adyansh04/grove-g1/robot-fell

The robot fell or cannot walk

A humanoid that is down must not be asked to walk: the executor refuses any plan that moves the base while can_move is false, and stops a walk that is running when the robot falls.

1. Call robot_state and read cannot_move_reason and tilt_deg.
2. Above about 45 degrees of tilt the robot is down. In simulation this most often happens at start,

when the arms move as the simulator releases the robot (see the nav2-not-up skill).

1. If it says a controller is not running, call log_tail for ros2_control_node to find which

one stopped and why.

1. Do not plan or retry any mission that moves the base or the arms. A hand that holds something

keeps its grip; do not ask to open it.

Tell the operator plainly that the robot is down or cannot walk, why, and that it needs to be reset: in simulation, stop the stack (./scripts/clean-stack.sh) and start it again.