Joint Stand State

The Joint Stand State slowly moves all joints to their zero position. This state is typically used to verify that all actuators are working correctly and that all joint zero positions are accurate.

State Details

State Name	Task Name	Joystick Mapping	DDS Mapping	Frequency
Joint Stand	JointStandTask	LB+A	1	400Hz

Available for Hanging	Available for Standing	Auto Protection Switch
Yes	No	No

Joystick Control

Enter Joint Stand State

After initializing AuroraCore, press shoulder button LB and button A simultaneously to enter the Joint Stand State.

Client Control

Velocity Control	Pose Control	Joint Control	Motor Config
No	No	No	No

Enter Joint Stand State

After initializing AuroraCore, use the set_fsm_state function to enter the Joint Stand State.

Python

client = AuroraClient.get_instance(domain_id=123, robot_name="gr3")
time.sleep(1)

client.set_fsm_state(1)     # switch to Joint Stand State