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R1 Pro Unbox and Startup Guide

Welcome to the intelligent control era of Galaxea R1 Pro! As the new-gen humanoid universal robot, R1 Pro will help you realize the boundless possibilities of embodied intelligence scenarios！

1. Preparation

1.1 Item List Check

Check the items in the package according to the list below upon receiving the product.

Item Quantity
R1 Pro Base 1
A2 Robotic Arm 2
G1 Gripper 2
Joystick Controller 1
L-Hex Key Wrench Set 1
Power Supply Unit (10A) 1
Wiring Harness Repairing Bag 1

You should also prepare the following:

Item Quantity
Display & Keyboard & Mouse 1
PC/Laptop 1
WiFi Network 1
HDMI Cable 1

Note: To ensure proper operation, place R1 Pro in a dry, well-ventilated environment with no obstructions or hazardous items around.

2. Unboxing

2.1 Open the Locks

Locate the two locks on the left side of the box, and open the lock plates and rotate them counterclockwise. Then, you can open the box door, lower the wooden board, and lay it flat on the ground.

R1Pro_2.1_unlock

2.2 Remove the Fixings

Use an M8 wrench to remove the two screws on each of the left and right sides of the chassis fixing parts. Then, pull the robot out of the box, taking care to avoid collisions.

R1Pro_2.2

2.3 Remove the Chassis Fixings

Use an M6 wrench to remove the screws around the chassis and take off all profile fixing parts. Then, follow these steps to remove the fixing parts of the three steering wheels:

  1. Rotate the steering wheels with fixing parts to both sides to expose the fixing screws.
  2. Use an M6 wrench to remove the 6 fixing screws of the three steering wheels.
  3. Turn the steering wheels back to their original positions. R1Pro_2.3

Note: To ensure the normal operation of the product, please place the robot in a dry and well-ventilated environment, and make sure there are no obstacles or dangerous items around it.

3. Power On

3.1 Connect HDMI and USB

Note: For your safety, do not connect the power supply before connecting any wire harnesses.

  1. Use an M2 wrench to remove two screws on the cover of the chassis peripheral interface, then you can open the cover. Connect the HDMI cable of the display to the chassis peripheral interface, making sure the connection is firm to avoid loosening. R1Pro_3.1_hdmi
  2. Connect the mouse and keyboard USB cables to the peripheral interface at the Rear Neck. Ensure a secure connection to prevent disconnection.
    R1Pro_3.1_usb

3.2 Power On/Off

To power on, Flip the boat-shaped power switch (hard switch) beneath the rear end of the chassis to enable power supply. Then, press and hold the circular power button (soft switch) at the rear waist downward for 3-5 seconds until an audible prompt sounds and the indicator light illuminates.

To power off, press and hold the soft switch for 3-5 seconds before releasing, or directly cut power by flipping the chassis’ hard power switch.

Note: Ensure the Emergency Stop Button is fully released before powering on. If pressed during operation, deactivate the hard power switch and reactivate it; otherwise, the robot cannot function.

Secure the robotic arm or relocate the robot to an obstacle-free area before shutdown to prevent sudden arm drop due to power loss.

R1Pro_3.2_poweron

3.2.1 Charging

The charging port is located at the rear bottom of the chassis. Unscrew the charging port cover and connect the power cable. A lit red light on the charger and flashing green breathing lights on both sides of the chassis indicate active charging.

If the chassis contains a depleted battery, charge it before powering on.

3.2.2 Battery Replacement

The battery is located at the bottom right of the chassis. 1. Remove two screws on the side cover panel and slide the panel rightward for removal. 2. Insert the battery into the chassis and connect the power harness. 3. Reattach the cover panel.

For overseas users, due to shipping regulations, the robot and battery ship separately. You must install the battery before initial startup.

R1Pro_3.2.2_battery_install

4. Connecting the Robot

The latest software SDK is pre-installed in the factory, located at: ~/galaxea.

4.1 Obtain the IP Address

Connect the monitor’s HDMI cable to the chassis peripheral port, and connect the mouse and keyboard USB cables to the peripheral interface at the Rear Neck.

Then, power on the robot and wait for the desktop to display on the monitor.

  1. Open Settings and connect to Wi-Fi.

    R1Pro_4.2.1_ip

  2. Press Ctrl + Alt + T to open the terminal, then run: 

    ifconfig wlan0
    The output will display the Orin’s IP address (e.g., 192.xxx.xxx). R1Pro_4.2.1_wifi

4.2 Connect By SSH

On a computer capable of opening Terminal (e.g., Ubuntu 22.04), run: 

ssh nvidia@IP address
# password (default): nvidia

If successful, disconnect the HDMI/USB cables. Close the peripheral port covers on the chassis and torso to avoid mobility restrictions.

If connection fails, immediately contact our technical support team for assistance.

4.3 Start CAN Driver Programme

Note: The CAN driver must be activated after every reboot of the R1 Pro robot.

Use TMUX to manage multiple terminals during operation. Key commands: - Create a new terminal: Press Ctrl + B then C. - Switch terminals: Press Ctrl + B then press number which indicates the number of terminal windows.

CAN Driver Startup Procedure:

  1. Launch TMUX. 

    tmux

  2. Execute the following command to initiate FDCAN communication: 

    bash ~/can.sh 
# re-enter the password: nvidia
# If "RTNETLINK answers: Device or resource busy" appears,the device is already configured and running.

    If the command fails, run: 

    sudo ip link set can0 type can bitrate 1000000 sample-point 0.875 dbitrate 5000000 fd on dsample-point 0.875 
sudo ip link set up can0

    Press Ctrl + B then C to create a new terminal, then start the robot control node. 

    source  {your_download_path}/install/setup.bash
cd {your_download_path}/install/startup_config/share/startup_config/script
./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROBody.d/

4.4 Start the First Self-Check

Complete self-check before any robot operation. Prerequisites:

  • Robot unboxed with all fixtures removed.
  • Torso remains folded; robotic arms detached.

Press Ctrl + B then C to create a new terminal. Navigate to the ’install’ directory and run the initial self-check. 

cd ~/galaxea/install
source setup.bash
ros2 run rds_ros rds_ros_node
Press Enter when prompted to commence the test. R1Pro_4.4_2_1stcheck

Self-test scope: Verifies all peripherals. → Ignore non-critical errors (e.g., cameras) during unboxing; focus on torso/chassis/arms.

R1Pro_4.4_1st_check_noerror

After self-test completion, enter 1 to initiate the unboxed folding state self-test (torso crouched, arms detached). R1Pro_4.4_1st_check_folding

Contact technical support immediately if warnings or errors appear.

4.5 Control by Host Computer – Torso Standing

Ensure the robot is unboxed with no obstructions or fixtures. Failure may trigger torso self-lock protection.

After completing the self-check, you can command the trunk and chassis and use the remote controller to make R1 Pro stand up.

Press Ctrl + B then C to create a new terminal. Launch the host computer control program. 

source ~/galaxea/install/setup.bash
cd ~/galaxea/install/mobiman/share/mobiman/scripts/robotOpenbox/R1Pro 
python3 r1pro_test_open_box.py
Enter 0 (indicating no robotic arms installed). R1Pro_4.5_enter0

Enter 5 (command to stand the torso upright). R1Pro_4.5_enter5

5. Install the Robotic Arms

Note: Disconnect robot power before installation.

5.1 Remove the Rear Chest Cover

Open the rear neck peripheral cover. Remove two screws with M4 wrench under the cover. R1Pro_5.1_remove_rear

5.2 Remove the Front Chest Cover

Remove four screws (two per side) on the torso rear cover with M5 wrench. Remove six screws (three per side) on torso sides with M5 wrench.

R1Pro_5.2_remove_front

5.3 Install the Arms

Note: Ensure arm base ports face backward. Match arm labels (left/right) to robot sides.

Mount arms to robot sides. Secure each arm with four screws using M6 wrench. R1Pro_5.3_arm_install

Connect arm power and CAN cables to base ports. Remove terminator caps from CAN ports before connection. R1Pro_5.3_arm_cable

Preserve resistance caps for future use without arms. Resistance caps MUST be reinstalled if operating robot without arms.

Reverse Steps 5.1–5.2 to reinstall covers after cable verification.

5.4 Install the Grippers

Note: Position arms in initial pose (elbow black rubber forward, gray circular connector outward).

  1. Alignment: Match 3 mounting holes on gripper to holes on arm’s end flange.
  2. Secure: Fasten with 3 screws using M3 wrench. Confirm rigid attachment.
  3. Wiring: Connect CAN cable from joint J6’s external port to gripper communication port.

R1Pro_5.4_install_gripper

6. The Second Self-Check

Before initiating self-test, strictly ensure: - Robot is powered off. - Torso is fully upright/standing. - Robotic arms correctly installed (ports backward, Left/Right labels aligned). - Arms are naturally hanging straight down, the elbow joints (black rubber protective sleeve) are facing directly forward, and grippers are vertically downward (pointing to ground), with gripper cable facing outward.

R1Pro_6_initial_pos

  1. Power on the robot. Repeat CAN driver initialization per Section 4.3: Execute identical commands used during initial CAN setup.

  2. Press Ctrl + B then C to create terminal → Launch robot control node. 

     source ~/galaxea/install/setup.bash
 cd ~/galaxea/install/mobiman/share/mobiman/scripts/robotOpenbox/R1Pro 
 python3 r1pro_test_open_box.py

  3. Press Ctrl + B and then C to create another terminal → Navigate to install directory. 

     cd ~/galaxea/install 
 source setup.bash 
 ros2 run rds_ros rds_ros_node
    Press Enter when prompted to initiate self-test. Once Done, press 3 to exit R1Pro_6_enter3_exit

    Note: Self-test scope: Verifies all peripherals. → Ignore non-critical errors (e.g., cameras) during unboxing; focus on torso/chassis/arms.

    R1Pro_6_check_normal

    Contact technical support immediately for warnings/errors.

    After self-test completion, enter 2 to perform upright state verification (torso standing + arms installed). R1Pro_6_enter2_upright

    Upon success, enter 3 to exit. R1Pro_6_enter3_exit

7. Demo

Pre-Demo Safety Protocol: - Move robot to an open area with no obstacles. - Confirm self-test completion (upright state verification passed).

Press Ctrl + B → C to create new terminal. Run demo script: 

source ~/galaxea/install/setup.bash
cd ~/galaxea/install/mobiman/share/mobiman/scripts/robotOpenbox/R1Pro 
python3 r1pro_test_open_box.py
Input 1 (confirming robotic arms installed). R1Pro_6_enter3_exit

Sequentially input numbers 1 through 5, pressing Enter after each, Robot will execute segmented demonstration motions. R1Pro_7_demo_number

After all actions finish, press q to exit. Robot automatically returns to initial pose (arms hanging down).

8. Joystick Controller Operation Guide

R1Pro_8_controller

Before powering on the remote: Set ALL switches (SWA/SWB/SWC/SWD) to the UP position. When not in use: Keep all switches in UP position to maintain robot standby state and prevent accidental activation.

Position the switches to specified settings to immediately control the robot's corresponding functions. R1Pro_8_controller_table

  • Host Control Mode (DDUU): Host PC must launch chassis control program before operation.
  • Remote Control Mode (DDMU): Directly control chassis via remote after robot powers on. No host PC intervention required.
  • Emergency Stop: Set SWD to DOWN position (any mode); Robot requires reboot after E-stop engagement.Reset SWD to UP before restart.