Default State

The Default State is Aurora's entry state, in which no controller is running.

State Details

State Name	Task Name	Joystick Mapping	DDS Mapping	Frequency
Default	(no task)	LB+RB	0	-

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

Joystick Control

Enter Default State

After initializing AuroraCore, press shoulder buttons LB and RB simultaneously to enter the Default State.

Client Control

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

Enter Default State

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

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)
    print(f"before: {client.get_fsm_state()} ({client.get_fsm_name()})")
    if not client.set_fsm_state(0):
        raise RuntimeError("state change request not accepted")
    deadline = time.monotonic() + 4.0
    while client.get_fsm_state() != 0:
        if time.monotonic() >= deadline:
            raise RuntimeError("did not switch to Default State")
        time.sleep(0.05)
    print(f"after: {client.get_fsm_state()} ({client.get_fsm_name()})")
finally:
    client.close()

note

The robot returns to this state after a hardware e-stop cycle. After long continuous runs, an occasional "accepted but not switched" transition from state 0 to 1 can occur (recovering after an AuroraCore restart), so always read back the state before continuing; if it does not switch, check the AuroraCore status first.