Default State

Default state is entry state of Aurora, where no controller is running.

State specification

State name	Task name	Joystick mapping	DDS mapping	Frequency
Default	(no task)	LB+RB	0	-

Avaliable for hanging	Avaliable for standing	Auto Protection Switch
Yes	No	No

Joystick Control

Enter Default State

After initailize AuroraCore, press bumper LB and RB at the same time to enter default state.

Client Control

Velocity control	Stand pose control	Joint control	Joint parameter control
No	No	No	No

Enter Default State

After initailize AuroraCore, use aurora client's set_fsm_state function to enter default state.

client = AuroraClient.get_instance(domain_id=123, robot_name="fouriern1")   # initialize aurora client
time.sleep(1)

client.set_fsm_state(0)     # change to default state