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Overview

To support secondary development and advanced function research, we provide a comprehensive Software Development Kit for the Fourier humanoid robot. The current SDK for the GR1 robot is primarily the Motion Control SDK, with details as follows.

Motion Control SDK​

The motion control functionality of the GRX series robots is implemented based on a middleware software named "Aurora". The Aurora SDK is now provided to support in-depth development of motion control features. This SDK encapsulates a Python interface and interacts with the Aurora server via the DDS protocol, enabling functions such as obtaining robot status and issuing commands to the robot. For specific information, please refer to the documentation Aurora SDK

The documentation structure of the Aurora SDK is as follows:

Motion Control SDK
├── Introduction to Aurora
├── User Guide
│   ├── Installation Tutorial
│   ├── Quick Start
│   └── Controller Usage Tutorial
├── Developer Guide
│   ├── Developer Guide
│   └── Python Client
│       ├── Introduction
│       └── API Documentation
|   └── Reference Documentation
|       ├── Aurora DDS Reference Guide
|       └── GR-1 Robot Controller Reference
└── FAQ

💡 Tip​

We recommend that first-time users read and practice in the following order:

1. Read the Introduction to Aurora

Start by reading the Introduction to Aurora to understand the core concepts, overall architecture, and operational logic of Aurora.

2. Install Aurora

Read the User Guide → Installation Tutorial and follow the steps to complete the installation of Aurora on your computer or control device. After installation, you will have the Aurora本体 and the basic environment required to run it.

3. Quick Start

After installation, read the User Guide → Quick Start. This section will guide you through starting Aurora and demonstrate how to control the robot using a controller, either in a simulator or on a real robot.

4. Secondary Development

Once familiar with the basic usage flow and controller operation of Aurora, you can read the Developer Guide in detail for secondary development or custom control: