FSM + error codes

60s, ref

Two independent switches own the robot's motors. Both must be right before anything moves.

MotionSwitcher mode vs FSM id

The MotionSwitcher mode says which controller owns the robot (ai is the only one installed); the FSM id says which pose that controller is in.

mode="ai" alone is NOT enough, the FSM also has to be in the right state for the action you want.

FSM table

id	Name	Enter safely?	Arm works?	Walking works?
0	ZeroTorque	only on gantry	no	no
1	Damp	always safe (soft limp)	no	no
2	Squat	from stand	no	no
3	Sit	from stand	no	no
4	StandUp	from sit	no	no
500	Start (balance)	default ready	yes	no
501	Walk	mandatory for walk	yes	yes
801	BalanceExpert	advanced	yes	partial
702	Lie2StandUp	from face-up	no	no
706	Squat2StandUp	from squat	no	no

HANDSHAKE_FSMS = {500, 501, 801} is the set in which arm actions work; WALK_FSMS = {501, 801} the set in which velocity commands are accepted (the movement policy only walks in 501). Both live in tools/_g1_common.py.

error code cheat sheet

rc	meaning	fix
0	OK	-
3104	RPC timeout	check network_interface="eth0", CYCLONEDDS_URI
7301	LocoState not available	controller not running, wait + retry
7302	walking blocked	FSM not 501/801, call use_unitree("loco", "SetFsmId", {"fsm_id": 501})
7400	rt/armsdk occupied	another writer, never parallelize arm calls
7401	Arm holding	call g1_release_arm()
7402	Invalid action id	see g1_list_arm_actions()
7404	Invalid FSM for arm	call use_unitree("loco", "SetFsmId", {"fsm_id": 500}) → 500

arm action ids

11  two-hand kiss     12  left kiss       13  right kiss
15  hands up          17  clap            18  high five
19  hug               20  heart           21  right heart
22  reject            23  right hand up   24  x-ray
25  face wave         26  high wave       27  shake hand
99  release           ← always follow actions with this

The gate every composed tool runs before an RPC (DDS up, FSM right, arm mutex free, clamp, call, release) is drawn on composed.

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