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

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Interface Definition

HighLevelMotionController is a high-level motion controller oriented towards semantic control. It supports operations such as walking and performing tricks, encapsulating low-level details for upper-layer system calls.

HighLevelMotionController — High-Level Motion Controller

Item	Description
Class Name	HighLevelMotionController
Overview	High-level motion controller for semantic control, supports walking, tricks, etc.
Main Functions	Gait control, trick execution, joystick command sending
Use Cases	High-level robot motion control, trick performance, remote operation

initialize

Item	Description
Method Name	initialize
Declaration	bool initialize()
Overview	Initialize the controller and prepare high-level control functions.
Return Value	true for success, false for failure.
Note	Must be called before first use.

shutdown

Item	Description
Method Name	shutdown
Declaration	void shutdown()
Overview	Shut down the controller and release resources.
Note	Use together with initialize.

set_gait

Item	Description
Method Name	set_gait
Declaration	Status set_gait(GaitMode gait_mode)
Overview	Set the robot's gait mode (e.g., position-controlled stand, force-controlled stand, trot, etc.).
Parameter	gait_mode: Gait control enum.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface, supports switching between multiple gait modes.

get_gait

Item	Description
Method Name	get_gait
Declaration	GaitMode get_gait()
Overview	Get the robot's current gait mode (e.g., position-controlled stand, force-controlled stand, trot, etc.).
Return Value	Current gait mode, returns GAIT_NONE on failure.
Note	Blocking interface, gets the current gait mode.

execute_trick

Item	Description
Method Name	execute_trick
Declaration	Status execute_trick(TrickAction trick_action)
Overview	Execute a trick action (e.g., wiggle hip, lie down, etc.).
Parameter	trick_action: Trick action identifier.
Return Value	Status::OK for success, others for failure.
Note	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(1) (position-controlled stand gait).

send_joystick_command

Item	Description
Method Name	send_joystick_command
Declaration	Status send_joystick_command(JoystickCommand command)
Overview	Send real-time joystick control commands.
Parameter	command: Control data containing joystick coordinates.
Return Value	Status::OK for success, others for failure.
Note	Non-blocking interface, recommended sending frequency is 20Hz.

get_all_gait_speed_ratio

Item	Description
Method Name	get_all_gait_speed_ratio
Declaration	AllGaitSpeedRatio get_all_gait_speed_ratio()
Overview	Get all gaits and their corresponding forward, lateral, and rotational speed ratios.
Parameter	None
Return Value	Returns AllGaitSpeedRatio object on success, empty object on failure.
Note	Blocking interface, used to get speed ratio configuration for all gaits.

set_gait_speed_ratio

Item	Description
Method Name	set_gait_speed_ratio
Declaration	Status set_gait_speed_ratio(GaitMode gait_mode, GaitSpeedRatio gait_speed_ratio)
Overview	Set the speed ratio for a gait, including forward, lateral, and rotational speed ratios.
Parameter	gait_mode: Gait mode; gait_speed_ratio: Speed ratio configuration.
Return Value	Status::OK for success, others for failure.
Note	Blocking interface, used to set speed ratio configuration for a specific gait.

get_head_motor_enabled

Item	Description
Method Name	get_head_motor_enabled
Declaration	bool get_head_motor_enabled()
Overview	Get the enable status of the head motor.
Parameter	None
Return Value	Returns true (enabled) or false (disabled) on success, false on failure.
Note	Blocking interface, used to query the enable status of the head motor.

enable_head_motor

Item	Description
Method Name	enable_head_motor
Declaration	Status enable_head_motor()
Overview	Enable the head motor.
Parameter	None
Return Value	Status::OK for success, others for failure.
Note	Blocking interface, used to enable head motor control.

disable_head_motor

Item	Description
Method Name	disable_head_motor
Declaration	Status disable_head_motor()
Overview	Disable the head motor.
Parameter	None
Return Value	Status::OK for success, others for failure.
Note	Blocking interface, used to disable head motor control.

Enum Type Definitions

GaitMode — Gait Mode Enum

Enum Value	Value	Description
GAIT_PASSIVE	0	Drop (disable motors)
GAIT_STAND_R	2	Position-controlled stand, RecoveryStand
GAIT_STAND_B	3	Force-controlled stand, pose display, BalanceStand
GAIT_RUN_FAST	8	Fast run
GAIT_DOWN_CLIMB_STAIRS	9	Downstairs => blind walk => trot
GAIT_TROT	10	Trot
GAIT_PRONK	11	Jump
GAIT_BOUND	12	Front-back jump
GAIT_AMBLE	14	Amble
GAIT_CRAWL	29	Crawl
GAIT_LOWLEVL_SDK	30	Low-level SDK gait
GAIT_WALK	39	Slow walk
GAIT_UP_CLIMB_STAIRS	56	Upstairs (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

TrickAction — Trick Action Enum

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°
ACTION_SPIN_JUMP_RIGHT	44	Spin jump right 70°
ACTION_JUMP_FRONT	45	Jump forward 0.5m
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

Data Structure 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	GaitModeGaitSpeedRatioMap	Mapping from gait mode to speed ratio

GaitModeGaitSpeedRatioMap — Gait Mode to Speed Ratio Mapping Type

Item	Description
Type Name	GaitModeGaitSpeedRatioMap
Type Definition	std::map<GaitMode, GaitSpeedRatio>
Overview	Mapping container from gait mode to speed ratio configuration
Key Type	GaitMode - Gait mode enum
Value Type	GaitSpeedRatio - Speed ratio structure
Use Cases	Store and manage speed ratio configurations for all gaits

JoystickCommand — 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)

Joystick Diagram

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

High-Level Motion Control Robot State Introduction

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

• Position-controlled stand: In this state, you can call various SDK interfaces to perform tricks and basic motion control.
• Force-controlled 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.

Robot state switching mechanism:

High-Level Motion Control Interface

The robot's high-level motion control service can be divided into basic motion control and trick action control.

• In the basic motion control service, you can call the corresponding interface 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 interface to perform built-in special tricks, such as wiggle hip, lie down, etc.

Gait Switching

Current Robot Gait	Gait Switching Process	Diagram
Force-Controlled Stand
Trot Mode
Fast Walk 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