locomotion

⏱ 45s

Walking, turning, posture — the dangerous stuff. Every command needs explicit user approval in the agent loop.

Robot can fall

Clear floor, operator within reach, ~500 ms stop latency. See safety.

intent	call
walk 30 cm	g1_walk_forward(distance=0.3, speed=0.2)
turn 90°	g1_turn(angle_rad=1.57, yaw_rate=0.4)
strafe right	g1_move_velocity(vx=0, vy=0.2, vyaw=0, duration=2)
stop (safe)	g1_stop_move()
squat → stand	g1_safe_squat_to_stand()
lie → stand	g1_safe_lie_to_stand()
damp (safe)	g1_set_fsm(1)

🎙 voice-driven walking, live

Strands bidirectional speech-to-speech → g1_move_velocity → the G1 steps. Spoken command in, motion out, in real time.

walk forward

walk backward

clamps

axis	unit	safe range
vx	m/s	0.1 – 0.3
vy	m/s	±0.1 – 0.2
vyaw	rad/s	±0.3
duration	s	0.1 – 10.0 (capped)

Only duration is hard-clamped; velocities pass through — keep them small.

a walk, start to finish

sequenceDiagram
    autonumber
    participant U as 🗣️ user
    participant A as 🧠 neon
    participant F as 🎛️ FSM
    participant L as 🚶 LocoClient

    U->>A: "walk forward 30 cm"
    A->>A: g1_get_state() · check fsm · battery
    A-->>U: confirm? (approval gate)
    U->>A: "yes"
    A->>F: g1_set_fsm(501)
    F-->>A: fsm=501 ready
    A->>L: Move(0.2,0,0) 1.5s → stop
    A-->>U: ✅ walked · fsm=501

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safety model gestures walk recipe