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Quick Start

This document describes the quick process for controlling the robot using the fourier aurora sdk.

Installing Aurora Service​

For Aurora installation, please refer to the Installation Tutorial

Downloading Fourier Aurora SDK​

Run the following command:

git clone https://github.com/FFTAI/fourier_aurora_sdk.git

Starting the Container​

You can run the following command in the terminal at the root directory of the repository to start the container. Modify the docker image in docker_run.bash if necessary. You might need to use the (sudo) docker images command to check the available docker images on your system.

(sudo) bash docker_run.bash

Note: Please ensure you have the correct docker image. Refer to the Installation Guide for details.

Preparation Before Running Aurora​

Aurora can control the robot either in a simulation environment or the real robot. Before running Aurora, you need to follow these steps:

1. Simulation Run​

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

(sudo) docker exec -it fourier_aurora_server bash

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

python3 sim/start_simulate_root.py

Follow the prompts; it will launch the simulation environment. The robot will be placed at the starting position.

2. Real Robot Run​

To control the real robot, ensure the following prerequisites are met:

  • Actuator versions are compatible.
  • Actuators are powered on (purple light blinking slowly).
  • Network communication is good (all actuator IPs are pingable).
  • The robot is in a neutral hanging state.
  • Calibrate the joints using pins. With all pins inserted, run python3 /opt/fftai/fourier_aurora/scripts/calib/gr1t2Calibration.py inside the container. After calibration, remove the pins.

Starting Aurora​

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

AuroraCore --type 0

Here, --type refers to the running type of Aurora, 0 means running on the simulator, 1 means running on the real robot.

You can also start Aurora with a specific configuration file using the command:

AuroraCore --config <path_to_your_config_file>

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

If the program runs successfully, the following message will appear in the terminal:

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

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

1. Controlling the Robot Using a Joystick​

You can now use a joystick to control the robot. Please refer to the Joystick Tutorial for instructions on joystick usage.

2. Controlling the Robot Using the Client​

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