R1 Lite Unboxing and Setup Guide

This tutorial provides detailed step-by-step instructions to guide you through unboxing, self-inspection, and connection. Follow these steps carefully to get familiar with your new device and ensure everything is ready.

1. Unboxing

1.1 Pre-unboxing Preparation

Item	Quantity
Monitor, Keyboard & Mouse	1 Set
Laptop	1 Unit
WiFi Network	1
HDMI Cable	1 Unit
Docking Station (Type C to USB, with ≥3 USB ports, USB 2.0 or above)	1 Unit

1.2 Removing the Machine

1. Unlock the Case
   Locate the two locks on the left side of the case. Open the lock tabs and rotate them counterclockwise to unlock the door.

2. Lower the Ramp
   There is a wooden ramp at the front of the door for sliding the R1 Lite out. Detach the Velcro strap and lay the ramp flat on the ground. Remove the tool kit.

   

3. Remove Internal Fixings and Extract the R1 Lite
   Take the L-shaped hex key set from the tool kit. Use the 6mm L-shaped hex key to remove the 8 fixing screws, as shown below.

   

1.3 Removing the Foam Padding

1. Untie the cable ties and remove the top cover plate first.
2. Check the internal inventory list, then remove the foam padding.
3. Cut the single cable tie in the center of the robotic arm. Please refer to the image below to identify the correct tie to avoid mistakes.
   

Note:
1. A cable tie is used on the robotic arm to secure the wrist camera wiring. Please keep this tie intact.
2. For potential after-sales service, it is recommended to store the foam padding properly.

Electrical Accessories		Quantity
1	Charger & Cable	1 Set
2	Chassis Remote Controller	1 Unit
3	Torso Remote Controller—Dual Button	1 Unit
4	E-Stop Remote Controller—Single Button	1 Unit

Structural Parts & Tool Kit		Quantity
1	Side Mounting Brackets	1 Pair
2	W1 Calibration Board & Screws	3 Units
3	Repair Cable Kit	1 Set
4	Torso Motor Calibration Cable	1 Unit

1.4 Removing Chassis Fixings

1. Next to each steering wheel, there is a fork-shaped fixing bracket. Use the 6mm L-shaped hex key to remove the 2 screws (top and bottom) on each.
2. Fixed profiles are installed around the chassis. Use the M8 L-shaped hex key to remove the 4 screws at each corner.
   Note: It is recommended to remove the fixing profiles for the 3 steering wheels first, then remove the fixing screws for the front and rear side profiles of the chassis. Always pay attention to the platform support to prevent sudden dropping.

1.5 Removing the Platform Support

Use a 3mm wrench to remove the fixing screws between the robotic arm mount and the platform. There are 4 screws on each side, totaling 8 screws. Note: Since the chassis fixing profiles have been removed, the platform support is only fixed by the top screws. Be cautious when removing the screws to prevent the support from dropping suddenly.

1.6 Removing Steering Wheel Fixings

Follow these steps to remove the fixings on the three steering wheels: 1. Rotate the wheel with the fixing bracket to the side to expose the fixing screws. 2. Use the 6mm L-shaped hex key to remove the 2 fixing screws on the wheel. There are 6 screws in total for 3 wheels. 3. Rotate the wheel back to its original position.

2. Inventory Checklist

All items involved in the unboxing process have been introduced. Please check if the items in the package are complete according to the following list.

Item		Quantity
R1 Lite Main Unit		1 Set
A1X-Left		1 Set
1	A1X-Left Robotic Arm	1 Unit
2	D405 Camera	1 Unit
3	D405 Camera Cable	1 Unit
4	D405 Camera Mount	1 Unit
A1X-Right		1 Set
1	A1X-Right Robotic Arm	1 Unit
2	D405 Camera	1 Unit
3	D405 Camera Cable	1 Unit
4	D405 Camera Mount	1 Unit
Electrical Accessories		1 Set
1	Charger & Cable	1 Set
2	Chassis Remote Controller	1 Unit
3	Torso Remote Controller—Dual Button	1 Unit
4	E-Stop Remote Controller—Single Button	1 Unit
Structural Parts & Tool Kit		1 Set
1	Side Mounting Brackets	1 Pair
2	W1 Calibration Board & Screws	3 Units
3	Repair Cable Kit	1 Set
4	Torso Motor Calibration Cable	1 Unit
5	Hex Key Set	1 Set

3 Power On

3.1 Powering On

3.1.1 Charging/Battery Replacement

The power port is located at the front of the chassis (a battery is pre-installed inside the chassis by default).

Charging Steps: 1. Unscrew the cover of the battery charging port.
2. Use the 2-core aviation plug charging cable. Connect one end to the chassis charging port and the other end to the AC power input interface.
3. When the red indicator light on the charger lights up, it indicates the R1 Lite is charging.

Battery Installation/Replacement Steps: 1. Use the L-shaped wrench to remove the two screws on the right side cover plate of the chassis, as shown in the left image.
2. Slide the cover plate to the left to remove the battery cover.
3. Place the battery into the chassis and connect the battery cable to the chassis.
4. Install the battery cover.

3.1.2 Turning On the Switches

1. Turn On the Hard Switch
   There is a black rocker power button at the bottom rear end of the R1 Lite chassis. Press this button to power on/off.
2. Turn On the Soft Switch
   A silver circular power button is equipped on the top of the R1 Lite torso:
   • Power On: Press the button and release. The blue indicator light turns on, indicating the R1 Lite is powered on.
   • Power Off: Press and hold the button for at least 3 seconds, then release. The blue indicator light turns off, indicating the R1 Lite is powered off.

3.2 Torso Upright

Take the dual-button remote controller. Press and hold button A until the torso is fully upright.
Note:
1. The dual-button remote is designed for ease during unboxing/packing and should only be used when the torso is in the zero position or fully squatting posture (as shown). Do not use the torso remote in other postures.
2. In case of an emergency, immediately press the emergency stop button on the single-button remote controller (as shown).

3.3 Chassis Remote Controller Instructions

Note:
1. Before turning on the remote controller, ensure all toggle switches (SWA/SWB/SWC/SWD) are in the topmost position, then press the power button.
2. When the remote controller is not in use, also set all toggle switches to the topmost position. This will keep the R1 Lite in a stopped state, preventing accidental movement.

4 Connection

4.1 Connecting HDMI, Keyboard, and Mouse

Note: For safety, please power off the machine completely (both hard and soft switches) before connecting any cables.

1. Turn Off Soft Switch: Press and hold the silver switch button on the torso platform for at least 3 seconds, then release. The blue indicator light turns off, indicating the R1 Lite is powered off.
   
2. Turn Off Hard Switch: Turn off the black rocker power button at the bottom rear end of the chassis.
   
3. Connect HDMI: Connect the HDMI cable to the designated port (the system defaults to output signal through the HDMI port shown). Ensure the connection is secure.
   
4. Connect Keyboard/Mouse: Connect the docking station to the NUC. Connect the keyboard and mouse to the docking station.
   

4.2 Obtaining the IP Address

Keep the HDMI and USB cables connected to the monitor. Power on the R1 Lite. After the desktop appears on the monitor, perform the following operations. 1. Click "Settings" and connect to WiFi.

1. Press Ctrl + Alt + T to open a terminal and enter the following command:

   ifconfig wlo1
   

2. Check the wlo1 section. The NUC's IP address is 192.xxx.xxx.xxx.

   

4.3 SSH Connection

1. Take out your laptop (Ubuntu 20.04).
2. In the terminal, enter the following command to connect to the R1 Lite's NUC.

   ssh r1lite@IP address
   # Default password: 1
   

   Note:
   
3. If the connection is successful, disconnect the HDMI and USB cables to avoid restricting the range of motion.
   
4. If the connection fails, please contact us for technical support!
   
   

4.4 One-Key Startup

Note: Executing the following command will start all drivers and motion control interfaces.

cd ~/galaxea/install/share/startup_config/script/
./robot_startup.sh boot ../session.d/ATCStandard/R1LITEBody.d

4.5 Whole-Machine Self-Test

1. Launch the self-test startup program.

   cd ~/galaxea
   source install/setup.bash
   roslaunch rds_ros rds_check.launch
   

2. Ensure CAN and HDAS start successfully.
   • If CAN fails to start and continuously displays an error about being unable to recognize can, check if the CAN cable is plugged in or if the CAN port program is running.
   • If HDAS fails to start, check if the HDAS node has launched.

4.6 Hardware Diagnostics

If the machine hardware shows "No abnormalities detected," it indicates no errors for the trunk and chassis IMUs, and no errors for the left/right arms and trunk.
Note: If red text appears, please contact us promptly for technical support!

4.7 Topic Frequency Check

5 Demo Demonstration

5.1 Pre-Use Preparation

Important: Ensure a clear area of 1.5 meters radius around the R1 Lite, free of people and obstacles. (Refer to the image below)

Before starting the test, please ensure:
1. The R1 Lite's arms are correctly installed, with the arm joints in the zero position.
2. The R1 Lite's trunk is in a standing posture.
3. Strictly follow the script execution order specified in the "Script Execution" section for testing.

5.2 One-Key Startup

Note:
1. Executing the following command will launch all drivers and motion control interfaces.
2. If the one-key startup command from section 4.4 has already been executed previously, there is no need to repeat it.

cd ~/galaxea/install/share/startup_config/script/
./robot_startup.sh boot ../session.d/ATCStandard/R1LITEBody.d

5.3 Script Execution

source ~/work/galaxea/install/setup.bash
cd install/share/mobiman/scripts/motionControlTest/R1lite/
python3 r1_lite_test_open_box.py

Input the number corresponding to each test action and press Enter. The R1 Lite will begin executing the test action.

1. arm_test_1: Both arms will lift vertically upwards, then lower, with the grippers pointing straight ahead horizontally.

2. arm_test_2: Both arms lift up and extend forward in a grasping posture.

3. arm_test_3: Both arms lift first, then the J1 joints of both arms rotate to the right, then to the left, then form a heart shape, before returning to the zero position.

4. torso_test_1: The torso bends down into a squat, while the arms fold and tuck in on both sides of the chest. (This action tests the T1/T2/T3 trunk motors)

5. torso_test_2: The torso rises to a standing position, bringing the trunk upright.

6. gripper_test_1: The gripper opens.

7. gripper_test_2: The gripper closes.

After completing all actions, press q to exit. The machine will return to its initial posture.