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

Interface Definition

HighLevelMotionController is a high-level motion controller for semantic control, supporting control operations such as walking, trick actions, head movement, etc., encapsulating low-level details for high-level 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 in conjunction with constructor

Initialize

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

Shutdown

Item	Content
Function Name	Shutdown
Function Declaration	virtual void Shutdown() override;
Function Overview	Shutdown controller and release resources
Notes	Used in conjunction with Initialize, safely disconnect

SetGait

Item	Content
Function Name	SetGait
Function Declaration	Status SetGait(const GaitMode gait_mode);
Function Overview	Set robot gait mode (such as recovery stand, balance stand, humanoid walking, etc.)
Parameter Description	gait_mode: Gait control enumeration
Return Value	Status::OK indicates success, others indicate failure
Notes	Blocking interface, can switch between multiple gait modes

GetGait

Item	Content
Function Name	GetGait
Function Declaration	Status GetGait(GaitMode& gait_mode);
Function Overview	Get robot gait mode (such as recovery stand, balance stand, humanoid walking, etc.)
Parameter Description	gait_mode: Gait control enumeration
Return Value	Status::OK indicates success, others indicate failure
Notes	Blocking interface, gets current gait mode

ExecuteTrick

Item	Content
Function Name	ExecuteTrick
Function Declaration	Status ExecuteTrick(const TrickAction trick_action);
Function Overview	Execute trick actions (such as celebrate, wave, etc.)
Parameter Description	trick_action: Trick action identifier
Return Value	Status::OK indicates success, others indicate failure
Notes	Blocking interface, ensure robot can currently execute tricks Note: Trick actions must be performed in GaitMode::GAIT_BALANCE_STAND(46) gait

• Note: Trick actions must be performed in GaitMode::GAIT_BALANCE_STAND(46) gait to execute trick demonstrations

SendJoyStickCommand

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

Type Definitions

JoystickCommand — High-Level Motion Control Joystick Command Structure

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

---

Enumeration Type Definitions

GaitMode — Robot Gait Mode Enumeration

Enumeration Value	Value	Description
GAIT_PASSIVE	0	Passive
GAIT_PURE_DAMPER	0	Pure Damper
GAIT_RECOVERY_STAND	1	Recovery stand
GAIT_BALANCE_STAND	46	Balance stand (supports movement)
GAIT_ARM_SWING_WALK	47	Arm swing walking
GAIT_LOWLEVL_SDK	200	Low-level control SDK mode

---

TrickAction — Trick Action Command Enumeration

Enumeration Value	Value	Description
ACTION_RECOVERY_STAND	103	Balance stand
ACTION_CELEBRATE	201	Celebrate
ACTION_SHAKE_HAND_REACHOUT	217	Handshake - reach out
ACTION_SHAKE_HAND_WITHDRAW	218	Handshake - withdraw
ACTION_NOD_HEAD	219	Nod head
ACTION_SHAKE_HEAD	220	Shake head
ACTION_CIRCLE_HEAD	221	Circle head
ACTION_GTEETING	301	Greeting
ACTION_POINT_GROUND	302	Point ground - reach out
ACTION_POINT_GROUND_WITH_DRAW	303	Point ground - withdraw
ACTION_SPREAD_HAND	304	Spread hand
ACTION_SPREAD_HAND_WITH_DRAW	305	Spread hand - withdraw
ACTION_TRUN_AWAY_LEFT_INTRODUCE	306	Turn away left introduce
ACTION_TRUN_BACK_LEFT_INTRODUCE	307	Turn back left introduce

---

Joystick Diagram

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

High-Level Motion Control Robot State Introduction

Robot motion includes recovery stand, balance stand, basic motion, and trick action states. During operation, the robot switches between different states through a state machine to achieve different control tasks. The explanations for each state are as follows:

• Recovery Stand: Recovery stand is the state connecting robot suspension landing and balance stand. The robot needs to enter the balance stand state before calling the corresponding motion services to achieve robot control.
• Balance Stand: In the balance stand state, you can call various SDK interfaces to implement robot trick actions and basic motion control.
• Basic Motion: During motion execution, you can call SDK interfaces to make the robot enter different gaits.
• Trick Actions: When entering the special action execution state, other motion control services will be suspended first, waiting for the current action to complete and enter the balance stand state before taking effect again.

Robot state switching mechanism;

High-Level Motion Control Interface

Robot high-level motion control services can be divided into basic motion control and trick action control.

• In basic motion control services, you can call corresponding interfaces to switch robot walking gaits according to different terrain scenarios and task requirements.
• In trick action control services, you can call corresponding interfaces to implement robot built-in special tricks, such as celebrate, handshake, greeting, etc.

Gait Switching

Current Gait	Gait Switching Process	Diagram
Recovery Stand
Balance Stand
Arm Swing Walking

---

Trick Execution

Trick	Trick Execution Process	Diagram
Celebrate
Handshake
Nod head
Shake head
Circle head
Greeting
Point Ground
Spread hand
Turn Body