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R1 Unboxing and Startup Guide

This tutorial provides detailed instructions on how to properly unbox the Galaxea R1, connect cables, install the robot arms, and remotely control the R1 for better communication and to explore more functionalities.

Instruction Video

1. Item List Check

Check the items in the package according to the list below upon receiving the product. (Some items are inside the flight case.)

Item Quantity
R1 Base 1
A1 Arm 2
G1 2
Joystick Controller 1
Hex-Key Wrench Set 1
Charger & Cable Set 1
Wiring Harness Repairing Bag 1

You also need to prepare the following items:

Item Quantity
Display & Keyboard & Mouse 1
Computer 1
WiFi Network 1
HDMI Cable 1

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

2. Unboxing

2.1_2.4

2.1 Open the Locks

Locate the two locks on the left side of the case, open the lock plates, and turn counterclockwise to open the case door.

2.2 Lower the board

There is a wooden board at the front of the case door for R1 to slide down. Place the board flat on the ground.

2.3 Remove Box Fixings

Use the L-hex key (M6) to remove six fixing screws, as shown in the figure.

2.4 Pull It Out

Carefully pull the robot out of the case, avoiding any collisions during the process.

2.5 Remove Chassis Fixings

There are fixtures on both the front and rear of the chassis.

  1. Rotate the wheels with fixtures to the sides to expose the fixing screws.
  2. Use the matching L-hex key (M6) to remove the six fixing screws on the wheels.
  3. Return the wheels to their original positions.

2.3_chassis_fixings_remove

2.6 Detach Rear Shell

Follow these steps to detach the rear cover of the torso:

  1. Open the peripheral interface cover on the rear cover.
  2. Use the L-hex key (M4) to remove two M4 screws underneath the cover.
  3. Use the L-hex key (M5) to remove four M5 screws on the side of the chest cover.

2.6_detach_rear_shell

2.7 Detach Front Shell

Use the L-hex key (M5) to remove six M5 screws on two sides of the chest, as boxed in the figure.

2.7_detatch_front_shell

2.8 Remove Arm Fixings

Use L-hex key (M5) to remove two screws inside the chest, as boxed in the figure.

2.8_remove_arm_fixings

3. Turn On R1

3.1 Connect HDMI and USB

Important: For your safety, please power off R1 before connecting any cables.

Follow these steps to connect R1: 1. Use the L-hex key (M3) to remove two M3 screws on the peripheral interface cover on the chassis. 2. Connect HDMI cable to the chassis and the display. Please ensure a firm connection to avoid looseness. 3.1_HDMI_Connecting

  1. Connect the USB interface to the mouse and keyboard and the chest. Please ensure a firm connection to avoid looseness. 3.1_USB_Connecting

3.2 Power On

To turn on Galaxea R1, please press the boat-shaped power button on the bottom of the rear of the chassis. To turn off, switch off the power button.

Note: Please keep the emergency stop button raised and turn on the boat-shaped power button located at the bottom of the left rear of the chassis. If the power was previously on, you need to turn it off and then turn it on again; otherwise, the display may not be able to work.

3.2_power_on

If the robot has battery inside the chassis, you can turn on the power button as the above said, skip 3.2.1 and 3.2.2 and go to 4.Connecting to R1.

3.2.1 Charging

If the robot's chassis has a battery but it is depleted, charge it before pressing the button. The power port is located on the bottom of the rear side of the chassis.

Charging steps: 1. Unscrew the power charging port cover. 2. Insert the power cord into the port. When the red light on the charger comes on and the power indicator on the side of the robot chassis flashes orange-green, it indicates that the robot is charging.

3.2.2 Battery Replacement

If there is no battery in the robot's chassis, install it first. The battery is located on the bottom of the right side of the chassis.

Battery replacement steps: 1. Remove the two screws on the chassis side cover and slide the cover to remove it. 2. Push the battery into the chassis. 3. Connect the battery cable to the chassis. 4. Close the cover.

3.2.2_battery_changing

4. Connect R1

4.1 Local Connection

If remote connection and control of R1 are not required, continue operating on the original monitor and keyboard, maintaining the HDMI and USB connections. Then proceed to section 4.3 Start CAN Driver.

4.2 Remote Connection

4.2.1 Obtain IP address

After R1 is powered on, wait for the monitor to display the desktop.

  1. Click "Settings" and connect to WiFi. 3.3_obtain_ip_address

  2. Open a terminal and enter the following command: 

    ifconfig mlan0

  3. Find mlan0. The IP address of R1 Orin is: 192.168.xxx.xxx. 3.3_IP_address

4.2.2 Connect via SSH

To remotely connect and futher control the robot, you should: 1. Use the other computer. 2. Enter the following command in the terminal to connect Orin. 

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

  1. If the connection is successful, disconnect the HDMI and USB cables and close the peripheral interface covers on the chassis and torso to avoid hindering the range of motion.
  2. Then proceed to section 4.3 Start CAN Driver.

If the connection fails, please contact us in time for technical support.

4.3 Start CAN Driver

Throughout the control process of R1, you need to open multiple terminals. We recommend using TMUX. Common commands are as follows:

  • Create a new terminal: Press Ctrl + B then C.
  • Switch terminals: Press Ctrl + B then press number which indicates the number of terminal windows.

Now, you can start CAN driver in the following steps.

  1. Start TMUX. 

    tmux

  2. Start FDCAN Communication 

    sudo ip link set dev can0 type can bitrate 1000000 dbitrate 5000000 fd on
# If "RTNETLINK answers: Device or resource busy" appears, it indicates that the CAN transceiver has been configured and is currently running.
sudo ip link set up can0

  3. Start roscore 

    roscore

  4. Press Ctrl + B then C to create a new terminal. Then start HDAS. 

    source ~/work/galaxea/install/setup.bash
roslaunch HDAS r1.launch

4.4 The First Self-Check

Important: Before you do any actions on R1, you must complete R1 self-checks to ensure the safety.

Make sure that:

  • R1 has been unboxed and all fixtures removed.
  • R1 remains folded with no mechanical arms installed.

Now, follow these steps for the first self-check: 1. Press Ctrl + B then C to create a new terminal. Then start self-check. 

source ~/work/galaxea/install/setup.bash
rosrun HDAS check_node 
#after executed the command, please press 0. (0 means the self-check when the arms are uninstalled.)

  1. If it shows "self-check completed" as shown below, press Ctrl + C to exit. 3.5_selfcheck_completed

  2. If it appears warning, please contact us in time for technical support. 3.5_selfcheck_error

4.5 Stand Up

Important: For your safety, please ensure that R1 is out of the box and there is no interference or fixings. Otherwise, the torso may enter the locked-rotor protection state.

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

4.5.1 Start Torso Control

Press Ctrl + B then C to create a new terminal. Then, start arm and torso control. 

source ~/work/galaxea/install/setup.bash
roslaunch mobiman r1_jointTrackerdemo.launch

4.5.2 Start Chassis Control

Press Ctrl + B then C to create a new terminal. Then, start chassis control. 

source ~/work/galaxea/install/setup.bash
roslaunch mobiman r1_chassis_control.launch

4.5.3 Joystick Controller Operation

Note: Ensure that all switches (SWA/SWB/SWC/SWD) are in the top position before you do any actions. This will place the machine in a stop state, preventing the robot from operating. Please visit Joystick Controller Guide in Galaxea R1 User Guide for more detailed information and operation, if you need.

  1. To turn the controller on/off, hold the two power buttons until the touch screen lights up/goes out.
  2. Switch the SWA switch to the bottom and the SWB switch to the middle.
  3. Move the left joystick to the top-left and the right joystick to the top-right simultaneously as shown in the figure below. Wait for 3 seconds, and R1 will stand up.

5. Install Arms

Important: For your safety, please make R1 stand up and powered off before installing arms.

  1. Follow these steps to install the gripper on the end of the mechanical arm (reverse the steps to remove the gripper). 3.7_G1GEN2_attaching

  2. Alignment Check: Ensure that the three mounting holes around the gripper are aligned with the three mounting holes at the end of arm.

  3. Screw Fixation: Once aligned, secure and tighten the gripper to the arm using the three screws provided.

  4. Final Check: After tightening the screws, double-check the alignment and stability of the gripper. It should be firmly attached and not wobble or move independently of the robot arm.

  5. Use the hex L-key (5 mm) and four M6 screws to secure the arm. Note: When installing the robot arm, you must ensure that the ports on the arm base are facing backward, as shown in the figure. 3.8_arm_install

  6. Connect the power and CAN cable provided with A1 arms to arm base ports. Before plugging CAN cable, you must remove the resistance rod. 3.8_arm_cables

  7. After confirming successful communication with the robot arm, reverse the steps in section 2.6 Detach Rear Cover and section 2.7 Deatch Front Cover to reinstall the covers.

5.1 The Second Self-Check

Before starting the self-check, ensure: - R1 is standing. - R1 has the arms installed correctly. The elbows face outward (silver part inside, black part outside), and the gripper cable faces outward. 3.8_selfcheck2_arm

Then, power it on and:

  1. Complete the operations as per the commands in section 4.3 Start CAN Driver.

  2. Press Ctrl + B then C to create a new terminal. Now, start the second self-check. 

    source work/galaxea/install/setup.bash
rosrun HDAS check_node #after executed the command, please press 1. (1 means the self-check when the arms are installed.)

  3. Follow and complete the commands in section 4.5.1 Start Torso Control and section 4.5.2 Start Chassis Control.

6. Demo Testing

Important: Before you do any actions on R1, you must complete R1 self-checks to ensure the safety.

After completing all the operations above, move R1 to an open area to ensure there are no obstacles around. Then remotely command R1 to perform demo testing.

You can find the document and python scripts in R1 Demo Guide.

7. R1 Sensor Calibration Data Collection Method

Visit R1 Sensor Calibration Data Collection Method to get the detailed information on how to calibrate the sensors.