SDK Overview
The Jueying Lite3 provides three SDKs for different development scenarios:
| SDK | Runtime Environment | Use Case |
|---|---|---|
| Motion SDK | Development host (x86/ARM) | Low-level UDP motion control; directly reads joint states, IMU, contact forces, and sends control commands to 12 joints |
| RL SDK | Development host (ROS2 environment) | Upper-level ROS2-based SDK, including policy inference, state machine control, hardware bridging, and service management |
| Gamepad SDK | Development host (x86/ARM) | UDP-based gamepad event listener library; receives gamepad button and joystick data broadcast from a mobile App |
Motion SDK
Section titled “Motion SDK”Low-level UDP motion control library responsible for direct communication with Lite3 robot firmware. Developers can read onboard perception data (joint states, IMU, contact forces, etc.) and send control commands to 12 joints.
- Preparation: Overview, network configuration, and build/run
- SDK Interfaces: Core interfaces and data types, communication check and troubleshooting
- Example Code: Example code walkthrough (stand-up demo, trajectory generation, cubic spline interpolation)
RL SDK
Section titled “RL SDK”Upper-level ROS2-based SDK comprising three modules:
-
Lite3_sdk_deploy: Policy inference + state machine control -
lite3_transfer: Hardware bridge layer (UDP ↔ ROS2) -
lite3_sdk_service: Service management layer (UDP remote control) -
Preparation: Overview, environment requirements, and compilation
-
SDK Interfaces: Robot and DDS interfaces, user input and communication interfaces
-
Built-in State Machine: State machine overview and implementation (QStateMachine quadruped state machine)
-
Policy and Deployment: Policy deployment, hardware bridge layer, service management layer, cross-host communication
Gamepad SDK
Section titled “Gamepad SDK”UDP-based gamepad event listener library responsible for receiving gamepad operation data broadcast by a mobile App via UDP. Supports two gamepads: Retroid (bundled with Lite3) and Skydroid (bundled with X30).
- Overview: Feature positioning, communication principles, protocol frame format
- Core Interfaces and Data Types: Gamepad base class, RetroidGamepad, SkydroidGamepad, button data structures
- Build Configuration: Network configuration, environment requirements, build steps (x86/ARM)
- Integration and Upper-level Applications: UDP communication architecture, code integration examples, integration with lite3_transfer