Upper UserCmd State Reference

Upon switching to Upper UserCmd State, the user can send external joint position commands for upper body joints, and actuator config setup commands such as pd parameters. The robot will execute these commands and update its states accordingly. At the same time, lower body actuators will be set to zero torque mode.

State specification

State name	Task name	Joystick mapping	DDS mapping	Frequency
Upper UserCmd	UpperBodyUserCmdTask	No	11	400Hz

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

Joystick Control

No joystick control is avaliable for this state.

Client Control

Velocity control	Stand pose control	Joint control	Joint parameter control
No	No	Upper Body	Upper Body

Enter UserCmd State

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

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

client.set_fsm_state(11)     # change to upper usercmd state

Joint Control

Joint control is avaliable via set_group_cmd function. Since the position command take effects immediately, it is suggested to use interpolation in upper body joint command to avoid sharp command change.

Avaliable Control Groups: waist, left_manipulator, right_manipulator

left_manipulator_init_pose = client.get_group_state("left_manipulator", key="position")
left_manipulator_target_pose = [-1.2, 0, 0, 1.2, 0]
total_steps = 200

for i in range(total_steps):
    # interpolate from init to target pose
    left_manipulator_pose = [s + (e - s) * i / total_steps for s, e in zip(left_manipulator_init_pose, left_manipulator_target_pose)]
    client.set_group_cmd({"left_manipulator": left_manipulator_pose})
    time.sleep(0.01)

Joint Parameter Control

Joint control is avaliable via set_motor_cfg_pd function. Currently, Aurora only supports pd control mode on all joints.

Avaliable Control Groups: waist, left_manipulator, right_manipulator

kp_config = {
    "waist": [90.0],
    "left_manipulator": [90.0, 45.0, 45.0, 45.0, 45.0],
    "right_manipulator": [90.0, 45.0, 45.0, 45.0, 45.0]
}
kd_config = {
    "waist": [8.0],
    "left_manipulator": [ 8.0, 2.5, 2.5, 2.5, 2.5],
    "right_manipulator": [8.0, 2.5, 2.5, 2.5, 2.5]
}

client.set_motor_cfg_pd(kp_config, kd_config)

For joint specifications, please refer to robot_specs