SDK Overview
The GR3 SDK consists of multiple functional modules, each encapsulating a type of atomic capability. Select the modules you need and integrate them on demand.
GR-Controller
Motion Control
Whole-body control, gait switching, speed commands, emergency stop
GR-MotionBank
Motion Bank
Pre-stored motion sequence playback, editing, and combination
GR-Sensor
Sensors
Vision, LiDAR, IMU, sensor calibration extrinsics
GR-Actuator
Actuators
Joint-level direct control (angle/velocity/torque)
GR-EndEffector
End Effectors
Dexterous hand control, grippers, tactile feedback
GR-Navigation
Navigation
SLAM mapping, autonomous navigation, obstacle avoidance, POI
GR-Manipulation
Manipulation
Arm end-effector poses, trajectory planning, predefined actions
GR-Power
Power & Health
Battery level, fault codes, health monitoring, event push
GR-Media
Media
Audio/video streams, wake words, 3A processing
FourierDDS
Middleware
DDS Topic/Service/Action, direct low-level communication access