Payload Configuration

In RBQGUI, use Payload Configuration to enter the mass and offsets of attached payloads and improve walking stability.

Preparation

• Place the robot on a flat, safe surface.
• Make sure RBQGUI is connected to the robot.
• Check the payload center position in advance (X/Y/Z offsets).

Procedure

1. Open Payload Configuration in RBQGUI.
2. Enter the following values in the top input fields:
   • Mass (kg): Mass of the attached payload
   • Offset X/Y/Z (m): Payload center position in the robot coordinate frame

3. Click + Add to add the values to the Added Payload list.
4. Confirm the values were added correctly, then click Set Payload.

5. When the confirmation popup appears, verify the values (mass and offsets) and click Confirm to apply them to the robot.

6. After applying, use Load Payload if needed to reload and verify the currently applied value.

Button Functions

• + Add: Add entered mass/offset values to the candidate list
• Clear: Clear current input fields
• Set Payload: Apply the Added Payload value to the robot
• Load Payload: Load the payload value currently applied on the robot
• Reset Payload: Reset payload values to default state