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gestures·

⏱ 45s

Every arm gesture, dispatched through g1_arm_action(action=...).

auto-release needs FSM 500/501/801

action key · action key
face wave 'face wave' · hug 'hug'
high wave 'high wave' · clap 'clap'
shake hand 'shake hand' · hands up 'hands up'
high five 'high five' · right hand up 'right hand up'
heart 'heart' · reject 'reject'
right heart 'right heart' · x-ray 'x-ray'
kiss 'two-hand kiss' · left/right kiss 'left kiss' / 'right kiss' 
from tools import g1_arm_action
g1_arm_action(action="high wave")   # auto_release=True by default

👋 wave, live·

Triggered from the dashboard — g1_arm_action('high wave') on the real robot.

what happens under the hood·

  1. FSM gate — not in {500,501,801}? auto-transition or refuse (rc=7404).
  2. Arm mutex — locks rt/armsdk (single-writer). Never parallelize arm calls.
  3. Dispatch — G1ArmActionClient.ExecuteAction(id).
  4. Auto-release — action id 99 back to neutral.

See FSM + errors for the state machine.