Fourier Aurora SDK

This is the SDK repository for Fourier Aurora (Advanced Unified Robot Operation and Resource Architecture).

If you are new to Aurora, please read the following documentation for basic understanding of the system:

• Aurora Introduction
• Developer Guide

v1.2.1 Release

Support Robots:

• GR-1P
• GR-2
• GR-3
• Fourier-N1(new!)

Prerequisites:

• Actuator version:
  • Communication firmware version 0.3.12.31 or above.
  • Driver firmware version 0.2.10.30 or above.
  • NOTE: Actuator version can be upgraded using FSA Assistant. Click FSA Assistant for Linux to download the latest version.

Installation

Please refer to Installation Guide for installation instructions.

Quick Start

Please follow the steps below to get started with controllers provided using joystick. If you are not familiar with the joystick, please refer to the Joystick Tutorial for more information.

Starting Container

You can start the container by running the following command in your terminal under the root directory of the repository, please modify the docker image in docker_run.bash if necessary. You may need (sudo) docker images command to check the available docker images on your system.

(sudo) bash docker_run.bash

NOTE: Please make sure that you have the right docker image as described in the Installation Guide.

Preparation before Running Aurora

Aurora can control the robot in simulation or on the real robot. Before running Aurora, you need to follow the steps below:

1. Running for Simulation

For simulation usage, you need to start another terminal and enter the container you just started using the following command:

(sudo) docker exec -it fourier_aurora_server bash

Then, you need to start the simulation environment by running the following command:

python3 sim/start_simulate_root.py

Follow the instructions and it will start the simulation environment. The robot will be placed in the starting position.

2. Running for Real Robot

To control the real robot, please make sure that the following prerequisites are met:

• Actuator versions are compatible.
• Actuators are in Power-on state(purple light flashing slowly).
• Network communication is well established(all actuators ip pingable).
• Robot is in a neutral hanging state.
• (ONLY FOR GR-1P IN THE FIRST CREATION OF A CONTAINER) Calibrate the joints using pins. Please run python3 /opt/fftai/fourier_aurora/scripts/calib/gr1t2Calibration.py in the container with all pins inserted. After calibration, please remove the pins.

Starting Aurora

To start Aurora, run the following command in the terminal:

AuroraCore --type 0

Here, --type refers to run type for Aurora, 0 for run on simulator, 1 for run on real robot.

You can also use the following command to start Aurora with a specific configuration file:

AuroraCore --config <path_to_your_config_file>

An example configuration file can be found in config/config.yaml in this repository.

The following message will appear in the terminal if the program is running successfully:

[info] FSM state run, enter "Default" mode by default

This message indicates that the self-check is passed(real robot) and the Aurora program is ready to run tasks.

1. Using joystick to Control the Robot

Now you can use the joystick to control the robot. Please refer to the Joystick Tutorial for joystick usage.

2. Using Client to Control the Robot

You can also use the Aurora client to control the robot. Please refer to the Client Tutorial for client usage.

Issues

Please report any issues or bugs! We will do our best to fix them.

License

Apache 2.0 © Fourier