| ID | Mode | Name | Description |
|---|---|---|---|
| 0 | std::monostate |
std::monostate | The system holds this state only immediately after initialization, before any transition has been requested and the sdk wrapper has not been initialized yet. |
| 1 | IdleMode |
Idle | Initialized, no commands are forwarded to the G1. |
| 2 | HighLevelMode |
High | Locomotion via cmd_vel, arm control via cmd_arm. |
| 3 | EmergencyMode |
Emergency | Emergency stop state. Cannot transition out. All joints will be damped, with no gravity compensation. |
| 4 | LowLevelMode |
LowLevel | Direct motor control via cmd_low. Build-time opt-in. |
Our modes don't truly reflect Unitree's internal controller state. This creates a hazard: we can transition from LowLevelMode to IdleMode and then attempt EmergencyMode without knowing whether the internal controller is in high-level or low-level mode. Damping mode is not available in low-level/debug/development mode - attempting it without high-level services active risks damage to the G1.
To handle this, transitions to EmergencyMode from IdleMode and LowLevelMode first ensure high-level services are active before calling UnitreeSDKWrapper::damp(). If UnitreeSDKWrapper::damp() fails, the system is still left in EmergencyMode with an error log indicating repeated estop calls may be needed.
MotionSwitcherClient::SelectMode("ai") activates the ai_sport service. If not already active, upon re-enabling, the G1 enters zero torque mode (goes limp), similar to boot behavior.
MotionSwitcherClient::ReleaseMode() turns off the ai_sport service and puts the G1 into debug mode. The G1 will lose control (go limp) on entry.