Upper Body Teleoperation Task State

The Upper Body Teleoperation Task state runs upper_body_tele_task and forwards external joint, end-effector, and wheeled-base commands to GR-W.

State Details

State Name	Task Name	Joystick Mapping	DDS Mapping	Frequency
UserController_B	upper_body_tele_task	RB+B	4	500Hz

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

Joystick Control

Enter Upper Body Teleoperation Task State

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

Client Control

Velocity Control	Stand Pose Control	Joint Control	Joint Parameter Control
Yes	No	Waist, head, arms, end effectors	No

Enter Upper Body Teleoperation Task State

A True return from set_fsm_state() only means the request was accepted; confirm by reading back. In state 4, get_upper_fsm_state() stays 0 (Default); set_upper_fsm_state() returns False in both states 3 and 4 — do not use it as a replacement for the whole-body switch.

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(4):
        raise RuntimeError("state change request not accepted")
    deadline = time.monotonic() + 4.0
    while client.get_fsm_state() != 4:
        if time.monotonic() >= deadline:
            raise RuntimeError("did not switch to upper_body_tele_task")
        time.sleep(0.05)
    print(f"after: {client.get_fsm_state()} ({client.get_fsm_name()})")
finally:
    client.close()

Joint Control

Use set_group_cmd to send position, velocity, and torque commands. Every command must include all joints in the target control group.

Commands must be streamed continuously

upper_body_tele_task expects a continuous joint command stream (100 Hz recommended). Once you stop sending, uncommanded joints slowly droop under gravity (up to 0.09 rad within 1 s): either keep streaming target positions for all controlled groups, or switch back to state 3 promptly. get_group_motion_state() stays 0 (idle) during streaming and cannot be used to detect motion completion.

Available control groups: waist, head, left_manipulator, right_manipulator

End effectors: left_end_effector, right_end_effector

danger

The waist has five degrees of freedom. Its safe default position is [-1.25, 2.15, -0.918, 0, 0]; never command all waist joints to zero.