGaitSpeedRatio

Item	Content
Function Name	SetGaitSpeedRatio
Function Declaration	Status SetGaitSpeedRatio(GaitMode gait_mode, const GaitSpeedRatio& gait_speed_ratio);
Function Overview	Set gait and its corresponding forward, lateral, and rotational speed ratios.
Parameter Description	gait_mode: Gait mode gait_speed_ratio: Gait and its corresponding speed ratios
Return Value	Status::OK means success, others mean failure.
Notes	Blocking interface, used to set speed ratio configuration for a specific gait.

GetHeadMotorEnabled

Item	Content
Function Name	GetHeadMotorEnabled
Function Declaration	Status GetHeadMotorEnabled(bool& enabled);
Function Overview	Get the enable status of the head motor.
Parameter Description	enabled: Return parameter, true means enabled, false means not enabled.
Return Value	Status::OK means success, others mean failure.
Notes	Blocking interface, used to query the current enable status of the head motor.

EnableHeadMotor

Item	Content
Function Name	EnableHeadMotor
Function Declaration	Status EnableHeadMotor();
Function Overview	Enable the head motor.
Return Value	Status::OK means success, others mean failure.
Notes	Blocking interface, used to enable head motor control.

DisableHeadMotor

Item	Content
Function Name	DisableHeadMotor
Function Declaration	Status DisableHeadMotor();
Function Overview	Disable the head motor.
Return Value	Status::OK means success, others mean failure.
Notes	Blocking interface, used to disable head motor control.

Type Definitions

GaitSpeedRatio — Gait Speed Ratio Structure

Field Name	Type	Description
straight_ratio	double	Forward speed ratio
turn_ratio	double	Rotational speed ratio
lateral_ratio	double	Lateral speed ratio

AllGaitSpeedRatio — All Gait Speed Ratio Structure

Field Name	Type	Description
gait_speed_ratios	std::map<GaitMode, GaitSpeedRatio>	Mapping from gait mode to speed ratio

JoystickCommand — High-Level Motion Control Joystick Command Structure

Field Name	Type	Description
left_x_axis	float	X axis value of the left joystick (-1.0: left, 1.0: right)
left_y_axis	float	Y axis value of the left joystick (-1.0: down, 1.0: up)
right_x_axis	float	X axis value of the right joystick (rotation -1.0: left, 1.0: right)
right_y_axis	float	Y axis value of the right joystick (usage not defined yet)

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Enum Type Definitions

GaitMode — Robot Gait Mode Enumeration

Enum Value	Value	Description
GAIT_PASSIVE	0	Drop (disable motor enable)
GAIT_STAND_R	2	Position control stand, RecoveryStand
GAIT_STAND_B	3	Force control stand, pose display, BalanceStand
GAIT_RUN_FAST	8	Fast run
GAIT_DOWN_CLIMB_STAIRS	9	Downstairs => blind walk => jog
GAIT_TROT	10	Trot
GAIT_PRONK	11	Jump
GAIT_BOUND	12	Jump forward and backward
GAIT_AMBLE	14	Amble
GAIT_CRAWL	29	Crawl
GAIT_LOWLEVL_SDK	30	Low-level SDK gait
GAIT_WALK	39	Walk slowly
GAIT_UP_CLIMB_STAIRS	56	Climb stairs (all terrain)
GAIT_RL_TERRAIN	110	All terrain
GAIT_RL_FALL_RECOVERY	111	Fall recovery
GAIT_RL_HAND_STAND	112	Handstand
GAIT_RL_FOOT_STAND	113	Upright
GAIT_ENTER_RL	1001	Enter RL
GAIT_DEFAULT	99	Default
GAIT_NONE	9999	No gait

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TrickAction — Trick Action Command Enumeration

Enum Value	Value	Description
ACTION_NONE	0	No action
ACTION_WIGGLE_HIP	26	Wiggle hip
ACTION_SWING_BODY	27	Swing body
ACTION_STRETCH	28	Stretch
ACTION_STOMP	29	Stomp
ACTION_JUMP_JACK	30	Jumping jack
ACTION_SPACE_WALK	31	Moonwalk
ACTION_IMITATE	32	Imitate
ACTION_SHAKE_HEAD	33	Shake head
ACTION_PUSH_UP	34	Push-up
ACTION_CHEER_UP	35	Cheer up
ACTION_HIGH_FIVES	36	High fives
ACTION_SCRATCH	37	Scratch
ACTION_HIGH_JUMP	38	High jump
ACTION_SWING_DANCE	39	Swing dance
ACTION_LEAP_FROG	40	Leap frog
ACTION_BACK_FLIP	41	Back flip
ACTION_FRONT_FLIP	42	Front flip
ACTION_SPIN_JUMP_LEFT	43	Spin jump left 70 degrees
ACTION_SPIN_JUMP_RIGHT	44	Spin jump right 70 degrees
ACTION_JUMP_FRONT	45	Jump forward 0.5 meters
ACTION_ACT_CUTE	46	Act cute
ACTION_BOXING	47	Boxing
ACTION_SIDE_SOMERSAULT	48	Side somersault
ACTION_RANDOM_DANCE	49	Random dance
ACTION_LEFT_SIDE_SOMERSAULT	84	Left side somersault
ACTION_RIGHT_SIDE_SOMERSAULT	85	Right side somersault
ACTION_DANCE2	91	Dance 2
ACTION_EMERGENCY_STOP	101	Emergency stop
ACTION_LIE_DOWN	102	Lie down
ACTION_RECOVERY_STAND	103	Stand up
ACTION_HAPPY_NEW_YEAR	105	New Year greeting (bow)
ACTION_SLOW_GO_FRONT	108	Come here
ACTION_SLOW_GO_BACK	109	Go back
ACTION_BACK_HOME	110	Go home
ACTION_LEAVE_HOME	111	Leave home
ACTION_TURN_AROUND	112	Turn around
ACTION_DANCE	115	Dance
ACTION_ROLL_ABOUT	116	Roll about
ACTION_SHAKE_RIGHT_HAND	117	Shake right hand
ACTION_SHAKE_LEFT_HAND	118	Shake left hand
ACTION_SIT_DOWN	119	Sit down

Joystick Diagram

1. The value range of the x and y axes of the left and right joysticks is [-1.0, 1.0];
2. The positive direction of the x and y axes of the left and right joysticks is up/right, as shown in the diagram;

High-Level Motion Control Robot State Introduction

The robot's motion includes position control stand, force control stand, basic motion, and trick action states. During operation, the robot switches between different states through a state machine to accomplish different control tasks. The explanations for each state are as follows:

• Position control stand: In this state, you can call various SDK interfaces to perform trick actions and basic motion control.
• Force control stand: In this state, it can be used for pose display.
• Basic motion: During motion execution, you can call SDK interfaces to let the robot enter different gaits.
• Trick action: When entering the special action execution state, other motion control services will be suspended. After the current action is completed and the robot returns to balance stand, other services will take effect again.

Robot state switching mechanism:

High-Level Motion Control Interfaces

The robot's high-level motion control services are divided into basic motion control and trick action control.

• In the basic motion control service, you can call the corresponding interfaces to switch the robot's walking gait according to different terrain scenarios and task requirements.
• In the trick action control service, you can call the corresponding interfaces to perform the robot's built-in special tricks, such as wiggle hip, lie down, etc.

Gait Switching

Current Robot Gait	Gait Switching Process	Diagram
Force Control Stand
Jogging Mode
Trot Mode

Trick Execution

Robot Trick	Trick Execution Process	Diagram
Wiggle Hip
Stretch
Stomp
Jumping Jack
Moonwalk
Shake Head
Push-up
Cheer Up
High Fives
Scratch
Back Flip
Spin Jump Left 70°
Spin Jump Right 70°
Jump Forward 0.5m
Boxing
Turn Around
Dance
Shake Right Hand
Shake Left Hand
Sit Down