Motion Service Interfaces

Introduction

Motion Service Interfaces:

Control the robot's stand/lie down posture, body height, gait, charging, and velocity through Python function calls.

Purpose	Python
Stand Up	✔
Lie Down	✔
Get Robot Posture State	✔
Adjust Standing Height	✔
Set Gait	✔
Get Gait	✔
Set Control Mode	✔
Get Control Mode	✔
Go to Charging Dock	✔
Leave Charging Dock	✔
Get Dock State	✔
Get Battery State	✔
Check Charging Status	✔
Velocity Control	✔

Stand and Lie Down

Python Interface

`stand_up(timeout=30)`

Function Description
Make the robot stand up. Intelligently checks the current posture state before sending commands:

Already standing: returns success immediately without sending extra commands
Currently in the process of standing up: returns failure (wait for completion)
Lying down: sends stand up command

Parameter Description

Parameter Name	Type	Required/Default	Description
`timeout`	`int`	`30`	Service call timeout in seconds.

Return Value

Type	Description
`StandUpResponse`	`state.code == 0` indicates success; `response.result` is a boolean indicating whether the command executed successfully.

Example

python

from daystar_api.lowlevel_skills import stand_up

result = stand_up()
if result.response.result:
    print("Robot is now standing")
else:
    print(f"Stand up failed: {result.state.describe}")

`lie_down(timeout=30)`

Function Description
Make the robot lie down. Intelligently checks the current posture state before sending commands:

Already lying down: returns success immediately without sending extra commands
Currently in the process of standing up: returns failure (cannot interrupt)
Standing: sends lie down command

Parameter Description

Parameter Name	Type	Required/Default	Description
`timeout`	`int`	`30`	Service call timeout in seconds.

Return Value

Type	Description
`LieDownResponse`	`state.code == 0` indicates success; `response.result` is a boolean indicating whether the command executed successfully.

Example

python

from daystar_api.lowlevel_skills import lie_down

result = lie_down()
if result.response.result:
    print("Robot is now lying down")
else:
    print(f"Lie down failed: {result.state.describe}")

`get_robot_state()`

Function Description
Get the robot's current posture state with automatic data validation. Returns UNKNOWN_STATE when data is stale or unavailable.

Parameter Description

No parameters.

Return Value

Type	Description
`GetRobotStateResponse`	`state.code == 0` indicates success; `robot_state` is a `RobotState` enum: `LIE_DOWN(0)` lying down, `STANDING_UP(1)` standing up in transition, `STAND_UP(2)` standing, `UNKNOWN_STATE(99)` unknown.

Example

python

from daystar_api.lowlevel_skills import get_robot_state, RobotState

response = get_robot_state()
if response.state.code == 0:
    if response.robot_state == RobotState.STAND_UP:
        print("Robot is standing")
    elif response.robot_state == RobotState.LIE_DOWN:
        print("Robot is lying down")

Body Control

Python Interface

`adjust_body_height(percent, timeout=5)`

Function Description
Adjust the robot's standing height (percentage). The robot must be standing to adjust height. Valid range is 20–50.

Parameter Description

Parameter Name	Type	Required/Default	Description
`percent`	`int`	Required	Height percentage, valid range 20–50.
`timeout`	`int`	`5`	Service call timeout in seconds.

Return Value

Type	Description
`RobotCommandResponse`	`state.code == 0` indicates success; `response.result` is a boolean indicating whether the command executed successfully.

Example

python

from daystar_api.lowlevel_skills import adjust_body_height

result = adjust_body_height(30)
if result.response.result:
    print("Height adjusted to 30%")

`set_gait(gait_type, timeout=5)`

Function Description
Set the robot gait type. The robot must be standing to switch gait.

Parameter Description

Parameter Name	Type	Required/Default	Description
`gait_type`	`GaitType`	Required	Gait type enum. `GaitType.TROT(0)` normal gait; `GaitType.NORMAL_STAIR(1)` normal stair gait; `GaitType.SENSE_STAIR(6)` sensing stair gait; `GaitType.POSE_ADJUST(13)` pose adjustment; `GaitType.CAR_MODE(14)` crawl mode; `GaitType.RL_TROT(0x20)` RL trot; `GaitType.RL_MOUNTAIN(0x21)` RL mountain gait.
`timeout`	`int`	`5`	Service call timeout in seconds.

Return Value

Type	Description
`RobotCommandResponse`	`state.code == 0` indicates success; `response.result` is a boolean.

Example

python

from daystar_api.lowlevel_skills import set_gait, GaitType

result = set_gait(GaitType.TROT)
if result.response.result:
    print("Gait set to normal trot")

`get_gait()`

Function Description
Get the robot's current gait type with automatic data validation. Returns UNKNOWN_GAIT when data is stale or unavailable.

Parameter Description

No parameters.

Return Value

Type	Description
`GetGaitResponse`	`state.code == 0` indicates success; `gait_type` is a `GaitType` enum value.

Example

python

from daystar_api.lowlevel_skills import get_gait, GaitType

response = get_gait()
if response.state.code == 0:
    print(f"Current gait: {response.gait_type}")

Control Mode

Python Interface

`set_control_mode(mode, timeout=5)`

Function Description
Set the robot control mode, switching between manual joystick mode and automatic navigation mode.

Parameter Description

Parameter Name	Type	Required/Default	Description
`mode`	`ControlMode`	Required	Control mode enum. `ControlMode.JOY_MODE(0)` joystick manual control; `ControlMode.NAV_MODE(1)` navigation automatic control.
`timeout`	`int`	`5`	Service call timeout in seconds.

Return Value

Type	Description
`RobotCommandResponse`	`state.code == 0` indicates success; `response.result` is a boolean.

Example

python

from daystar_api.lowlevel_skills import set_control_mode, ControlMode

# Switch to navigation mode
result = set_control_mode(ControlMode.NAV_MODE)
if result.response.result:
    print("Switched to navigation mode")

`get_control_mode()`

Function Description
Get the robot's current control mode with automatic data validation. Returns UNKNOWN_MODE when data is stale or unavailable.

Parameter Description

No parameters.

Return Value

Type	Description
`GetControlModeResponse`	`state.code == 0` indicates success; `control_mode` is a `ControlMode` enum: `JOY_MODE(0)` joystick mode, `NAV_MODE(1)` navigation mode, `UNKNOWN_MODE(99)` unknown.

Example

python

from daystar_api.lowlevel_skills import get_control_mode, ControlMode

response = get_control_mode()
if response.state.code == 0:
    if response.control_mode == ControlMode.NAV_MODE:
        print("Currently in navigation mode")

Charging

Python Interface

`go_to_dock(timeout=60)`

Function Description
Command the robot to go to the charging dock.

Parameter Description

Parameter Name	Type	Required/Default	Description
`timeout`	`int`	`60`	Service call timeout in seconds.

Return Value

Type	Description
`GoToDockResponse`	`state.code == 0` indicates success; `response.result` is a boolean.

Example

python

from daystar_api.lowlevel_skills import go_to_dock

result = go_to_dock()
if result.response.result:
    print("Robot is heading to charging dock")

`leave_dock(timeout=60)`

Function Description
Command the robot to leave the charging dock. The robot must be on the dock to execute this command.

Parameter Description

Parameter Name	Type	Required/Default	Description
`timeout`	`int`	`60`	Service call timeout in seconds.

Return Value

Type	Description
`LeaveDockResponse`	`state.code == 0` indicates success; `response.result` is a boolean.

Example

python

from daystar_api.lowlevel_skills import leave_dock

result = leave_dock()
if result.response.result:
    print("Robot is leaving the charging dock")

`get_dock_state()`

Function Description
Get the current charging dock state with automatic data validation. Returns UNKNOWN_DOCK when data is stale or unavailable.

Parameter Description

No parameters.

Return Value

Type	Description
`GetDockStateResponse`	`state.code == 0` indicates success; `dock_state` is a `DockState` enum: `IDLE(0)` idle, `GOING_TO_DOCK(1)` going to dock, `LIE_ON_DOCKER(4)` charging on dock, `LEAVE_DOCK(7)` left dock, `UNKNOWN_DOCK(99)` unknown.

Example

python

from daystar_api.lowlevel_skills import get_dock_state, DockState

response = get_dock_state()
if response.state.code == 0:
    if response.dock_state == DockState.LIE_ON_DOCKER:
        print("Robot is charging on dock")

Battery State

Python Interface

`get_battery_state()`

Function Description
Get the robot's complete battery state information with automatic data validation. is_valid is False when data is stale or unavailable.

Parameter Description

No parameters.

Return Value

Type	Description
`GetBatteryStateResponse`	`state.code == 0` indicates success; `is_valid` indicates whether the data is valid; `battery_state.percentage` charge percentage (0–100); `battery_state.voltage` voltage (V); `battery_state.current` current (A, negative indicates discharge); `battery_state.temperature` temperature (°C); `battery_state.power_supply_status` charging status (1=charging, 4=full).

Example

python

from daystar_api.lowlevel_skills import get_battery_state

response = get_battery_state()
if response.state.code == 0 and response.is_valid:
    battery = response.battery_state
    print(f"Battery level: {battery.percentage}%")
    print(f"Voltage: {battery.voltage}V")
    print(f"Temperature: {battery.temperature}°C")

`is_charge()`

Function Description
Check if the robot is currently charging with automatic data validation. Returns False when data is stale or unavailable.

Parameter Description

No parameters.

Return Value

Type	Description
`IsChargeResponse`	`state.code == 0` indicates success; `is_charging` is a boolean: `True` means currently charging, `False` means not charging (or data unavailable).

Example

python

from daystar_api.lowlevel_skills import is_charge

response = is_charge()
if response.is_charging:
    print("Robot is charging")
else:
    print("Robot is not charging")

Velocity Control

Python Interface

`send_cmd_vel(linear_x=0.0, linear_y=0.0, angular_z=0.0, dt=1.0, blocking=True)`

Function Description
Send velocity commands via the /cmd_vel topic to control robot movement direction and speed, supporting omnidirectional movement. Supports both blocking and non-blocking modes.

Parameter Description

Parameter Name	Type	Required/Default	Description
`linear_x`	`float`	`0.0`	Forward/backward linear velocity (m/s). Positive moves forward, negative moves backward. Recommended range for normal gait on flat ground: [-1.0, 2.0].
`linear_y`	`float`	`0.0`	Left/right lateral velocity (m/s, omnidirectional). Positive moves left, negative moves right. Recommended range: [-0.4, 0.4].
`angular_z`	`float`	`0.0`	Angular velocity (rad/s). Positive is counter-clockwise (turn left), negative is clockwise (turn right). Recommended range: [-0.8, 0.8].
`dt`	`float`	`1.0`	Movement duration in seconds. `dt > 0` automatically stops after dt seconds; `dt = 0` continues moving until a manual stop command is sent.
`blocking`	`bool`	`True`	If `True`, blocks until movement completes; if `False`, returns immediately and motion runs in the background.

Return Value

Type	Description
`SendCmdVelResponse`	`state.code == 0` indicates success; `success` field indicates whether the command was sent successfully.

Example

python

from daystar_api.lowlevel_skills import send_cmd_vel

# Move forward for 1 second (blocking)
result = send_cmd_vel(linear_x=0.5, dt=1.0)

# Rotate left in place (non-blocking, background execution)
result = send_cmd_vel(angular_z=0.3, dt=2.0, blocking=False)

# Move forward continuously (requires manual stop)
send_cmd_vel(linear_x=0.3, dt=0.0)
# ... perform other operations ...
send_cmd_vel()  # Send stop command

SDK Overview

Service

Application Development

Software Service Interface

Common Task Service Interface

Motion Service Interfaces

Introduction

Stand and Lie Down

Python Interface

`stand_up(timeout=30)`

`lie_down(timeout=30)`

`get_robot_state()`

Body Control

Python Interface

`adjust_body_height(percent, timeout=5)`

`set_gait(gait_type, timeout=5)`

`get_gait()`

Control Mode

Python Interface

`set_control_mode(mode, timeout=5)`

`get_control_mode()`

Charging

Python Interface

`go_to_dock(timeout=60)`

`leave_dock(timeout=60)`

`get_dock_state()`

Battery State

Python Interface

`get_battery_state()`

`is_charge()`

Velocity Control

Python Interface

`send_cmd_vel(linear_x=0.0, linear_y=0.0, angular_z=0.0, dt=1.0, blocking=True)`

Service

Common Task Service Interface

Motion Service Interfaces ​

Introduction ​

Stand and Lie Down ​

Python Interface ​

stand_up(timeout=30) ​

lie_down(timeout=30) ​

get_robot_state() ​

Body Control ​

Python Interface ​

adjust_body_height(percent, timeout=5) ​

set_gait(gait_type, timeout=5) ​

get_gait() ​

Control Mode ​

Python Interface ​

set_control_mode(mode, timeout=5) ​

get_control_mode() ​

Charging ​

Python Interface ​

go_to_dock(timeout=60) ​

leave_dock(timeout=60) ​

get_dock_state() ​

Battery State ​

Python Interface ​

get_battery_state() ​

is_charge() ​

Velocity Control ​

Python Interface ​

send_cmd_vel(linear_x=0.0, linear_y=0.0, angular_z=0.0, dt=1.0, blocking=True) ​

Motion Service Interfaces

Introduction

Stand and Lie Down

Python Interface

`stand_up(timeout=30)`

`lie_down(timeout=30)`

`get_robot_state()`

Body Control

Python Interface

`adjust_body_height(percent, timeout=5)`

`set_gait(gait_type, timeout=5)`

`get_gait()`

Control Mode

Python Interface

`set_control_mode(mode, timeout=5)`

`get_control_mode()`

Charging

Python Interface

`go_to_dock(timeout=60)`

`leave_dock(timeout=60)`

`get_dock_state()`

Battery State

Python Interface

`get_battery_state()`

`is_charge()`

Velocity Control

Python Interface

`send_cmd_vel(linear_x=0.0, linear_y=0.0, angular_z=0.0, dt=1.0, blocking=True)`