High-Level Motion Control Service

About 2411 wordsAbout 8 min

2025-01-27

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

Interface Definition

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

HighLevelMotionController

Item	Content
Class Name	HighLevelMotionController
Constructor	`controller = HighLevelMotionController()`
Function Overview	Constructor, initializes high-level controller state
Notes	Constructs internal control resources

initialize

Item	Content
Function Name	initialize
Function Declaration	`bool initialize()`
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	`void shutdown()`
Function Overview	Close controller and release resources
Notes	Used in conjunction with initialize, safely disconnect

set_gait

Item	Content
Function Name	set_gait
Function Declaration	`Status set_gait(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` object, `Status.code == ErrorCode.OK` indicates success
Notes	Blocking interface, can switch between multiple gait modes

get_gait

Item	Content
Function Name	get_gait
Function Declaration	`Status get_gait()`
Function Overview	Get robot gait mode (such as recovery stand, balance stand, humanoid walking, etc.)
Return Value	`Status` object containing current gait mode information
Notes	Blocking interface, gets current gait mode

execute_trick

Item	Content
Function Name	execute_trick
Function Declaration	`Status execute_trick(TrickAction trick_action)`
Function Overview	Execute trick actions (such as celebrate, wave, etc.)
Parameter Description	`trick_action`: Trick action identifier
Return Value	`Status` object, `Status.code == ErrorCode.OK` indicates success
Notes	Blocking interface, ensure robot can currently execute tricks Note: Trick actions must be performed under GaitMode.GAIT_BALANCE_STAND(46) gait

send_joystick_command

Item	Content
Function Name	send_joystick_command
Function Declaration	`Status send_joystick_command(JoystickCommand joy_command)`
Function Overview	Send real-time joystick control commands
Parameter Description	`joy_command`: Control data containing joystick coordinates
Return Value	`Status` object, `Status.code == ErrorCode.OK` indicates success
Notes	Non-blocking interface, recommended sending frequency is 20Hz

Type Definitions

`JoystickCommand` — High-Level Motion Control Joystick Command Structure

Field Name	Type	Description
`x`	`float`	Left joystick X-axis direction value (-1.0: left, 1.0: right)
`y`	`float`	Left joystick Y-axis direction value (-1.0: down, 1.0: up)
`yaw`	`float`	Right joystick X-axis direction value (rotation -1.0: left, 1.0: right)
`z`	`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_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	Shake Hand - Reach Out
`ACTION_SHAKE_HAND_WITHDRAW`	218	Shake Hand - Withdraw
`ACTION_NOD_HEAD`	219	Nod Head
`ACTION_SHAKE_HEAD`	220	Shake Head
`ACTION_CIRCLE_HEAD`	221	Circle Shake 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 Back
`ACTION_TRUN_BACK_LEFT_INTRODUCE`	307	Turn Back Forward

Joystick Diagram

The range of left and right joystick x-axis and y-axis values is [-1.0, 1.0];
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 explanation of each state is as follows:

Recovery Stand: Recovery stand is the state connecting robot suspension landing and balance stand. The robot needs to enter balance stand state before calling corresponding motion services to achieve robot control.
Balance Stand: In balance stand state, you can call various SDK interfaces to achieve 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 special action execution state, other motion control services will be suspended first, waiting for current action to complete and enter balance stand state before taking effect again.

Robot state switching mechanism;

High-Level Motion Control Interface

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

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