robot-control

name	robot_control
description	Control the G1 humanoid robot locomotion via the bridge HTTP API.

Robot Control

Use exec to send curl commands to the bridge server at http://localhost:8765.

The bridge sets velocity directly on the WBC neural network policy — any float value is accepted (no quantization).

Activate the robot (required before moving)

curl -s -X POST http://localhost:8765/activate

Move the robot

curl -s -X POST http://localhost:8765/move \
  -H 'Content-Type: application/json' \
  -d '{"vx": 0.4, "vy": 0.0, "vyaw": 0.0}'

Parameters:

• vx: forward/backward velocity (m/s). Positive = forward. Any float value works.
• vy: left/right strafe velocity (m/s). Positive = left.
• vyaw: turning velocity (rad/s). Positive = turn left.

Stop the robot

curl -s -X POST http://localhost:8765/stop

Distance-based movement

To move a specific distance, calculate: sleep_seconds = distance_meters / actual_speed

Actual ground speeds (use these for timing, NOT the commanded velocity):

Speed	Commanded (m/s)	Actual ground (m/s)	Actual yaw (rad/s)
slow	0.2	0.18	0.20
medium	0.4	0.35	0.40
fast	0.6	0.50	0.55

Example — "walk forward 5 meters" at medium speed: sleep = 5 / 0.35 = 14.3s

curl -s -X POST http://localhost:8765/move -H 'Content-Type: application/json' -d '{"vx": 0.4, "vy": 0.0, "vyaw": 0.0}' && sleep 14.3 && curl -s -X POST http://localhost:8765/stop

Example — "turn left 90 degrees" at medium speed: sleep = 1.5708 / 0.40 = 3.9s

curl -s -X POST http://localhost:8765/move -H 'Content-Type: application/json' -d '{"vx": 0.0, "vy": 0.0, "vyaw": 0.4}' && sleep 3.9 && curl -s -X POST http://localhost:8765/stop

Turn in place

curl -s -X POST http://localhost:8765/move \
  -H 'Content-Type: application/json' \
  -d '{"vx": 0.0, "vy": 0.0, "vyaw": 0.4}'

Release / hold toggle

curl -s -X POST http://localhost:8765/key \
  -H 'Content-Type: application/json' \
  -d '{"key": "9"}'

Send a raw key press

curl -s -X POST http://localhost:8765/key \
  -H 'Content-Type: application/json' \
  -d '{"key": "w"}'

Keys: ]=activate, o=deactivate, 9=release/hold, 1/2=raise/lower base height, n/m=gait frequency, 3-8=torso posture

Check status

curl -s http://localhost:8765/status

Speed reference

Label	vx / vy (m/s)	vyaw (rad/s)
slow	0.2	0.2
medium	0.4	0.4
fast	0.6	0.6

Safety

• Always call /activate before any movement commands.
• Always send /stop after timed or distance-based movements.
• Confirm with the user before sending fast speeds (0.6+).
• For large distances (>3m), prefer medium speed to reduce overshoot.
• Keep replies short -- the user is controlling a robot in real time.