Joint Stand State

The Joint Stand State slowly moves all joints to the configured GR-W JointStand positions. This state is typically used to verify actuator operation and joint positions. The waist target is [-1.25, 2.15, -0.918, 0, 0], not an all-zero pose.

State Details

State Name	Task Name	Joystick Mapping	DDS Mapping	Frequency
Joint Stand	JointStandTask	LB+A	1	500Hz

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

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(1):
        raise RuntimeError("state change request not accepted")
    deadline = time.monotonic() + 4.0
    while client.get_fsm_state() != 1:
        if time.monotonic() >= deadline:
            raise RuntimeError("did not switch to Joint Stand State")
        time.sleep(0.05)
    print(f"after: {client.get_fsm_state()} ({client.get_fsm_name()})")
finally:
    client.close()

After entering this state, all joints converge to the JointStand targets within about 3 s (waist target above).