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Galaxea R1 Software Version_V1.1.7_Changelog

Release Notes

Product Name: Galaxea R1/R1 Pro/R1 Lite

Software Version: SDK V1.1.7

Ubuntu System: 20.04 LTS

ROS Version: ROS 1 Noetic

Release Date: April 24, 2025 (GMT +8)

  1. Motion Control Update Items:

    R1:

    a) Add the relaxedIK control method for the end-effector of the arm to enhance the flexibility and adaptability of end-effector control.

    R1 Pro:

    a) Add the “eepose planning” function for the end-effector of the arm and torso. This interface can return the end-effector pose calculated based on the joint angles planned by the motion control algorithm, and can be used simultaneously with the actual end-effector pose interface, providing strong support for precise end-effector control and planning.

    b) Add dynamic constraints to the arm joint J7 to prevent self-collision during VR teleoperation and ensure smooth teleoperation.

    c) Increase the joint limit of arm joint J4 in the URDF file to 110°.

    d) Reduce the maximum speed of the arm's joint_tracker to 1 rad/s to better meet the fine control requirements of teleoperation.

    e) Optimize the constraints of the arm joint J4 and J5, correct their consistency with the URDF to ensure the accuracy of the kinematic and dynamic models.

    f) Add the disable_torso function to the torso control r1_pro_jointTracker. When controlling the torso speed, this function prevents torso joint control from pre-empting the control topic and avoids control conflicts.

    R1 Lite：

    a) Add torso control to enable more precise control of the torso pose.

    b) Optimize the torso speed control and appropriately increase the moving speed.

    c) Reduce the gripper force control to adapt to different tasks.

Update Tutorial

Download the Update Package

atc_standard-V1.1.7.tar.gz

Extract the Package

tar -xf ${your_download_path}/atc_standard-V1.1.7.tar.gz -C ~/

Execute the Module

sudo apt-get install tmux tmuxp
cd {your_download_path}/install/share/startup_config/script
//R1：
./robot_startup.sh boot ../session.d/ATCStandard/R1Body.d/
//R1 VR：
./robot_startup.sh boot ../session.d/ATCStandard/R1VRTeleop.d/