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Fourier-GRX

Welcome to the Fourier-GRX SDK, your gateway to controlling Fourier's humanoid robots! This guide will help you set up your environment. Let’s dive into the future of robotics! 🤖🚀

💻 System Requirement

• Operating System: Ubuntu 20.04 and up
• Python Version: Python 3.11

If you are first time using the robot, please set up the permission for IMU(HIPNUC IMU) and joysticks with permission_description.

System CPU Setup

In order to have good performance of the Neural Network inference speed, it is recommended to disable the effeciency cores of the CPU. The following steps are for Intel CPUs:

  1. Enter the BIOS setup by pressing the F2 key during boot.
  2. Navigate to the Advanced tab.
  3. Select Processor Configuration.
  4. Disable the efficiency cores by setting the number of active cores to 0.
  5. Press F10 to save and exit.
  6. Reboot the system.

🚀 Environment Setup

Step 1: Install Conda

  1. Download and install Miniconda: Follow the instructions on the Miniconda installation guide.

Step 2: Create and Activate Conda Environment

  1. Create and activate the environment:

    [!NOTE] For now we only support Python 3.11.

    conda create -n grx-env python=3.11.10
conda activate grx-env

    For more details, see the Conda user guide.

Step 3: Set Up Firewall

If you are using ufw, follow these steps to enable firewall access for the grx server to be able to automatically detect clients:

  1. Enable firewall access:

    sudo ufw allow 7446/udp

  2. Check the firewall status:

    sudo ufw status

Step 4: Install fourier-grx Library

  1. Install the library:

    python -m pip install fourier-grx==1.0.0a20

  2. Verify installation:

    grx --help