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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: Both arms move to the chest first, then demonstrate Tai Chi movements. (This action is used to test the J1/J2/J3/J4/J5/J6/J7 arm motors.)

  • torso_test_1: The torso bends down to squat, while the arms fold together on both sides of the chest. (This action is used to test the T1/T2/T3 torso motors.)

  • torso_test_2: The torso rises to stand, while the arms drop to both sides of the torso. Then the waist turns 45° to the left, then 90° to the right, then 45° to the left again, and finally the torso returns to the center. (This action is used to test the T4 torso motor.)

Script Execution

Note: Please strictly follow the sequence for demonstration. If any errors occur, please press Ctrl + C to close the program immediately and contact us for technical support.

  1. Stop all running TMUX in the background and close all ROS programs. 

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

  2. Enter tmux. 

    tmux

  3. Start FDCAN communication. 

    bash ~/can.sh
# You may need to enter the password again: nvidia
# If you encounter the error message "RTNETLINK answers: Device or resource busy", 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 running.

  4. Press Ctrl + B then C to create a new terminal and execute the startup 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 and start executing the script. 

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

  6. Enter the corresponding number for each action and press Enter. R1 will then begin executing the demo actions. R1Pro_7_demo

  7. When all actions are completed, press q to exit. R1 will return to the zero position.