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Galaxea R1 Software Version_V1.1.0_Changelog

Release Notes

Product Name: Galaxea R1

Software Version: SDK V1.1.0

Release Date: Feburary 21, 2025 (GMT +8)

Update Content:

  1. Intelligent Product Launch——Autonomous Navigation System:
    a) Localization Module: Estimates and updates the robot's current pose using data from LiDAR and other sensors. It includes global localization and odometry functions, enabling high-precision positioning by integrating data from multiple sensors.
    b) Path Planning Module: This module is designed to generate the optimal path and guide the robot to complete its navigation task. It comprises two main functions: global path search and local path planning. The global path search determines the robot's global navigation path based on its current pose and target pose. The local path planning, on the other hand, further generates a safe and feasible local path by incorporating obstacle information on top of the global path.
    The Autonomous Navigation System is currently in the testing phase. For more information and to request a trial, please contact product@galaxea.ai or call 4008780980.

  2. Teleoperation Products:
    a) R1 Teleop: The user manual and SDK have been released and are available online. Click here to view.
    b) R1 VR Teleop: The user manual and SDK have been released and are available online. Click here to view.

  3. Motion Control Update Items:
    a) Introduced Joint Controller Parameter Configuration: Allows external users to directly read and adjust the kp (position gain proportion) and kd (velocity gain proportion) parameters of the joint controller, thereby achieving more precise motion control. The configuration file is located at SDK/install/share/mobiman/config/joint_controller_kp_kd.toml (the index in each list corresponds to the ID of the respective motor).

  4. Driver (HDAS) Update Items:
    a) Introduced Arms Control Mode Switching Function: Supports switching between Servo Mode and Torque-Position-Mix Control Mode, enabling flexible adjustments based on actual needs.

Update Instruction

  1. The upgrade script will automatically delete all files in /home/nvidia/work/ci_pipeline. Please ensure that all files in this directory are backed up before upgrading to avoid data loss.
  2. Before performing the OTA update, please ensure that the robot R1 is fully assembled (including both arms) to avoid update failure.
  3. During the upgrade process, do not interrupt the system operation or perform any control actions, as this may cause the upgrade to fail and affect normal system operation.
  4. After the upgrade is complete, power off the R1 system and then power it back on to ensure the update is fully applied.

Please follow the tutorial below to complete this system update. If you encounter any issues, contact us at support@galaxea.ai for technical support!

Update Tutorial

Download the Update Package

“Software_V1.1.0_Release.tar.gz”

Extract the Package

tar -xf ${your_download_path}/Software_V1.1.0_Release.tar.gz -C ~/
chmod +x ~/ota.sh
cd ~
./ota.sh

Update the Embedded Firmware

cd ~/work/galaxea/install/share/Embedded_Software_Firmware/tools/R1
source ~/work/galaxea/install/setup.bash
bash r1_embedded_firmware_upgrade.sh ../../R1/V1_1_0

R1_update_XCU

Note: After completing the update, power off the R1 and then power it back on.

Execute the Module

sudo apt-get install tmux tmuxp
cd ~/work/galaxea/install/share/startup_config/script
./ota_script.sh boot

R1_execute_module1

R1_execute_module2