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R1 Pro Demo Guide

Preparation Before Use

Before you start, please ensure that:

  1. Two arms are correctly installed. At this time, the elbow bend (the black rubber) should face directly forward; the gripper points vertically downward towards the ground, and the gripper cable faces outward.
  2. The torso is in the standing pose.
  3. No personnel and obstacles within a radius of 1.5 meters. (As shown in the figure below.)

R1Pro_6_2ndcheck

Demo

Important Notice: For your safety, in the event of danger during testing, you must press Ctrl + C in the Python 3 terminal running r1pro_test_open_box.py to immediately stop the ongoing action.

  • arm_test_1: Raise both arms vertically upward, then lower them back down, with the grippers pointing straight downward toward the ground.

  • arm_test_2: Raise both arms upward from the sides of the body.

  • arm_test_3: Move both arms to the front of the chest, then perform a Tai Chi motion (this action tests the J1/J2/J3/J4/J5/J6/J7 joint motors of the dual-arm system).

  • torso_test_1: Bend the torso to squat down while simultaneously folding both arms inward on either side of the chest (this action tests the T1/T2/T3 torso motors).

  • torso_test_2: The torso rises to a standing position while the arms lower to the sides of the body. Then, the waist rotates 45° to the left, followed by 90° to the right, then 45° back to the left, and finally returns to the neutral position. (This action tests the T4 torso motor.)

Script Execution

Only after the above preparation work is completed can the robot be used to start the demo.

Note: If any errors occur, please contact us promptly for technical support. If there are no abnormalities, press Ctrl + C to close.

  1. Kill all TMUX running and close all ROS programs. 

    sudo tmux kill-server
tmux kill-server
pkill -9 ros

  2. Enter TMUX. 

    tmux

  3. Start FDCAN Communication 

    sudo ip link set dev can0 type can bitrate 1000000 dbitrate 5000000 fd on
sudo ip link set up can0  
# You may need to enter the password again: nvidia
# If the error message "RTNETLINK answers: Device or resource busy" appears, it usually means that the device you are trying to configure (such as a network interface or CAN transceiver) has already been configured and is currently in operation.

  4. Press Ctrl + B then C to create a new terminal, and execute launch file.

    source ~/galaxea/install/setup.bash
cd ~/galaxea/install/startup_config/share/startup_config/script
./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROBody.d/

  5. Press Ctrl + B then C to create a new terminal. Then, start the demo script. 

    source {your_download_path}/install/setup.bash
cd {your_download_path}/install/share/mobiman/script
python3 r1pro_test_open_box.py

  6. Enter the number corresponding to each demo action and press Enter. Then, R1 Pro will start to perform. R1Pro_4.4_7_1stcheck

  7. When you have completed all actions, press Q to quit. R1 Pro will be back to the zero-point pose.