RL Locomotion State

The RL Locomotion State allows the robot to switch between arm-swing and joint control on the upper body while the lower body moves. The lower body runs a reinforcement-learning-based controller that allows velocity control in three directions.

The upper body is managed by the state manager task, allowing users to switch between different upper-body controllers:

• Default: no controller, mapped to upper-body state 0.
• UpperBodyActTask: arm-swing task, mapped to upper-body state 1.
• UpperBodyTeleTask: joint control task, mapped to upper-body state 2.

State Details

State Name	Task Name	Joystick Mapping	DDS Mapping	Frequency
RL Locomotion	LowerBodyWbcrlTask / UpperBodyStateManagerTask	RB+A	3	50Hz / 500Hz

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

Joystick Control

Enter RL Locomotion State

After initializing AuroraCore, press shoulder button RB and button A simultaneously to enter the RL Locomotion State.

Velocity Control

Use the left and right sticks to apply velocity control.

• Left stick vertical axis: forward and backward
• Left stick horizontal axis: left and right
• Right stick horizontal axis: turn left and right

Stand Pose Control

Use the D-pad to control the robot's stand pose.

• Press Up or Down to control the robot's height.
• Press Left or Right to control the robot's pitch angle.

Arm-Swing Toggle

Press button B to enable arm swing, then press X to disable it.

Client Control

Velocity Control	Pose Control	Joint Control	Motor Config
Yes	No	Upper body	No

Enter RL Locomotion State

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

Python

client = AuroraClient.get_instance(domain_id=123, robot_name="gr3")
time.sleep(1)

client.set_fsm_state(3)     # switch to RL Locomotion State

Velocity Control

Before sending velocity commands via the client, switch the velocity source. Set it to 2 (client control), then use set_velocity for velocity control.

Velocity range: vx: [-1.0, 1.0], vy: [-0.3, 0.3], vyaw: [-0.6, 0.6]

Python

client.set_velocity_source(2)   # set velocity source to client control
time.sleep(0.5)

client.set_velocity(0.3, 0.0, 0.0, 5.0)  # move forward at 0.3 m/s for 5 s
time.sleep(5.0)

client.set_velocity(0.0, 0.3, 0.0, 5.0)  # move left at 0.3 m/s for 5 s
time.sleep(5.0)

client.set_velocity(0.0, 0.0, 0.5, 5.0)  # turn left at 0.5 rad/s for 5 s
time.sleep(5.0)

client.set_velocity(0.0, 0.0, 0.0, 1.0)  # stop

Stand Pose Control

Use set_stand_pose for pose control.

Pose range: delta_z: [0.04, -0.48], delta_pitch: [-0.3, 0.5]

Python

client.set_stand_pose(-0.1, 0.0, 0.0)   # crouch 0.1 m
time.sleep(2.0)

client.set_stand_pose(0.0, 0.2, 0.0)    # lean forward 0.2 rad
time.sleep(2.0)

client.set_stand_pose(0.0, 0.0, 0.0)    # return to default
time.sleep(2.0)

Arm Swing

Python

client.set_upper_fsm_state(1)   # enable arm swing

Joint Control

To apply joint control in RL Locomotion state, switch the upper-body state to 2.

Python

client.set_upper_fsm_state(2)   # enable joint control

left_manipulator_init_pose = client.get_group_state("left_manipulator", key="position")
left_manipulator_target_pose = [0.0, 0.0, 0.0, -1.2, 0.0, 0.0, 0.0]
total_steps = 200

for i in range(total_steps):
    left_manipulator_pose = [s + (e - s) * i / total_steps for s, e in zip(left_manipulator_init_pose, left_manipulator_target_pose)]
    client.set_group_cmd({"left_manipulator": left_manipulator_pose})
    time.sleep(0.01)

Available control groups: waist, head, left_manipulator, right_manipulator, left_endeffector, right_endeffector