Product Capability Map
An overview of all open atomic capabilities of GR3. Click on the capability cards to jump directly to the corresponding SDK documentation or comprehensive cases, quickly finding the interfaces you need.
Find the capability you need β Click "View SDK" to learn about interface details, or click "View Case" to understand its usage in real-world scenarios.
Perception Capabilitiesβ
Audio Acquisition & Processing
Provides 16kHz PCM raw microphone streams, ring array azimuth, 3A processing (AEC/ANS/AGC), wake word configuration, and event callbacks.
Vision & Depth Perception
Front wide-angle RGB frame stream (with timestamps), camera intrinsics/extrinsics, depth maps/point clouds, raw LiDAR data, and IMU data.
Motion Capabilitiesβ
Whole-Body Control
Robot body motion control, supporting gait modes (walk, steer, stand), velocity/position commands, and emergency stop/recovery.
Arm Manipulation
7-DOF arm end-effector pose control, trajectory execution, predefined actions (home/pick/place/point), and joint-level control.
Dexterous Hand Control
6-DOF dexterous hand supporting grasp/pinch/tactile feedback, configurable end tools (gripper/suction), and torque data.
Motion Bank
Pre-stored standardized motion sequences, supporting playback, editing, and combination. Can be called by ID or retrieved by name.
Extended Capabilitiesβ
Mapping & Auto-Navigation
Offline/online mapping, map loading, autonomous navigation to targets, dynamic obstacle avoidance, relocation, and POI maps.
Simulation & Training
Isaac Sim and MuJoCo simulation environments supporting ACT/Diffusion Policy embodied learning algorithms and Sim-to-Real workflows.
Teleop DAQ & Data Conversion
Gello teleop integration, multi-modal DAQ (RGB/joint angles/torque), HDF5 conversion, timestamp alignment, and dataset management.
System & Energyβ
Power & Health Monitoring
Battery level, charging state, fault codes, CPU/RAM/Temp, sensor online status, E-stop event callbacks, and on-demand queries.
Direct Actuator Control
Joint-level direct control interfaces providing position, velocity, and torque modes. Ideal for fine-grained joint research scenarios.
Real-Time Middleware
Unified communication layer based on DDS protocol, offering Topic Pub/Sub, RPC service calls, and Action async task interfaces.