Security Protection State Reference

Security Protection State is prepared for scenerios where robot goes off control. When entering security protection state, the controller will first set all actuators to damping mode for 2 seconds, then set all actuators to zero torque mode. The user could still read joint's states in zero torque mode.

Some controller comes with auto protection switch mechanism. When they finds themselves beyond the controllable range, they will automatically switch to security protection state.

State specification

State name	Task name	Joystick mapping	DDS mapping	Frequency
Security Protection	SecurityProtectionTask	LT+RT	9	400Hz

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

Joystick Control

Enter Secutiry Protection State

After initailize AuroraCore, press trigger LT and RT at the same time to enter security protection state.

Client Control

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

Enter Security Protection State

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

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

client.set_fsm_state(9)     # change to security protection state