> For the complete documentation index, see [llms.txt](https://bywerks.gitbook.io/bysense/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://bywerks.gitbook.io/bysense/mission-development/movements.md).

# Movements

{% hint style="info" %}
make sure a E-Stop is active and the joints are enabled
{% endhint %}

## Standing up

To instruct the quadruped robot to stand up, use the following line:

{% code title="Python" lineNumbers="true" %}

```python
# Sample code for standing up
bysense.movs.stand_up()
```

{% endcode %}

{% hint style="danger" %}
**Safety Precautions**

* Keep 1m distance from the robot while it is standing up.
* Clear the surroundings of any potential obstacles that the robot might encounter during the standing-up process.
* Verify that the ground is flat and stable before initiating the stand-up operation to ensure proper balance and stability of the robot.
  {% endhint %}

Once you run the standup command keep a safety distance of min. 1 m like in the image shown:

<figure><img src="/files/1oAX9JoNBVu7ZmOdvWIH" alt=""><figcaption></figcaption></figure>

{% hint style="warning" %}
Keep a operating safety distance of min. 1m and check all four legs looks visually the same when standing up to ensure a correct calibration.
{% endhint %}

## Sit Down

To instruct the quadruped robot to sit down, use the following code:

{% code title="python" lineNumbers="true" %}

```python
# Sample code for sitting down
bysense.movs.sit_down()
```

{% endcode %}

Note:

* The sit\_down method is used to command the quadruped robot to transition from a standing position to a seated position.
* If the robot is not currently in a standing position, the SDK will raise an exception or provide a message indicating that sitting down is only possible from a standing position.

{% hint style="danger" %}
**Safety Precautions**

* Ensure that the robot has enough space and a stable surface to perform the sitting down operation.
* Keep a safe distance from the robot during the sitting down process to prevent accidents.
  {% endhint %}

make sure the ground is flat for bysense to sit down and no obstacles are placed under it.

<figure><img src="/files/Ku8e4dFLB96BQLIrzOG3" alt=""><figcaption></figcaption></figure>

## Blind Walking based on vector

To instruct the quadruped robot to walk in a specific direction with a certain speed for a specified duration, provide a directional vector (x, y, z), a speed value, and a duration in seconds. Use the following code as a template:

{% code title="python" lineNumbers="true" %}

```python
# Sample code for walking with speed and stopping
# Move forward with a speed of 0.5m/s in the x direction
walking_vector = (0.5, 0.0, 0.0)

# Start walking
bysense.movs.walkblind(walking_vector)

# Simulate additional operations while walking
time.sleep(2.0)  # Simulate other operations for 2 seconds

# Stop walking
robot.stop_walking()

# Continue with other operations or exit the program as needed
```

{% endcode %}

* The robot.walk command initiates the walking motion with the specified walking\_vector&#x20;
* Additional operations, such as a sleep for simulation purposes, can be performed while walking.
* The robot.stop\_walking() function is called to stop the walking motion when needed.
* After stopping walking, the program can continue with other operations or exit as necessary.

{% hint style="danger" %}
**Safety Precautions**

* Always ensure a clear and obstacle-free path for the robot when initiating walking commands as this is a blind walking
* Periodically check the surroundings to avoid potential collisions during the walking operation with humans
* Set appropriate speed and duration values to control the walking pace and time.
  {% endhint %}

\
the walking controller within the robot is based on a machine learning model and trained together with our custom models in the background.&#x20;