Level 1 Developer Guide (High-Level Commands · LV1 SDK)
This page matches the software doc Concept - High-Level Command Interface / LV1 SDK.
It is the high-level path: predefined actions and commands without managing low-level joint details. There is no prerequisite order vs the Level 0 (low-level) guide - start here if you integrate apps, ROS 2, or motions without per-joint torque programming.
What LV1 SDK covers (summary)
Per Concept:
- Run common motions and gaits with a single command
- Smooth fit with the RBQ APP command set
- APIs: C/C++, Python, ROS 2
- Typical uses: application developers, system integration, rapid prototyping with minimal setup
For direct sensor and actuator access, use the Level 0 Developer Guide and Low Level / LV0 SDK in Concept.
Who this is for
- Developers attaching gait modes and high-level motion via ROS 2 or the API
- Teams starting from API / ROS2; for a C++ DDS sample (low-level style), see rbq_example_level_0 and RBQ SDK
- Workflows with a development PC - Connect to the RBQ development PC
Prerequisites
| Item | Details |
|---|---|
| OS / build | Developers guide - shared sim / hardware setup |
| Concepts | Concept - High Level / LV1 SDK |
| Network | With the real robot, follow the same connectivity guidance as Controller & Wi-Fi. |
Suggested reading order (high-level)
- Common guide
- Developers guide
- API: required high-level motion APIs (e.g.,
motionStaticReady(),motionDynamicWalk(), etc.) - ROS2: high-level command / navigation topics and gait mapping
- C++ SDK & sample: RBQ SDK, rbq_example_level_0 (LV0-style); LV1 motion flows: API, ROS2
- Updates & contact: How to update GUI software, How to update robot software, Error reporting
GUI and operation docs
High-level commands may run alongside RBQGUI in the field. Design so you do not fight Sit / Stance / EMERGENCY - GUI introduction, Basic motion commands.
Gait / sensor quality: Calibration & tuning, state monitoring. Versions: Robot software update.
Notes
RL and custom gaits still carry fall and collision risk. Validate in simulation and a safe clearance; keep GUI intervention possible. Direct joint low-level work belongs under the Level 0 guide and safety / disclaimer.