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Fourier Aurora Client API Documentation

Function List​

AuroraClient User Interface​

get_instance​

AuroraClient.get_instance(domain_id: int , participant_qos = None, robot_name: Optional[str]= None, namespace: Optional[str] = None, is_ros_compatible: bool = False) -> AuroraClient

Initializes an AuroraClient instance.

  • Args:

    • domain_id (int): The domain ID of the DDS domain. It should be matched with the domain ID of the Aurora server.
    • participant_qos (fastdds.DomainParticipantQos, optional): The Quality of Service (QoS) settings for the DDS DomainParticipant.
    • robot_name (str, optional): The name of the robot.
    • namespace (str, optional): Namespace prefix after ros compatible prefix.
    • is_ros_compatible (bool, optional): Add ros typed mangling for the client.

  • Returns:

    • AuroraClient: An instance of the AuroraClient class.

close​

AuroraClient.close()

Close the AuroraClient instance.

AuroraClient Getter Function​

get_fsm_state​

AuroraClient.get_fsm_state() -> int

Get the current state of the robot.

  • Returns:
    • int: The id of the current whole body fsm state. Possible return values are:
      • 0 - Default state
      • 1 - Joint stand state
      • 2 - PD stand state
      • 3 - RL locomotion state
      • 9 - Security protection state
      • 10 - User command state
      • 11 - Upper body user command state

get_fsm_name​

AuroraClient.get_fsm_name() -> str

Get the current state of the robot.

  • Returns:
    • str: The name of the current whole body fsm state.

get_upper_fsm_state​

AuroraClient.get_upper_fsm_state() -> int

Returns the current upper body FSM state name.

  • Returns:
    • int: The id of the current upper body fsm state. Possible return values are:
      • 0 - Default state
      • 1 - Act state (Arm swing)
      • 2 - Remote state
      • 4 - Move Command

get_upper_fsm_name​

AuroraClient.get_upper_fsm_name() -> str

Returns the current upper body FSM state name.

  • Returns:
    • str: The name of the current upper body fsm state.

get_velocity_source​

AuroraClient.get_velocity_source() -> int

Get the current velocity command source of the robot.

  • Returns:
    • int: The id of the current velocity command source. Possible return values are:
      • 0 - Joystick
      • 2 - Navigation (DDS)

get_velocity_source_name​

AuroraClient.get_velocity_source_name() -> str

Get the current velocity command source of the robot.

  • Returns:
    • str: The name of the current velocity command source.

get_stand_pose​

AuroraClient.get_stand_pose() -> list[float]

Get the stand pose of the robot.

  • Returns:
    • list[float]: stand pose data in a list, formatted as [delta_z, delta_pitch, delta_yaw, stable_level]

get_group_state​

AuroraClient.get_group_state(group_name: str, key: str = 'position') -> list[float]

Get the state of a specific robot control group

  • Args:

    • group_name (str): The name of the robot control group.
    • key (str, optional): The key to retrieve from the group state. Valid values are:
      • 'position' - Joint positions
      • 'velocity' - Joint velocities
      • 'effort' - Joint efforts

  • Returns:

    • list[float]: The requested state data for the specified group.

get_cartesian_state​

AuroraClient.get_cartesian_state(group_name: str, key: str = 'pose') -> list[float]

Get the cartesian state of a specific robot group.

  • Args:

    • group_name (str): The name of the robot group.
    • key (str, optional): The key to retrieve from the cartesian state. Valid values are:
      • 'pose' - Group end pose
      • 'twist' - Group end twist
      • 'wrench' - Group end wrench

  • Returns:

    • list[float]: The requested state cartesian for the specified group.

get_group_motor_cfg​

get_group_motor_cfg(group_name: str, key: str = 'pd_kp') -> list[float]

Get the state of a specific robot control group.

  • Args:
    • group_name (str): The name of the robot control group.
    • key (str, optional): The key to retrieve from the group state. Avaliable values are:
      • 'pd_kp' - motor proportional gain for pd control mode
      • 'pd_kd' - motor derivative gain for pd control mode
      • 'pos_kp' - motor proportional gain for pos control mode
      • 'pos_ki' - motor intrgral gain for pos control mode
      • 'pos_kd' - motor derivative gain for pos control mode
  • Returns:
    • list[float]: The requested state data for the specified group.

get_base_data​

AuroraClient.get_base_data(key: str) -> list[float]

Get the base data of the robot.

  • Args:

    • key (str): The key to retrieve from the base data.
      • 'quat_xyzw' - quaternion in x, y, z, w format
      • 'quat_wxyz' - quaternion in w, x, y, z format
      • 'rpy' - roll, pitch, yaw in radians
      • 'omega_W' - angular velocity in world frame
      • 'acc_W' - linear acceleration in world frame
      • 'omega_B' - angular velocity in base frame
      • 'acc_B' - linear acceleration in base frame
      • 'vel_W' - linear velocity in world frame
      • 'pos_W' - position in world frame
      • 'vel_B' - linear velocity in base frame

  • Returns:

    • list[float]: The requested base data.

get_contact_data​

AuroraClient.get_contact_data(key: str) -> list[float]

Get the contact data of the robot.

  • Args:

    • key (str): The key to retrieve from the contact data.
      • 'contact_fz' - contact force and torque
      • 'contact_prob' - contact probability

  • Returns

    • list[float]: The requested contact data.

get_group_motion_state​

AuroraClient.get_group_motion_state(group_name: str) -> int

Get the motion state of the control group.

  • Args:
    • group_name (str): The name of the control group.
  • Returns:
    • int: The motion state of the control group.

wait_groups_motion_complete​

AuroraClient.wait_groups_motion_complete(group_names: list[str], print_interval: float = 0.3) -> bool

Continuously check and block the program until the specified control group's motions are done.

  • Args:

    • group_names (list[str]): control group names needs to be checked.
    • print_interval (int, optional): time interval between info print, default to 0.3 seconds.

  • Returns:

    • bool: whether all control groups finishes the move command.

AuroraClient Setter Function​

set_fsm_state​

AuroraClient.set_fsm_state(state: int)

Set the robot's whole body fsm state.

  • Args:
    • state (int): Desired state of the robot. Valid values are:
      • 0 - Default state
      • 1 - Joint stand
      • 2 - PD stand
      • 3 - RL locomotion
      • 9 - Security protection
      • 10 - User command
      • 11 - Upper body user command

set_upper_fsm_state​

AuroraClient.set_upper_fsm_state(state: int)

Set the robot's upper body fsm state.

  • Args:
    • state (int): Desired upper state of the robot. Valid values are:
      • 0 - Default state
      • 1 - Act state (Arm swing)
      • 2 - Remote state
      • 4 - Move Command

set_velocity_source​

AuroraClient.set_velocity_source(source: int)

Set the source of velocity commands.

  • Args:

    • source (int): Desired velocity command source. Valid values are:
      • 0 - Joystick
      • 2 - Navigation (DDS)

  • Note:

    • For client velocity control, set source to 2 (Navigation).

set_velocity​

AuroraClient.set_velocity(vx: float, vy: float, yaw: float, duration: float = 1.0)

Set the robot's velocity command.

  • Args:

    • vx (float): Linear velocity in x direction (forward/backward) in m/s
    • vy (float): Linear velocity in y direction (left/right) in m/s
    • yaw (float): Angular velocity around z axis (rotation) in rad/s
    • duration (float, optional): Duration for which the velocity command is valid in seconds.

  • Note

    • The actual velocity achieved may be limited by the robot's physical capabilities.

set_stand_pose​

AuroraClient.set_stand_pose(delta_z: float, delta_pitch: float, delta_yaw: float)

Set the robot's stand pose command.

  • Args:

    • delta_z (float): Desired change in base height (in meters). Positive values raise the robot, negative values lower it.
    • delta_pitch (float): Desired change in pitch angle (in radians). Positive values tilt the robot forward, negative backward.
    • delta_yaw (float): Desired change in yaw angle (in radians). Positive values turn the robot left, negative right.

  • Note:

    • Stand pose adjustment is only available in PdStand state (2). The actual stand pose may be limited by the robot's physical capabilities.

set_group_cmd​

AuroraClient.set_group_cmd(position_cmd: Dict[str, list[float]], velocity_cmd: Optional[Dict[str, list[float]]] = None, torque_cmd: Optional[Dict[str, list[float]]] = None)

Set the robot's joint positions.

  • Args:
    • position_cmd (Dict[str, list[float]]): Dictionary with joint names as keys and joint positions as values.
    • velocity_cmd (Dict[str, list[float]], optional): Dictionary with joint names as keys and joint velocity as values.
    • torque_cmd (Dict[str, list[float]], optional): Dictionary with joint names as keys and joint torque as value.

set_motor_cfg_pd​

AuroraClient.set_motor_cfg_pd(kp_config: Dict[str, list[float]], kd_config:Dict[str, list[float]])

Set the robot's motor configuration.

  • Args:

    • kp_config (Dict[str, list[float]]): Dictionary with group names as keys and proportional gain (kp) values as lists.
    • kd_config (Dict[str, list[float]]): Dictionary with group names as keys and derivative gain (kd) values as lists.

  • Note:

    • The keys in kp_config and kd_config should match the group names in the robot's motor configuration.
    • The values in kp_config and kd_config should be lists of floats representing the gains for each joint in the group.

set_move_command​

AuroraClient.set_move_command(move_command: MotionControlCmd.MoveCommand)

Set the robot's move command.

  • Args:
    • move_command (MotionControlCmd.MoveCommand): Move command message.

MoveCommandManager Function​

init​

MoveCommandManager(config_path: Optional[Union[str, Path]] = None, robot_name: Optional[str] = None) -> MoveCommandManager

Initialize Move Command Manager

  • Args:

    • config_path (Union[str, Path], optional): robot config directory
    • robot_name (str, optional): robot type name, (e.g. gr2, gr3), defaults to gr3.

  • Returns:

    • MoveCommandManager: An instance of the MoveCommandManager class.

joint_move_command​

joint_move_command(self, move_type: Union[int, MoveType], group_name: str, group_pos: list[float], group_vel: Optional[int] = None, expect_vel: int = 1000)

create joint level move command for a single control group.

  • Args:
    • move_type (int): move type. For this function, only 0 (MOVE_ABS_JOINT) is avaliable.
    • group_name (str): control group's name.
    • group_pos (list(float)): target joint position for the control group.
    • group_vel (list(float), optional): target joint velocity for the control group.
    • expect_vel (int, optional): expected move velocity, as thousandths of maximum speed.

cartesian_move_command​

cartesian_move_command(self, move_type: Union[int, MoveType], group_name: str, group_pos: list[float], group_vel: Optional[int] = None, expect_vel: int = 1000)

create joint level move command for a single control group.

  • Args:
    • move_type (Union[int, MoveType]): move type. For this function, only 1 (MOVE_JOINT) and 2 (MOVE_LINE) is avaliable.
    • group_name (str): control group's name.
    • group_pos (list(float)): target cartesian position for the control group.
    • group_vel (list(float), optional): target cartesian velocity for the control group.
    • expect_vel (int, optional): expected move velocity, as thousandths of maximum speed.

get_move_command​

get_move_command() -> MotionControlCmd.MoveCommand

Get the configured MoveCommand message.

  • Returns:
    • MotionControlCmd.MoveCommand: configured MoveCommand message.