Joint Stand State Reference

Joint Stand State slowly moves all joints to its zero position. This state is usually for checking if all actuators are working fine and all joint's zero positions are accurate.

State specification

State name	Task name	Joystick mapping	DDS mapping	Frequency
Joint Stand	JointStandTask	LB+A	1	400Hz

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

Joystick Control

Enter Joint Stand State

After initailize AuroraCore, press bumper LB and button A at the same time to enter joint stand state.

Client Control

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

Enter Joint Stand State

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

client = AuroraClient.get_instance(domain_id=123, robot_name="gr2")   # initialize aurora client
time.sleep(1)

client.set_fsm_state(1)     # change to joint stand state