Security Protection State

The Security Protection State is designed for scenarios where the robot loses control. Upon entering this state, the controller first sets all actuators to damping mode for 2 seconds, then sets all actuators to zero-torque mode. Joint state can still be read in zero-torque mode.

Some controllers include an auto protection switch mechanism. When they detect they are outside a controllable range, they automatically switch to the Security Protection State.

State Details

State Name	Task Name	Joystick Mapping	DDS Mapping	Frequency
Security Protection	SecurityProtectionTask	LT+RT	9	500Hz

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

Joystick Control

Enter Security Protection State

After initializing AuroraCore, press triggers LT and RT simultaneously to enter the Security Protection State.

Client Control

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

Enter Security Protection State

After initializing AuroraCore, use the set_fsm_state function to enter the Security Protection 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(9):
        raise RuntimeError("state change request not accepted")
    time.sleep(2.5)             # 2 s of damping, then zero torque
    print(f"after: {client.get_fsm_state()} ({client.get_fsm_name()})")
    print(f"joints still readable: {client.get_group_state('head', key='position')}")
finally:
    client.close()

GR-W notes

• A standing GR-W (supported by the wheeled base) entering state 9 first damps and then zero-torques the joints; the upper body and waist go limp while the wheeled base keeps the robot upright. The "available for hanging/standing" table above is legacy GR-3 wording.
• get_group_state() still reads all joint states normally in zero-torque mode (including waist, head, and both arms).
• Recovery path 9 → 1 (JointStand) → 3 (grw_policy_task): joints converge back to the JointStand targets. On-site personnel should steady the robot and keep the e-stop within reach during recovery.