GRW Policy Task State

The GRW Policy Task state runs grw_policy_task to control the wheeled base, waist, arms, and end effectors.

State Details

State Name	Task Name	Joystick Mapping	DDS Mapping	Frequency
UserController_A	grw_policy_task	RB+A	3	50Hz

Available when Hanging	Available when Standing	Automatic Protection Switch
No	Yes	No

Joystick Control

Enter GRW Policy Task State

After initializing AuroraCore, press the shoulder button RB and button A simultaneously.

Velocity Control

Use the joysticks to control the wheeled base's forward, lateral, and yaw velocities.

Stand Pose Control

Use the D-pad to adjust the policy task's height and pitch inputs.

Client Control

Velocity Control	Stand Pose Control	Joint Control	Joint Parameter Control
Yes	Not effective in the current deployment	Waist, arms, end effectors	No

Enter GRW Policy Task State

A True return from set_fsm_state() only means the request was accepted; state feedback usually updates within about 50 ms, but you should still confirm by reading back.

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(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)
    print(f"after: {client.get_fsm_state()} ({client.get_fsm_name()})")
finally:
    client.close()

Velocity Control

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_velocity_source(2):
        raise RuntimeError("velocity source request not accepted")
    deadline = time.monotonic() + 2.0
    while client.get_velocity_source() != 2:
        if time.monotonic() >= deadline:
            raise RuntimeError("velocity source did not switch to Navigation")
        time.sleep(0.05)

    client.set_velocity(0.2, 0.0, 0.0, 2.0)    # move forward at 0.2 m/s, auto-stop after 2 s
    time.sleep(2.0)
    client.set_velocity(0.0, 0.0, 0.0, 1.0)    # explicit stop
finally:
    client.set_velocity(0.0, 0.0, 0.0, 1.0)    # safety-net zero velocity
    client.set_velocity_source(0)               # hand control back to the joystick
    client.close()

Stand Pose Control

The current deployment does not consume stand-pose offset commands: set_stand_pose() publishes but produces no posture change and the readout stays zero (see Stand Pose). Use the joystick D-pad for height/pitch.

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)
    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()}")
finally:
    client.close()

Joint Control

Send complete control-group commands with set_group_cmd. Waist commands must contain five values. Its safe default position is [-1.25, 2.15, -0.918, 0, 0]; never command all waist joints to zero.

Available control groups: waist, left_manipulator, right_manipulator

End effectors: left_end_effector, right_end_effector