Upper UserCmd State

After switching to the Upper UserCmd State, users can send external joint position commands for upper-body joints, as well as actuator configuration commands (e.g. PD parameters). The robot executes these commands and updates its state accordingly. Lower-body actuators are set to zero-torque mode.

State Details

State Name	Task Name	Joystick Mapping	DDS Mapping	Frequency
Upper UserCmd	UpperBodyUserCmdTask	None	11	400Hz

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

Joystick Control

This state has no joystick control.

Client Control

Velocity Control	Pose Control	Joint Control	Motor Config
No	No	Upper body	Upper body

Enter Upper UserCmd State

After initializing AuroraCore, use the set_fsm_state function to enter the Upper UserCmd State.

Python

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

client.set_fsm_state(11)     # switch to Upper UserCmd State

Joint Control

Use set_group_cmd for joint control. Since position commands take effect immediately, interpolation is recommended to avoid sudden changes.

Available control groups: waist, head, left_manipulator, right_manipulator, left_endeffector, right_endeffector

Python

left_manipulator_init_pose = client.get_group_state("left_manipulator", key="position")
left_manipulator_target_pose = [0.0, 0.0, 0.0, -1.2, 0.0, 0.0, 0.0]
total_steps = 200

for i in range(total_steps):
    left_manipulator_pose = [s + (e - s) * i / total_steps for s, e in zip(left_manipulator_init_pose, left_manipulator_target_pose)]
    client.set_group_cmd({"left_manipulator": left_manipulator_pose})
    time.sleep(0.01)

Motor Configuration

Use set_motor_cfg_pd to configure joint PD parameters.

Available control groups: waist, head, left_manipulator, right_manipulator

Python

kp_config = {
    "waist": [200, 300, 200],
    "head": [100, 100],
    "left_manipulator": [400, 200, 200, 200, 50, 50, 50],
    "right_manipulator": [400, 200, 200, 200, 50, 50, 50],
}
kd_config = {
    "waist": [10, 15, 10],
    "head": [10, 10],
    "left_manipulator": [20, 10, 10, 10, 2.5, 2.5, 2.5],
    "right_manipulator": [20, 10, 10, 10, 2.5, 2.5, 2.5],
}

client.set_motor_cfg_pd(kp_config, kd_config)