Unboxing Guide

We will guide you step by step through unboxing, self-check, and startup, helping you quickly get familiar with your new device and ensure everything is ready. Follow the steps below to get your robot up and running smoothly!

1. Preparation Before Unboxing

1.1 Check the Packing List

When you receive the product, use the following list to check that all items in the package are complete. (Some items are inside the flight case.)

Item	Quantity
R1 Pro body	1
Robotic arm	2
Gripper	2
Remote controller	1
Hex key set	1
Charger (10A)	1
Spare cable harness kit	1

In addition, prepare the following items:

Item	Quantity
Monitor, keyboard & mouse	1
PC	1
WiFi network	-
HDMI cable	1

Note: To ensure normal operation, place the R1 Pro in a dry, well-ventilated environment with no obstacles or hazardous objects nearby.

1.2 Screws and Wrenches

Several types of screws and wrenches are needed during unboxing (as shown below).

2. Unboxing

2.1 Open the Case Locks

Locate the two locks on the left side of the case, open the latches, and rotate them counterclockwise. After opening the case door, peel off the hook-and-loop fastener on the lower wooden board, then place the ramp board on the ground.

2.2 Remove the In-Case Fasteners

Use an M8 wrench to remove the two fixing screws on the right side of the chassis (as shown below), pull the robot out of the case, and use scissors to cut off the two securing straps.

2.3 Remove the Chassis and Steering Wheel Fasteners

Use an M8 wrench to remove the two black screws at the rear handle, then remove all profile fasteners.

To ensure normal operation, place the robot in a dry, well-ventilated environment with no obstacles or hazardous objects nearby.

2.4 Remove the Chassis and Steering Wheel Fasteners

Remove the rear steering wheel fasteners as follows:

1. Use an M8 wrench to remove the metal fork that secures the rear steering wheel to the profile, a total of 2 fixing screws on the top and bottom (as shown on the right).

2. Remove the foam on the outer side of the robotic arm.

3. Use an M8 wrench to remove the profile fasteners on the left and right sides, 2 fixing screws on each side. The entire rear frame can then be removed (as shown on the left).

4. Use an M8 wrench to remove the 2 screws on the profile at the front of the chassis.

5. Rotate the two front steering wheels to each side to expose their fixing screws. Use an M8 wrench to remove 2 fixing screws from each (as shown on the left).

6. Finally, rotate all steering wheels back to their original positions.

3. Power On

3.1 Connect HDMI and USB

For safety, do not connect the power before connecting any cable harness.

Open the neck interface cover, and connect the monitor's HDMI cable and the mouse and keyboard USB cables to their corresponding peripheral ports. Make sure the connections are secure and free of looseness.

3.2 Power On

To power on, first turn on the rocker button (hard switch) at the lower rear of the chassis to enable the power supply. Then, press and hold the round power button (soft switch) at the lower back for at least 3 seconds until you hear the prompt tone and the indicator light turns on.

To power off, press and hold the power button for 5 seconds and then release, or turn off the chassis hard switch to cut the power directly.

Before powering on, check that the emergency stop button is in the released (raised) state. If the emergency stop button is pressed while the robot is powered on and running, you must turn off the hard switch and then turn it on again; otherwise, the robot will not work properly.

Before powering off, hold the robotic arm steady, or move the robot to an obstacle-free area, to prevent the arm from suddenly dropping due to power loss.

3.2.1 Charging

The battery charging port is located at the bottom rear of the chassis. To charge, first unscrew the charging port cover and plug in the power cable. When the red light on the charger turns on and the power breathing lights on both sides of the chassis flash green, the robot is charging.

If there is a battery in the chassis but it is depleted, charge it first before powering on.

3.2.2 Replacing the Battery

The battery is located at the bottom right of the chassis. To replace the battery, first remove the 2 screws on the chassis side cover and slide the cover to the right to detach it; then insert the battery into the chassis and connect the power cable harness; finally, close the cover.

Note: For overseas users, due to shipping restrictions, the robot and the battery are shipped separately. Please install the battery before powering on. If you encounter any issues, contact us for technical support at support@galaxea-dynamcis.com

4. Connect to the Robot

Note: The robot ships with the latest software SDK pre-installed. The installation directory is: ~/galaxea

4.1 Get the IP Address

First connect the monitor's HDMI cable to the chassis peripheral port, and connect the keyboard and mouse USB cables to the peripheral port at the back of the robot's neck. Then power on and wait for the desktop to appear on the monitor. Next, follow these steps:

1. Click "Settings" and connect to WiFi.

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

   ifconfig wlan0
   

   Check the wlan0 information to obtain the IP address of the robot's Orin: 192.xxx.xxx

3. Open the configuration file and change the factory-default IP address on the robot to the IP address obtained in step 2.

   vim /opt/galaxea/find_server/super_client_configuration_file.xml
   

   

4.2 Remote SSH Connection

Using a laptop running Ubuntu 22.04 that can open a terminal, enter the following command to connect to the robot's Orin.

    ssh nvidia@IP address
    # Password (default): nvidia

If the connection succeeds, disconnect the HDMI and USB cables and close the chassis and chest peripheral port covers to avoid restricting the range of motion.

If the connection fails, contact us promptly at support@galaxea-dynamics.com for technical support.

4.3 Start the CAN Driver

Every time you restart the R1 Pro robot, you must perform the operations in this section to start the CAN driver.

Throughout the process of controlling the R1 Pro, 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 a number, where the number is the index of the terminal window.

Start the CAN driver as follows:

1. Start TMUX.

   tmux
   

2. Enter the following command to start FDCAN communication.

   bash ~/can.sh  
   # You may need to enter the password again: nvidia
   # If the error "RTNETLINK answers: Device or resource busy" appears, it usually means the device you are trying to configure (such as a network interface or CAN transceiver) is already configured and running.
   

   If the command above does not work, you can also run the following commands:

   sudo ip link set can0 type can bitrate 1000000 sample-point 0.875 dbitrate 5000000 fd on dsample-point 0.875  
   sudo ip link set up can0
   

   Press Ctrl + B then C to create a new terminal and start the robot control node.

   source  {your_download_path}/install/setup.bashcd {your_download_path}/install/startup_config/share/startup_config/script./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROBody.d/
   

4.4 Start the Self-Check

Note: Before performing any operation on the R1 Pro, be sure to complete the self-check to ensure safety.

Before starting the self-check, make sure that:

• The robot has been removed from the case and all fasteners have been removed;
• The torso remains folded and the foam on the inner side of the arms has not been removed.

Press Ctrl + B then C to create a new terminal, enter the install directory, and start the self-check.

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

Press Enter as prompted, and once it passes you can begin the self-check.

At this point, the self-check will check the status of all peripherals on the current product. During unboxing, you can ignore all errors except those related to the torso, chassis, and arms. (Since no camera has been started yet, camera-related errors can be ignored at this time.)

After the self-check completes, enter 1 to begin the self-check of the torso squatting in the unboxing folded state (folding state).

If any other special warnings or errors appear, contact us promptly for technical support!

4.5 Stand Up the Torso via the Host Computer

Note: Make sure the robot has been removed from the case and there is no interference or fasteners. Otherwise, the torso will enter the self-locking protection state.

Press Ctrl + B then C to create a new terminal and start the host computer control.

source ~/galaxea/install/setup.bash
cd ~/galaxea/install/moca_adapter/share/moca_adapter/scripts/robot_openbox/r1pro/
python3 r1pro_first_motion.py

Enter 1: (to make the torso stand up)

After standing up, remove the foam on the inner side of the arms.

5. Demo

For safety, before running the demo:

• We recommend moving the robot to an open area with no obstacles nearby;
• The self-check must be completed.

Press Ctrl + B then C to create a new terminal and run the demo script r1pro_test_open_box.py.

source {your_download_path}/install/setup.bash
cd {your_download_path}/install/moca_adapter/share/moca_adapter/scripts/robot_openbox/r1pro/
python3 r1pro_test_open_box.py

Enter 1: (indicating the robotic arms are installed)

Enter the numbers 1 to 7 in order and press Enter. The robot will begin executing the segmented demo actions.

After all actions are complete, press q to exit, and the robot will return to its initial pose.

6. Remote Controller Instructions

Note: Before turning on the remote controller, first move all toggle switches (SWA/SWB/SWC/SWD) to the topmost position, then press the power button.

When the remote controller is not in use, keep all toggle switches in the topmost position. This keeps the robot in the stopped state and prevents accidental operation.

Move the toggle switches to the specified positions to control the robot's corresponding functions.

• Host computer controls the chassis (down-down-up-up): In this mode, the host computer must first start the chassis motion control program before control can be enabled.
• Remote controller controls the chassis (down-down-middle-up): After the robot is powered on, you can use the remote controller to control the chassis directly in this mode, with no host computer operation required.
• Enable emergency stop (D down): In any mode, move SWD down to enable emergency stop; however, after enabling emergency stop, you must restart the robot.