Stand Pose

set_stand_pose()

Python

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

Sets stand-pose inputs for the GR-W policy task. Only effective in grw_policy_task (state 3); calls in other states have no effect.

The current GR-W deployment does not consume stand-pose offsets

The current GR-W deployment does not run a PdStand-type task that consumes stand-pose offset commands. Sending a non-zero offset such as set_stand_pose(-0.02, 0.0, 0.0) in state 3 publishes without error, but get_stand_pose() keeps returning [0.0, 0.0, 0.0, 0] and no posture change occurs. Do not use it for base height, pitch, or yaw control; adjust height/pitch with the joystick D-pad (policy task inputs).

Parameter	Type	Description
delta_z	float	Height offset (m), negative lowers the center of gravity
delta_pitch	float	Pitch angle offset (rad), positive leans forward
delta_yaw	float	Yaw angle offset (rad), positive turns left

Use the limits configured by grw_policy_task on the robot.

Example

Python

import os
import time

os.environ.setdefault("FASTDDS_BUILTIN_TRANSPORTS", "UDPv4")  # required on the robot

from fourier_aurora_client import AuroraClient

client = AuroraClient.get_instance(domain_id=123, robot_name="grw")
try:
    time.sleep(1.0)
    if not client.set_fsm_state(3):
        raise RuntimeError("state change request not accepted")
    deadline = time.monotonic() + 4.0
    while client.get_fsm_state() != 3:
        if time.monotonic() >= deadline:
            raise RuntimeError("did not switch to grw_policy_task")
        time.sleep(0.05)

    client.set_stand_pose(0.0, 0.0, 0.0)    # zero offset (only usable value in the current deployment)
    print(f"stand pose: {client.get_stand_pose()}, stable: {client.get_stable_level()}")
finally:
    client.close()

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get_stand_pose()

Python

get_stand_pose() -> list[float]

Returns the current stand pose data as [delta_z, delta_pitch, delta_yaw, stable_level]. In the current GR-W deployment the three offsets stay 0.0 and do not mirror the set_stand_pose() command value.

Index	Description
[0]	Current height offset delta_z (m)
[1]	Current pitch offset delta_pitch (rad)
[2]	Current yaw offset delta_yaw (rad)
[3]	Stability level (see get_stable_level())

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get_stable_level()

Python

get_stable_level() -> bool

Returns whether the stability-level service request succeeded: True on success, False when no successful response arrives. The current implementation does not return a numeric stability level; read element 4 of get_stand_pose() for the numeric value instead.