composed (safety-gated)

60s

The hand-written tools in tools/g1_*.py that do more than a 1:1 SDK call , FSM gating, mutex, clamps, rich returns. They exist so the agent can't foot-gun.

If a tool just wraps one SDK method and returns raw rc, it lives inside use_unitree. Composed tools do something the SDK doesn't.

real work they add

• FSM auto-transition: g1_arm_action flips to 500 if needed
• Arm mutex: rt/armsdk is single-writer; the tool holds a lock
• Auto-release: arm actions follow with id 99 (neutral)
• Clamps: g1_move_velocity caps duration to 0 to 10 s; g1_walk_forward keeps distance between 0.1 and 1.0 m per request (below 0.1 m nothing visible happens) and speed between 0.05 and 0.5 m/s, at least 0.15 under 0.3 m; g1_turn keeps yaw_rate between 0.1 and 0.6 rad/s
• Measured motion: the walking tools read rt/odommodestate before and 0.5 s after the command and return moved, requested_m, measured_m (measured_rad for turns); moved=false is rc=0 with no displacement
• Frame parsing: g1_battery decodes BMS frames

the gate

flowchart TD
  U(["user"]) --> A{{"composed tool"}}
  A --> B["① check FSM"]
  B -->|"wrong"| X["rc=7404"]
  B -->|"ok"| C["② acquire arm-mutex"]
  C -->|"taken"| Y["rc=7400"]
  C -->|"free"| D["③ clamp params"]
  D --> E["④ call SDK RPC"]
  E --> F["⑤ auto-release, restore FSM"]
  F --> G(["rich dict"])
  classDef step stroke:#666464,stroke-width:1.5px
  classDef refuse stroke:#946e00,stroke-width:1.5px
  classDef ok stroke:#007a3d,stroke-width:1.5px
  class B,C,D,E,F step
  class X,Y refuse
  class G ok

the list

tool	why composed
g1_arm_action	FSM gate + mutex + auto-release + name→id
g1_release_arm	publishes id 99; frees arm
g1_move_velocity	duration cap, requires FSM 501 or 801, measures displacement
g1_walk_forward	derives duration from distance/speed, clamps, measures
g1_turn	angle_rad → timed vyaw, measures the yaw change

write your own

The template (ensure_dds, FSM check, SDK call, decoded rc) lives on extending, with the ToolResult shape the tests check. Export it from tools/__init__.py into the right bundle and the catalog counts follow.

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