State Monitoring

In RBQGUI, you can check the robot’s current status (emergency/power/sensors/perception modules) in real time.

1) Top Status Area

As shown in state_monitoring1.png, the top area displays EMERGENCY status and various system status icons (battery/connection/power, etc.).

Top status area

2) Diagnostic Table (Motors/IMU, etc.)

In state_monitoring2.png, you can review diagnostic values per leg/joint (e.g., HRR/HRP/...) along with readings such as temperature, gyro, and acceleration (ACC) in a table.

Joint/Sensor diagnostic table

Joint Naming

Joint IDs in the diagnostic table use the following abbreviations:

• HRR : Hind Right Roll, HRP : Hind Right Pitch, HRK : Hind Right Knee
• HLR : Hind Left Roll, HLP : Hind Left Pitch, HLK : Hind Left Knee
• FRR : Front Right Roll, FRP : Front Right Pitch, FRK : Front Right Knee
• FLR : Front Left Roll, FLP : Front Left Pitch, FLK : Front Left Knee

3) Perception Status

As shown in state_monitoring3.png, you can toggle perception-related modules (e.g., IR projector, night vision, LED buzzer, etc.), and check module operation/error/count values (Fail/Count).

Perception module status

4) Power Switch & Module Check

In state_monitoring4.png, you can check power switch states (Vision Computer/Cameras/sensors such as LiDAR) and also review major power/load status like BAT/LEGS/ADDON/EXTERN/CHARGE. Use Reset and Check to refresh the status.

Power switch & module check

Notes / Warnings

• If EMERGENCY or an abnormal state is shown, secure safety first and then check the cause (sensor/power/perception module operation, etc.).
• If perception/sensor modules are OFF, the corresponding features (e.g., vision-based walking) may be limited.