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troubleshooting·

⏱ scan by symptom

symptom rc fix
nothing responds 3104 DDS can't reach the bus — see below
arm won't move 7404 wrong FSM → g1_set_fsm(500)
arm holding 7401 g1_release_arm()
arm occupied 7400 another writer — kill stale process
walking refused 7302 g1_set_fsm(501) first
SLAM/lidar silent — g1_lidar_switch(on=True) then g1_slam_start()

🔴 nothing responds (rc=3104)·

DDS can't reach the motor bus.

ip link show eth0                 # must say "state UP"
ping -c 3 192.168.123.161         # can we reach the MCU?
echo "$CYCLONEDDS_URI"            # should be a file:// URL
source env.sh
python3 -c "from tools import g1_get_state; print(g1_get_state())"

Ping fails → Jetson on wrong network. Re-plug ethernet / check scripts/change-ip.txt.

🟡 arm issues·

g1_arm_action(action="high wave", auto_transition=True)   # 7404: auto-fix FSM
g1_release_arm()                                          # 7401: release

7400 (occupied) = competing writer:

pgrep -fa "agent.py"
# docker: docker compose restart neon-agent
# systemd: sudo systemctl restart neon
pkill -f agent.py

🟢 telegram not responding·

  1. docker compose logs neon-telegram (or make tg output)
  2. docker compose logs neon-telegram | grep -i telegram
  3. Your ID/username in TELEGRAM_ALLOWED_USERS?
  4. Token valid? (regen via @BotFather)

🟢 voice picks up echo / fan noise·

g1_speak(action="start",
         audio_processing=True,   # WebRTC AEC+NS+AGC (required for speaker)
         stream_delay_ms=120,     # speaker→mic delay hint
         vad_threshold=0.7,       # higher = less twitchy
         silence_duration_ms=700)

Driving the mic directly? g1_asr(duration_s=3.0) sidesteps host noise.

🟢 slow answers·

  • Point NEON_MODEL_ID at a lighter Bedrock model (e.g. a Sonnet id)
  • Too many heavy tool calls → check logs for stray vision calls
  • Context overflow → manage_messages(action='compact')

🟢 "pip wheel broken"·

The unitree_sdk2_python wheel is missing subpackages. Use the source clone:

make sdk    # clones + adds to PYTHONPATH (make run-bare does this automatically)

still stuck?·

tail -f /tmp/devduck/logs/devduck.log

Or ask the agent: "read recent logs and tell me what's wrong". Else open an issue with rc + logs.