Skip to content

R1 Lite Unboxing and Installation Guide

In this tutorial, we will provide detailed instructions, walking you through the steps of unboxing, self-testing, and connection. We offer clear guidance to help you quickly familiarize yourself with the new device and ensure everything is ready. Please follow the steps to ensure a smooth start with your machine!

1. Unboxing

1.1 Pre-Unboxing Preparation

Item Quantity
Monitor & Keyboard & Mouse 1 Set
Laptop 1 Unit
WiFi 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. Open the Box Locks
    Locate the two locks on the left side of the box, open the lock tabs, and rotate counterclockwise to open the box door.

  2. Lower the Ramp
    There is a wooden board in front of the door for the R1 Lite to slide down. Remove the Velcro straps and lay the board flat on the ground. Take out the tool box.

    R1_Lite_unlock_en

  3. Remove Internal Fixings and Pull Out the R1 Lite
    Take the L-shaped hex key set from the tool box. Use the L-shaped hex key (6mm) to remove the 8 fixing screws, as shown in the figure below.

    R1_Lite_extract_en

1.3 Removing the Foam Padding

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

Note:
1. To secure the wiring for the wrist camera, there are zip ties fixing the cable harness on the arms. Please keep these zip ties.
2. For after-sales service purposes, it is recommended to store the foam padding properly.

R1_Lite_remove_foam_padding_en

Electrical Accessories Quantity
1 Charger & Matching Cable Harness 1 Unit
2 Chassis Remote Controller 1 Unit
3 Torso Remote Controller—Dual Button 1 Unit
4 Emergency Stop Remote—Single Button 1 Unit
Structural Parts & Tool Kit Quantity
1 Side Mounting Structure 1 Pair
2 W1 Calibration Board & Matching Screws 3 Units
3 Repair Cable Harness Kit 1 Kit
4 Torso Motor Calibration Cable 1 Unit

1.4 Removing Chassis Fixings

  1. There are fixing fork profiles next to each steering wheel. Use the L-shaped hex key (6mm) to remove the 2 screws (top and bottom) for each.
  2. Fixed profiles are installed around the chassis. Use the L-shaped hex key (M8) 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 it from falling suddenly.

1.5 Removing the Platform Support

Please use a 3mm wrench to remove the screws securing the robotic arm support to the platform. There are four screws on each side, for a total of eight. Note: Since the chassis fixing profiles have been removed, the platform support is only fixed by the screws on top. When removing the screws, always pay attention to the platform support to prevent it from falling suddenly.

R1_Lite_disassemble_the_chassis_fasteners_en

1.6 Removing Steering Wheel Fixings

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

R1_Lite_disassemble_the_steering_wheel_fasteners_en

2. Item Checklist

By now, all items involved in the unboxing process have been introduced. Please check if all items in the packaging box 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 Arm
2 D405 Camera 1 Unit
3 D405 Camera Connection Cable 1 Cable
4 D405 Camera Mount 1 Mount
A1X-Right 1 Set
1 A1X-Right Robotic Arm 1 Arm
2 D405 Camera 1 Unit
3 D405 Camera Connection Cable 1 Cable
4 D405 Camera Mount 1 Mount
Electrical Accessories 1 Set
1 Charger & Matching Cable Harness 1 Set
2 Chassis Remote Controller 1 Unit
3 Torso Remote Controller—Dual Button 1 Unit
4 Emergency Stop Remote—Single Button 1 Unit
Structural Parts & Tool Kit 1 Set
1 Side Mounting Structure 1 Pair
2 W1 Calibration Board & Matching Screws 3 Units
3 Repair Cable Harness Kit 1 Kit
4 Torso Motor Calibration Cable 1 Cable
5 Hex Key Set 1 Set

3 Power On

3.1 Powering On

3.1.1 Charging/Battery Replacement

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

Battery Charging Steps 1. Unscrew the cover of the battery charging port.
2. Use the two-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.

R1_Lite_power_on_en

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 out the dual-button key remote controller. Press and hold button A until the torso is fully upright.
Note:
1. The dual-button remote is designed for convenience during unboxing/packing and can only be used when the torso is at the zero position or fully squatting posture (as shown in the image). 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 in the image).

R1_Lite_swith_en

3.3 Chassis Remote Controller Usage Instructions

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

R1_Lite_remote_controller_usage_en

4 Connection

4.1 Connecting HDMI, Keyboard, and Mouse

Note: For safety, please power off the machine, including both the 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 machine chassis.
  3. Connect HDMI: Connect the HDMI cable to the designated interface (the system defaults to output signal through the HDMI port shown in the diagram). 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.

R1_Lite_connect_hdmi_en

4.2 Obtaining the IP Address

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

R1_Lite_ip_address_en

  1. Press Ctrl + Alt + T to open a terminal and enter the following command: 
    ifconfig wlo1
  2. Check wlo1. The NUC's IP address is 192.xxx.xxx.xxx

R1_Lite_wlo1_en

4.3 SSH Connection

  1. Take out your laptop.
  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, please disconnect the HDMI and USB cables to avoid affecting the range of motion.
  4. If the connection fails, please contact us promptly for technical support!

4.4 One-Key Startup

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

cd ~/galaxea/install/startup_config/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/install
source setup.bash
ros2 run rds_ros rds_ros_node
  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.

R1_Lite_hdas_cn

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!

R1_Lite_hardware_diagnostic_cn

4.7 Topic Frequency Check

R1_Lite_frequency_cn

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.

R1_Lite_demo_cn

5.2 One-Key Startup

注意：
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/mobiman/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. R1_Lite_demo_test_cn

  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.