Overview

To support secondary development and advanced function research, we provide a comprehensive Software Development Kit for Fourier humanoid robots. The current SDK primarily covers motion control and other software services, aiming to build a stable and efficient development foundation for developers.

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
├── SDK Introduction
├── Quick Start
│   ├── Quick Start(Simulation)
│   ├── Quick Start(Real Robot)
│   └── Installation Tutorial
│   └── Joystick Usage Tutorial
├── Developer Guide
├── Cases
|   ├── Joint Command Example
|   └── Motion Command Example
|   └── Move Command Example
|   └── Robot Status Example
├── Reference 
|   ├── Fourier Aurora Client API Documentation
|   └── GR-3 Specs
|   └── State Reference
|       ├──Default State
|       ├──Joint Stand State
|       ├──Pd Stand State
|       ├──RL Walk State
|       ├──Safety Protection State
|       ├──Upper Body User Command State
|       └──User Command State
└── FAQ

💡 Tip

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

1. Read the Introduction to Aurora

Start with the SDK Introduction to understand the overall architecture, core concepts, and operational logic of the Aurora SDK, laying the foundation for subsequent practice.

2. Quick Start (Simulation / Real Robot)

Choose Quick Start (Simulation) or Quick Start (Real Robot) based on your setup. This section guides you through the complete process—from environment setup to controlling the robot to stand and walk using joystick or client.

3. Developer Guide

After completing the Quick Start and mastering basic operations, explore more features of Aurora through the Developer Guide. This section systematically introduces all available states (controllers) and how to use them, and provides detailed documentation on functional modules to support your secondary development.

4. Examples

The Examples section brings together control demonstrations for different functions, covering typical scenarios such as joint control, motion control, and arm control. You can directly refer to or reuse the code based on your development needs to accelerate feature implementation.

Other Software Services

Head Domain Function SDK

An SDK for the robot's head domain functions is now provided, mainly including camera, microphone, speaker, and display functions, supporting both Android and Ubuntu systems. For specific information, please refer to the document Head Domain Function Introduction