Data Structures

Common Data Structures

AbcType

using AbcType = double;

AbcErrorCode

Enumeration	Value	Description
SUCCESS	0	Success
UNKNOWN_ERROR	-1	Unknown error	General Errors (-1 ~ -49)
TIMEOUT	-2	Timeout
INVALID_HANDLE	-3	Invalid handle
INVALID_STATE	-4	Invalid state
NOT_INITIALIZED	-5	Not initialized
NOT_IMPLEMENTED	-6	Not implemented
INVALID_ARGUMENT	-7	Invalid argument
PARAM_ERROR	-50	Parameter error	Parameter Errors (-50 ~ -99)
PARAM_OUT_OF_RANGE	-51	Parameter value out of range
ARM_ERROR	-100	Robotic arm general error	Robotic Arm Errors (-100 ~ -199)
ARM_CTRL_FALSE	-101	Controller returned false; likely incorrect parameters or arm state error.
ARM_DATA_SEND_FAILED	-102	Failed to send data (communication error)
ARM_DATA_RECEIVE_FAILED	-103	Failed to receive data or controller timeout
ARM_RETURN_DATA_ERR	-104	Failed to parse returned data (invalid or incomplete format)
ARM_CHECK_FAILED	-105	Current position device check failed (e.g., not a joint)
ARM_TIMEOUT	-106	Timeout waiting for response
ARM_OUT_OF_RANGE	-107	Robotic arm motion out of range
TORSO_ERROR	-200	Torso general error	Torso Errors (-200 ~-219)
TORSO_CANBUS_ERROR	-201	Torso CAN bus error
TORSO_ACTUATOR_ERROR	-202	Torso actuator error
TORSO_TIMEOUT	-206	Timeout waiting for response
TORSO_OUT_OF_RANGE	-207	Torso motion out of range
HEAD_ERROR	-220	Head general error	Head Errors (-220 ~ -229)
HEAD_CANBUS_ERROR	-221	Head CAN bus error
HEAD_ACTUATOR_ERROR	-222	Head actuator error
HEAD_TIMEOUT	-226	Timeout waiting for response
HEAD_OUT_OF_RANGE	-227	Head motion out of range
SENSOR_ERROR	-300	Sensor general error	Sensor Errors (-300 ~ -399)
SENSOR_NOT_CONNECTED	-301	Sensor not connected
SENSOR_DATA_ERROR	-302	Sensor data error
CHASSIS_ERROR	-400	Chassis general error	Chassis Errors (-400 ~ -499)
CHASSIS_INIT_ERROR	-401	Chassis initialization error
CHASSIS_TIMEOUT	-402	Timeout waiting for response
ALGO_ERROR	-900	Algorithm general error	Algorithm Errors (-900 ~ -999)
ALGO_NOT_CONVERGED	-901	Algorithm did not converge
ALGO_APPROXIMATE_SOLUTION	-902	Algorithm approximate solution

AbcPose

Structure Member	Data Type	Description
position	AbcPosition	XYZ-axis coordinate values
quaternion	AbcQuat	Quaternion

AbcPosition

Structure Member	Data Type	Description
x	AbcType	XYZ-axis coordinate values, in meters.
y
z

AbcQuat

Structure Member	Data Type	Description
w	AbcType	Quaternion
x
y
z

AbcPoseVelocity

Structure Member	Data Type	Description
x	AbcType	Velocity (Cartesian space)
y
z
wx
wy
wz

ArmType

Enumeration	Value	Description
RM65_B	0	Robotic arm type
RM65_6FB	1
RM65_6F	2
RM75_B	3
RM75_6FB	4
RM75_6F	5
ZM73L_6F	6
ZM73R_6F	7

RobotType

Enumeration	Value	Description
AlphaBot1s	1	Robot Type
AlphaBot2	2
AlphaBot1s_HuiKe	3

AbcTorsoPose4D

Structure Member	Data Type	Description
height	AbcType	Vertical height, in meters (m).
forward	AbcType	Front-back displacement, in meters (m).
pitch	AbcType	Pitch angle, in radians (rad).
yaw	AbcType	Waist rotation angle, in radians (rad).

Robotic Arm Data Structures

ArmFactoryParam

Structure Member	Data Type	Description
arm_type	string	Robotic arm vendor
arm_name	string	Robotic arm name (e.g., "left_arm")
ip	string	TCP IP address
udp_ip	string	UDP IP address
port	int	TCP port number
udp_port	int	UDP port number
udp_cycle	int	UDP cycle (period = udp_cycle * 5 ms)
enable_gripper	bool	Gripper status (enable/disable)

AbcArmCurrentStatus

Enumeration	Description
ARM_IDLE	Enabled but idle state
ARM_MOVE	Moving state
ARM_MOVE_THROUGH_JOINT	Angle pass-through state
ARM_MOVE_THROUGH_POSE	Pose pass-through state
ARM_MOVE_THROUGH_FORCE_POSE	Force-Controlled pass-through state
ARM_MOVE_THROUGH_CURRENT	Current-loop pass-through state
ARM_STOP	Emergency stop state
ARM_SLOW_STOP	Slow stop state
ARM_PAUSE	Pause state
ARM_CURRENT_DRAG	Current-loop drag state
ARM_SENSOR_DRAG	6-DoF force drag state
ARM_TECH_DEMONSTRATION	Teaching state

AbcJointState

If the number of joints is less than MAX_ARM_DOF, the extra data fields will be zero.

Structure Member	Data Type	Description
joints	array<AbcType, MAX_ARM_DOF>	Current joint angles, in radians (rad).
joint_position		Current joint angles, in degrees (°).
joint_speed		Current joint speeds, in RPM (revolutions per minute).
joint_current		Current joint current, in milliamperes (mA).
joint_temperature		Current joint temperature, in degrees Celsius (°C).
joint_voltage		Current joint voltage, in volts (V).
joint_err_code	array<uint16_t, MAX_ARM_DOF>	Current joint error codes.
joint_en_flag	array<bool, MAX_ARM_DOF>	Current joint enable flags. - true: Enabled. - false: Disabled.

AbcArmForceSensor

Structure Member	Data Type	Description
force	AbcType[6]	Current raw force sensor data, in units of 0.001 N or 0.001 N·m.
zero_force	AbcType[6]	Current external force data measured by the force sensor system, in units of 0.001 N or 0.001 N·m.
coordinate	int	Coordinate frame of the external force data. - 0: Sensor coordinate frame. - 1: Current working coordinate frame. - 2: Current tool coordinate frame.

AbcArmRealtimeState

Structure Member	Data Type	Description
name	char[64]	Robotic arm name
timestamp	std::chrono::system_clock::time_point	Timestamp
joint_status	AbcJointState	Joint states
pose	AbcPose	Current pose of the robotic arm
force_sensor	AbcArmForceSensor	Force sensor status
arm_current_status	AbcArmCurrentStatus	Robotic arm status
gripper_state	AbcGripperState	Gripper status
ee_pose	AbcPose	End-effector pose

PeripheralReadWriteParams

Structure Member	Data Type	Description
port	int	Communication port. - 0: Controller RS485 port. - 1: End-effector interface board RS485 port. - 3: Controller Modbus TCP device.
address	int	Starting data address
device	int	Peripheral device address
num	int	Number of data items

UdpCustomConfig

Structure Member	Data Type	Description
joint_speed	int	Joint speed.
lift_state	int	Lift joint information. - 1: Enable reporting. - 0: Disable reporting. - -1: Do not set, keep previous state.
expand_state	int	Extended joint information (either lift joint or extended joint, lift joint has priority). - 1: Enable reporting. - 0: Disable reporting. - -1: Do not set, keep previous state.
hand_state	int	Dexterous hand status. - 1: Enable reporting. - 0: Disable reporting. - -1: Do not set, keep previous state.
arm_current_status	int	Current status of the robotic arm. - 1: Enable reporting. - 0: Disable reporting. - -1: Do not set, keep previous state.
aloha_state	int	Status of the AlphaBot main arm. - 1: Enable reporting. - 0: Disable reporting. - -1: Do not set, keep previous state.

RealtimePushConfig

Structure Member	Data Type	Description
cycle	int	Broadcasting cycle, a multiple of 5ms.
enable	bool	Enable flag. Whether to enable active reporting.
port	int	Broadcast port number.
force_coordinate	int	Coordinate frame for external force data. - -1: Force sensor not supported. - 0: Sensor frame. - 1: Current work frame. - 2: Current tool frame.
ip	char[28]	Custom reporting target IP address.
custom_config	UdpCustomConfig	Custom configuration settings.

MAX_ARM_DOF

const size_t MAX_ARM_DOF = 7;

AbcArmRealtimeStateCallback

using AbcArmRealtimeStateCallback =
    std::function<void(std::shared_ptr<const AbcArmRealtimeState>)>;

Chassis Data Structures

ChassisFactoryParam

Structure Member	Data Type	Description
chassis_type	string	Chassis vendor
chassis_name	string	Chassis name (e.g., "chassis")
ip	string	IP address (e.g., "127.0.0.1")
port	int	Port number (e.g., 54051)

ChassisPose2D

Structure Member	Data Type	Description
theta	float	Orientation
x	float	X-axis coordinate value
y	float	Y-axis coordinate value

ChassisPoseSpeed

Structure Member	Data Type	Description
map_id	uint32_t	Map ID
mileage	uint32_t	Accumulated mileage
robot_id	uint32_t	Chassis ID
pose	ChassisPose2D	2D pose
twist	ChassisTwist	Twist (linear + angular velocity)

ChassisPoint32

Structure Member	Data Type	Description
x	float	X-axis coordinate value
y	float	Y-axis coordinate value
z	float	Z-axis coordinate value

ChassisTwist

Structure Member	Data Type	Description
angular	float	Angular velocity
linear	float	Linear velocity

ChassisTransformStamped

Structure Member	Data Type	Description
frame_id	string	Frame ID
secs	int32_t	Seconds
nsecs	uint32_t	Nanoseconds
child_frame_id	string	Child frame ID
t_x	double	XYZ-axis coordinate values
t_y	double
t_z	double
r_x	double	Quaternion
r_y	double
r_z	double
r_w	double

ChassisBattery

Structure Member	Data Type	Description
charge_state	ChargeState	Charging State
robot_id	uint32_t	Chassis ID
power	uint32_t	Battery percentage (0–100). - 100: Fully charged. - 0: No charge.
health	uint32_t	Battery Health (full charge capacity / design capacity)
charge_cycle	uint32_t	Charge Cycle Count
battery_cycle	uint32_t	Battery cycle
temp_max	uint32_t	Battery temperature (maximum temperature)
success	bool	Request success flag. - true: Request succeeded. - false: Request failed to process.
msg	string	Response message description, typically used to explain why a request could not be processed.

ChassisBattery::ChargeState

Enumeration	Value	Description
kChargeStateUndefined	0	Undefined
kNot	1	Not charging
kManual	2	Manual charging in progress
kAuto	3	Auto charging in progress

ChassisOperationState

Structure Member	Data Type	Description
robot_id	uint32_t	Chassis ID
nav	NavState	Chassis navigation information
robot	RobotBit	Chassis bit information
success	bool	Request success flag. - true: Request succeeded. - false: Request failed to process.
msg	string	Response message description, typically used to explain why a request could not be processed.

ChassisOperationState::NavState

Enumeration	Value	Description
kNavBitUndefined	0	Undefined
kNarrow	1	Narrow passage
kGuide	2	Guide to destination
kInaLift	3	In elevator
kImpede	4	Obstruct
kQRCode	5	QR code
kStage	6	Segment arrival

ChassisOperationState::RobotBit

Enumeration	Value	Description
kRobotBitUndefined	0	Undefined
kTaskable	1	Taskable

ChassisState

Structure Member	Data Type	Description
robot_id	uint32_t	Chassis ID
state	State	Chassis auto mode status
success	bool	Request success flag. - true: Request succeeded. - false: Request failed to process.
msg	string	Response message description, typically used to explain why a request could not be processed.

ChassisState::State

Enumeration	Value	Description
kStateUndefined	0	Undefined
kUninit	1	Uninitialized
kIdle	2	Idle
kParking	3	Parking
kTask	4	In Task
kWarning	5	Warning
kFault	6	Fault
kFollowing	7	Following
kCharging	8	Charging
kMapping	9	Mapping

ChassisStatusCode

Structure Member	Data Type	Description
robot_id	uint32_t	Chassis ID
code	uint64_t	Status code
time	uint64_t	Time
status_msg	string	Message
robot_task_id	int64_t	Task ID
state	RobotState	Chassis auto mode status
type	ActionType	Action type
level	Level	Level
success	bool	Request success flag. - true: Request succeeded. - false: Request failed to process.
msg	string	Response message description, typically used to explain why a request could not be processed.

ChassisStatusCode::RobotState

Enumeration	Value	Description
rs_kStateUndefined	0	Undefined
rs_kUninit	1	Uninitialized
rs_kIdle	2	Idle
rs_kParking	3	Parking
rs_kTask	4	In Task
rs_kWarning	5	Warning
rs_kFault	6	Fault
rs_kFollowing	7	Following
rs_kCharging	8	Charging
rs_kMapping	9	Mapping

ChassisStatusCode::ActionType

Enumeration	Value	Description
at_kTypeUndefined	0	Undefined
at_kNav	1	Navigation
at_kStepCtrl	2	Step Control
at_kSecondposEnter	3	Second Position Enter
at_kSecondposQuit	4	Second Position Quit
at_kCarry	5	Carrying Action
at_kWait	6	Wait
at_kCharge	7	Charge

ChassisStatusCode::Level

Enumeration	Value	Description
l_kNormal	0	Normal
l_kTips	1	Tips
l_kWarn	2	Warning
l_kFault	3	Fault

ChassisHardwareState

Structure Member	Data Type	Description
robot_id	uint32_t	Chassis ID
lidars	vector<HardwareState_State>	Repeated Lidar 2
cameras	vector<HardwareState_State>	Repeated Camera 2
success	bool	Request success flag. - true: Request succeeded. - false: Request failed to process.
msg	string	Response message description, typically used to explain why a request could not be processed.

ChassisHardwareState::HardwareState_State

Enumeration	Value	Description
kNormal	0	Normal
kInfo	1	Tips
kWarn	16	Warning
kFatal	17	Fault

ChassisTaskResponse

Structure Member	Data Type	Description
task_state	TaskState	Task state
current_pose	ChassisPose2D	Current 2D pose
msg_type	MassageType	Message type
msg	string	Response message description, typically used to explain why a request could not be processed.

ChassisTaskResponse::TaskState

Enumeration	Value	Description
kSuccess	0	Success
kRunning	1	Running
kFailed	2	Failed

ChassisTaskResponse::MassageType

Enumeration	Value	Description
kNormal	0	Normal
kWarn	1	Warning
kFault	2	Fault

Head and Torso Data Structures

ABC_TORSO_DOF

#define ABC_TORSO_DOF 4

ABC_HEAD_DOF

#define ABC_HEAD_DOF  2

HeadFactoryParam

Structure Member	Data Type	Description
head_type	string	Head vendor
head_name	string	Head name
head_joint_num	uint8_t	Number of head joints
comm_params	CommParamsUnion	Communication parameters
motor_params	vector<MotorParam>	Motor parameters

CommParamsUnion

Union Member	Data Type	Description
can	CommParamsCAN	CAN parameters
eth	CommParamsETH	ETH parameters (reserved)

CommParamsCAN

Structure Member	Data Type	Description
device	string	Device name (e.g., "can0")
baud_rate	int	Baud rate (e.g., 500000)
can_id	uint8_t	CAN node ID (0x00 - 0xFF)

CommParamsETH

Structure Member	Data Type	Description
ip	string	IP address (e.g., "192.168.1.10")
port	uint16_t	Port number (e.g., 8080)

MotorParam

Structure Member	Data Type	Description
motor_id	uint16_t	Motor ID
reduction_ratio	uint16_t	Reduction ratio
position_max	AbcType	Maximum rotation angle
position_min	AbcType	Minimum rotation angle
speed_max	AbcType	Maximum rotation speed
speed_min	AbcType	Minimum rotation speed
acc_max	AbcType	Maximum rotation acceleration
acc_min	AbcType	Minimum rotation acceleration

TorsoFactoryParam

Structure Member	Data Type	Description
torso_type	string	Torso vendor (e.g., "ti5")
torso_name	string	Torso name
torso_joint_num	uint8_t	Number of torso joints
comm_params	CommParamsUnion	Communication parameters
motor_params	vector<MotorParam>	Motor parameters

AbcTorsoStateCallback

using AbcTorsoStateCallback = std::function<
    void(std::shared_ptr<const AbcTorsoState>)>;

AbcTorsoState

Structure Member	Data Type	Description
timestamp	std::chrono::system_clock::time_point	Timestamp
err_code	std::array<uint32_t, ABC_TORSO_DOF>	Error codes for each joint
joints_positions	std::array<AbcType, ABC_TORSO_DOF>	Angle for each joint
joints_speed	std::array<AbcType, ABC_TORSO_DOF	Speed for each joint
joints_current	std::array<AbcType, ABC_TORSO_DOF>	Current for each joint

Sensor Data Structures

DepthSensorParam

Structure Member	Data Type	Description
sensor_type	string	Sensor vendor (e.g., "realsense")
sensor_name	string	Sensor name (e.g., "head_camera")
serial_number	string	Serial number
color_width	int	Color image width
color_height	int	Color image height
depth_width	int	Depth image width
depth_height	int	Depth image height
frame_rate	int	Frame rate
align_to_color	bool	Whether to align the depth image to the color image
enable_depth	bool	Whether to enable the depth stream. Default is true. When set to false, the depth stream and all related logic that depends on depth data will be disabled.
active_pull	bool	Whether to use active frame pulling mode. Defaults to false (automatic background frame pulling). When set to true, only one frame is fetched when get_data() is called, and the callback mechanism is not supported.

SensorCallback

using SensorCallback = std::function<
    void(std::shared_ptr<const SensorData>)>;

SensorType

Enumeration	Description
CAMERA	Camera sensor
DEPTH_CAMERA	Depth camera
LIDAR	LiDAR
IMU	Inertial Measurement Unit
FORCE_TORQUE	Force sensor
PROXIMITY	Proximity sensor
OTHER	Other types of sensors

SensorStatus

Enumeration	Description
DISCONNECTED	Disconnected
CONNECTED	Connected
STREAMING	Data streaming in progress
SENSOR_ERROR	Error state

AbcIntrinsic

Structure Member	Data Type	Description
width	int	Image width, in pixels.
height	int	Image height, in pixels.
ppx	float	Horizontal coordinate of the principal point, expressed as pixel offset from the left edge.
ppy	float	Vertical coordinate of the principal point, expressed as pixel offset from the top edge.
fx	float	Horizontal focal length, expressed as a multiple of pixel width.
fy	float	Vertical focal length, expressed as a multiple of pixel height.
coeffs	float[5]	Distortion coefficients. The parameter order for each model is as follows: - Brown-Conrady model: [k1, k2, p1, p2, k3]. - F-Theta fisheye lens model: [k1, k2, k3, k4, 0]. - Other models: Refer to their specific interpretation rules.

Trajectory Planner Data Structures

TrajectoryPoint

Structure Member	Data Type	Description
positions	vector<AbcType>	Positions
velocities	vector<AbcType>	Velocities
accelerations	vector<AbcType>	Accelerations
timestamp	AbcType	Timestamp

TrajectoryEvaluation

Structure Member	Data Type	Description
is_valid	bool	Whether the trajectory is valid
issues	vector<string>	Issues
score	double	Trajectory score (higher is better)
has_collision	bool	Whether any collision exists
collision_indices	vector<size_t>	Indices of trajectory points

TrajectoryStatusCallback

using TrajectoryStatusCallback = std::function<
    void(bool finished, AbcErrorCode error_code)>;

Sensor Synchronizer Data Structures

SyncDataCallback

using SyncDataCallback = std::function<
    void(std::shared_ptr<SyncDataPackage>)>;

SyncPolicy

Enumeration	Description
NEAREST	Nearest timestamp matching
INTERPOLATE	Interpolation matching
EXTRAPOLATE	Extrapolation matching

SyncMode

Enumeration	Description
LATEST_TIMESTAMP	Synchronize based on the latest timestamp (default mode)
REFERENCE_SENSOR	Synchronize based on a reference sensor

Emergency Stop Button Monitoring Data Structures

EStopMConfig

Structure Member	Data Type	Description
pressed_level_	int	GPIO level polarity when the emergency stop button is pressed. - 0: Active-Low. The pin level is low when the button is pressed. - 1: Active-High. The pin level is high when the button is pressed.
allow_multicb_	bool	Whether multiple callback functions are allowed. - true: Multiple callbacks are allowed. - false: Only one callback is allowed.
name_	string	Name
EStopMConfig	Constructor	Initializes all data members using a member initializer list.
ApacheOrin	Static function	Returns a configured EStopMConfig instance (gpiochip0 + pin 2 + Active-Low). Configuration is identical to EStopMConfig(), suitable for robots equipped with the Apache Orin module.
NvidiaOrin	Static function	Returns a configured EStopMConfig instance (gpiochip1 + pin 9 + Active-High), suitable for robots equipped with the NVIDIA Jetson AGX Orin module.
SysfsGpio	Static function	Returns a configured EStopMConfig instance that polls the GPIO state from the /sys/class/gpio/gpio309/value file to monitor the emergency stop state, suitable for robots equipped with the NVIDIA Jetson Orin NX module.

ESState

Enumeration	Value	Description
None	-1	Unable to get status
Pressed	1	Emergency stop button is pressed
Released	0	Emergency stop button is released

Gripper Data Structures

AbcGripperState

Structure Member	Data Type	Description
status	int	Gripper status. - 0: Offline. - 1: Online. - -1: Online but disabled.
error	int	Gripper error information. - Lower 8 bits: Internal gripper error codes. - Bits 5–7: Reserved. - Bit 4: Internal communication error. - Bit 3: Driver error. - Bit 2: Overcurrent. - Bit 1: Overtemperature. - Bit 0: Locked-rotor.
mode	int	Current operating mode. - 1: Gripper fully open and idle. - 2: Gripper fully closed and idle. - 3: Gripper stopped and idle. - 4: Gripper is closing. - 5: Gripper is opening. - 6: Gripper stopped by force-controlled during closing.
current_force	int	Current force, in grams (g).
temperature	int	Current temperature, in degrees Celsius (°C).
actpos	int	Gripper aperture, range 0–1000. - 0: Gripper fully closed. - 1000: Gripper fully open.

Structured Fault Code Data Structure

AbcFaultCode is defined as a 32-bit unsigned integer type (uint32_t). Its bit layout is specified below.

Bit	Field Name	Bit Count	Value Range	Description
31	permission	1	0/1	Visibility: 0 = internal, 1 = external (APP/Web)
30~25	category	6	0~63	System Category
24~19	subsystem	6	0~63	Subsystem Number
18~16	level	3	0~7	Fault Level
15~0	fault_id	16	0~65535	Fault ID

System Category

Enumeration	Value	Description
POWER	0	Power System
MOTION	1	Motion System
PERCEPTION	2	Perception System (LiDAR/Camera/IMU/Force Sensor)
COMM	3	Communication System (4G/Wi-Fi/Bluetooth/CAN)
CONTROL	4	Control System (Main Controller/Motion Controller/Domain Controller)
SAFETY	5	Safety System (Emergency Stop/Edge Sensor)
ARM	6	Robotic Arm
GRIPPER	7	End Effector (Gripper/Dexterous Hand)
INTERACTION	8	Interaction System (Screen/Indicator Light/Speaker/Microphone)
ENVIRONMENT	9	Environment System (Fan/Temperature & Humidity Sensor)
SOFTWARE	10	Software System (Operating System)
UNKNOWN	63	Unknown Category

Subsystem Number

System Category	Subsystem Number	Subsystem Name
POWER(0)	0	Main Battery
	1	Backup Battery
	2	Charging Port
	3	Power Management Board
	Others	Unknown
MOTION(1)	0	Left Wheel Motor
	1	Right Wheel Motor
	2	Left Front Wheel Motor
	3	Right Front Wheel Motor
	4	Left Rear Wheel Motor
	5	Right Rear Wheel Motor
	6	Leg Linear Actuator
	7	Lift Mechanism Motor 1
	8	Lift Mechanism Motor 2
	9	Lift Mechanism Motor 3
	10	Lift Mechanism Motor 4
	11	Neck Yaw Motor
	12	Neck Pitch Motor
	Others	Unknown
PERCEPTION(2)	0	Chassis LiDAR-1
	1	Chassis LiDAR-2
	2	Ultrasonic Sensor-1
	3	Ultrasonic Sensor-2
	4	Ultrasonic Sensor-3
	5	Ultrasonic Sensor-4
	6	Chassis Camera
	7	Head Vision Camera
	8	Chest Vision Camera
	9	Back Vision Camera
	10	IMU
	11	Left Arm 6‑Axis Force Sensor
	12	Right Arm 6‑Axis Force Sensor
	13	Left Hand Camera
	14	Right Hand Camera
	Others	Unknown
COMM(3)	0	4G/5G Module
	1	Wi-Fi Module
	2	Bluetooth Module
	3	CAN Bus
	Others	Unknown
CONTROL(4)	0	Robot Main Controller
	1	Robot Motion Controller
	2	Chassis Controller
	3	Left Robotic Arm Controller
	4	Right Robotic Arm Controller
	5	Domain Controller
	Others	Unknown
SAFETY(5)	0	Emergency Stop Button
	1	Chassis Edge Sensor
	Others	Unknown
ARM(6)	0	Left Arm Motor 1
	1	Left Arm Motor 2
	2	Left Arm Motor 3
	3	Left Arm Motor 4
	4	Left Arm Motor 5
	5	Left Arm Motor 6
	6	Left Arm Motor 7
	7	Right Arm Motor 1
	8	Right Arm Motor 2
	9	Right Arm Motor 3
	10	Right Arm Motor 4
	11	Right Arm Motor 5
	12	Right Arm Motor 6
	13	Right Arm Motor 7
	Others	Unknown
GRIPPER(7)	0	Gripper
	1	Five-Finger Dexterous Hand
	2	Suction Cup
	Others	Unknown
INTERACTION(8)	0	Screen
	1	Chest Status Indicator
	2	Chassis Status Indicator
	3	Chest Speaker
	4	Microphone
	Others	Unknown
ENVIRONMENT(9)	0	Cooling Fan
	1	Temperature Sensor
	2	Humidity Sensor
	Others	Unknown
SOFTWARE(10)	0	Operating System
	Others	Unknown
UNKNOWN(63)	Any	Unknown

Fault Level

Enumeration	Value	Description
INFO	0	Informational: Minor event, logged only
WARNING	1	Warning: Potential risk, task can continue
FAULT	2	Fault: Core function failure, manual maintenance required
ESTOP	3	Emergency Stop: Safety risk, immediate operation abort required

Core Methods

Assemble Fault Code

Method	Return Value	Description
make_fault_code(permission, category, subsystem, level, fault_id)	AbcFaultCode	Assembles a fault code

Parse Fault Code

Method	Return Value	Description
fault_permission(fc)	0/1	Get visibility flag
fault_category(fc)	0~63	Get System Category (enum value)
fault_subsystem(fc)	0~63	Get Subsystem Number
fault_level(fc)	0~7	Get Fault Level (enum value)
fault_code_id(fc)	0~65535	Get fault ID
fault_level_enum(fc)	FaultLevel	Get Fault Level (enum constant)
fault_category_enum(fc)	FaultCategory	Get System Category (enum constant)

Check Visibility

Method	Description
fault_is_external(fc)	Check if the fault is visible to external users (APP/Web)
fault_is_internal(fc)	Check if the fault is for internal use only

Check Level

Method	Description
fault_is_info(fc)	Check if the fault level is INFO
fault_is_warning(fc)	Check if the fault level is WARNING
fault_is_fault(fc)	Check if the fault level is FAULT
fault_is_estop(fc)	Check if the fault level is ESTOP
fault_is_at_least(fc, min_level)	Check if the fault level is greater than or equal to the specified minimum level

Get Name

Method	Return Value	Description
fault_level_name(fc)	const char*	Get fault level name (INFO/WARNING/FAULT/ESTOP)
fault_category_name(fc)	const char*	Get system category name (e.g. POWER/MOTION/ARM)
fault_subsystem_name(fc)	const char*	Get subsystem name

Generate Description

Method	Return Value	Description
fault_description(fc)	std::string	Generate human-readable description. Format: 0xXXXXXXXX [ext/int|Category|Subsystem|Level|id=0xXXXX]

Predefined Fault Code List

Robotic Arm

Left Robotic Arm

Fault Code Constant	Value (0x)	Description
ARM_LEFT1_OVER_LIMIT	8C010008	Left Arm Motor 1: Position limit exceeded
ARM_LEFT1_OVER_VOLTAGE	8C020004	Left Arm Motor 1: Overvoltage
ARM_LEFT1_UNDER_VOLTAGE	8C020023	Left Arm Motor 1: Undervoltage
ARM_LEFT1_OVER_TEMP	8C020002	Left Arm Motor 1: Overtemperature
ARM_LEFT1_STALL	8C020007	Left Arm Motor 1: Motor stall
ARM_LEFT1_ENCODER_FAULT	8C020005	Left Arm Motor 1: Encoder fault
ARM_LEFT1_HW_CHECK_FAIL	8C02000A	Left Arm Motor 1: Hardware self-test failure
ARM_LEFT2_OVER_LIMIT	8C090008	Left Arm Motor 2: Position limit exceeded
ARM_LEFT2_OVER_VOLTAGE	8C0A0004	Left Arm Motor 2: Overvoltage
ARM_LEFT2_UNDER_VOLTAGE	8C0A0023	Left Arm Motor 2: Undervoltage
ARM_LEFT2_OVER_TEMP	8C0A0002	Left Arm Motor 2: Overtemperature
ARM_LEFT2_STALL	8C0A0007	Left Arm Motor 2: Motor stall
ARM_LEFT2_ENCODER_FAULT	8C0A0005	Left Arm Motor 2: Encoder fault
ARM_LEFT2_HW_CHECK_FAIL	8C0A000A	Left Arm Motor 2: Hardware self-test failure
ARM_LEFT3_OVER_LIMIT	8C110008	Left Arm Motor 3: Position limit exceeded
ARM_LEFT3_OVER_VOLTAGE	8C120004	Left Arm Motor 3: Overvoltage
ARM_LEFT3_UNDER_VOLTAGE	8C120023	Left Arm Motor 3: Undervoltage
ARM_LEFT3_OVER_TEMP	8C120002	Left Arm Motor 3: Overtemperature
ARM_LEFT3_STALL	8C120007	Left Arm Motor 3: Motor stall
ARM_LEFT3_ENCODER_FAULT	8C120005	Left Arm Motor 3: Encoder fault
ARM_LEFT3_HW_CHECK_FAIL	8C12000A	Left Arm Motor 3: Hardware self-test failure
ARM_LEFT4_OVER_LIMIT	8C190008	Left Arm Motor 4: Position limit exceeded
ARM_LEFT4_OVER_VOLTAGE	8C1A0004	Left Arm Motor 4: Overvoltage
ARM_LEFT4_UNDER_VOLTAGE	8C1A0023	Left Arm Motor 4: Undervoltage
ARM_LEFT4_OVER_TEMP	8C1A0002	Left Arm Motor 4: Overtemperature
ARM_LEFT4_STALL	8C1A0007	Left Arm Motor 4: Motor stall
ARM_LEFT4_ENCODER_FAULT	8C1A0005	Left Arm Motor 4: Encoder fault
ARM_LEFT4_HW_CHECK_FAIL	8C1A000A	Left Arm Motor 4: Hardware self-test failure
ARM_LEFT5_OVER_LIMIT	8C210008	Left Arm Motor 5: Position limit exceeded
ARM_LEFT5_OVER_VOLTAGE	8C220004	Left Arm Motor 5: Overvoltage
ARM_LEFT5_UNDER_VOLTAGE	8C220023	Left Arm Motor 5: Undervoltage
ARM_LEFT5_OVER_TEMP	8C220002	Left Arm Motor 5: Overtemperature
ARM_LEFT5_STALL	8C220007	Left Arm Motor 5: Motor stall
ARM_LEFT5_ENCODER_FAULT	8C220005	Left Arm Motor 5: Encoder fault
ARM_LEFT5_HW_CHECK_FAIL	8C22000A	Left Arm Motor 5: Hardware self-test failure
ARM_LEFT6_OVER_LIMIT	8C290008	Left Arm Motor 6: Position limit exceeded
ARM_LEFT6_OVER_VOLTAGE	8C2A0004	Left Arm Motor 6: Overvoltage
ARM_LEFT6_UNDER_VOLTAGE	8C2A0023	Left Arm Motor 6: Undervoltage
ARM_LEFT6_OVER_TEMP	8C2A0002	Left Arm Motor 6: Overtemperature
ARM_LEFT6_STALL	8C2A0007	Left Arm Motor 6: Motor stall
ARM_LEFT6_ENCODER_FAULT	8C2A0005	Left Arm Motor 6: Encoder fault
ARM_LEFT6_HW_CHECK_FAIL	8C2A000A	Left Arm Motor 6: Hardware self-test failure
ARM_LEFT7_OVER_LIMIT	8C310008	Left Arm Motor 7: Position limit exceeded
ARM_LEFT7_OVER_VOLTAGE	8C320004	Left Arm Motor 7: Overvoltage
ARM_LEFT7_UNDER_VOLTAGE	8C320023	Left Arm Motor 7: Undervoltage
ARM_LEFT7_OVER_TEMP	8C320002	Left Arm Motor 7: Overtemperature
ARM_LEFT7_STALL	8C320007	Left Arm Motor 7: Motor stall
ARM_LEFT7_ENCODER_FAULT	8C320005	Left Arm Motor 7: Encoder fault
ARM_LEFT7_HW_CHECK_FAIL	8C32000A	Left Arm Motor 7: Hardware self-test failure
ARM_LEFT_SINGULARITY	8C19001B	Left arm singularity detected; target pose unreachable
ARM_LEFT_FORCE_DATA_ABNORMAL	8C5A000B	Left arm 6-axis force sensor: Data abnormality
ARM_LEFT_FORCE_OVERLOAD	8C5A0010	Left arm 6-axis force sensor: Overload
ARM_LEFT_CTRL_COMM_INTERRUPT	881A000C	Left arm controller: Communication interruption
ARM_LEFT_CTRL_HW_CHECK_FAIL	881A000A	Left arm controller: Hardware self-test failure

Right Robotic Arm

Fault Code Constant	Value (0x)	Description
ARM_RIGHT1_OVER_LIMIT	8C390008	Right Arm Motor 1: Position limit exceeded
ARM_RIGHT1_OVER_VOLTAGE	8C3A0004	Right Arm Motor 1: Overvoltage
ARM_RIGHT1_UNDER_VOLTAGE	8C3A0023	Right Arm Motor 1: Undervoltage
ARM_RIGHT1_OVER_TEMP	8C3A0002	Right Arm Motor 1: Overtemperature
ARM_RIGHT1_STALL	8C3A0007	Right Arm Motor 1: Motor stall
ARM_RIGHT1_ENCODER_FAULT	8C3A0005	Right Arm Motor 1: Encoder fault
ARM_RIGHT1_HW_CHECK_FAIL	8C3A000A	Right Arm Motor 1: Hardware self-test failure
ARM_RIGHT2_OVER_LIMIT	8C410008	Right Arm Motor 2: Position limit exceeded
ARM_RIGHT2_OVER_VOLTAGE	8C420004	Right Arm Motor 2: Overvoltage
ARM_RIGHT2_UNDER_VOLTAGE	8C420023	Right Arm Motor 2: Undervoltage
ARM_RIGHT2_OVER_TEMP	8C420002	Right Arm Motor 2: Overtemperature
ARM_RIGHT2_STALL	8C420007	Right Arm Motor 2: Motor stall
ARM_RIGHT2_ENCODER_FAULT	8C420005	Right Arm Motor 2: Encoder fault
ARM_RIGHT2_HW_CHECK_FAIL	8C42000A	Right Arm Motor 2: Hardware self-test failure
ARM_RIGHT3_OVER_LIMIT	8C490008	Right Arm Motor 3: Position limit exceeded
ARM_RIGHT3_OVER_VOLTAGE	8C4A0004	Right Arm Motor 3: Overvoltage
ARM_RIGHT3_UNDER_VOLTAGE	8C4A0023	Right Arm Motor 3: Undervoltage
ARM_RIGHT3_OVER_TEMP	8C4A0002	Right Arm Motor 3: Overtemperature
ARM_RIGHT3_STALL	8C4A0007	Right Arm Motor 3: Motor stall
ARM_RIGHT3_ENCODER_FAULT	8C4A0005	Right Arm Motor 3: Encoder fault
ARM_RIGHT3_HW_CHECK_FAIL	8C4A000A	Right Arm Motor 3: Hardware self-test failure
ARM_RIGHT4_OVER_LIMIT	8C510008	Right Arm Motor 4: Position limit exceeded
ARM_RIGHT4_OVER_VOLTAGE	8C520004	Right Arm Motor 4: Overvoltage
ARM_RIGHT4_UNDER_VOLTAGE	8C520023	Right Arm Motor 4: Undervoltage
ARM_RIGHT4_OVER_TEMP	8C520002	Right Arm Motor 4: Overtemperature
ARM_RIGHT4_STALL	8C520007	Right Arm Motor 4: Motor stall
ARM_RIGHT4_ENCODER_FAULT	8C520005	Right Arm Motor 4: Encoder fault
ARM_RIGHT4_HW_CHECK_FAIL	8C52000A	Right Arm Motor 4: Hardware self-test failure
ARM_RIGHT5_OVER_LIMIT	8C590008	Right Arm Motor 5: Position limit exceeded
ARM_RIGHT5_OVER_VOLTAGE	8C5A0004	Right Arm Motor 5: Overvoltage
ARM_RIGHT5_UNDER_VOLTAGE	8C5A0023	Right Arm Motor 5: Undervoltage
ARM_RIGHT5_OVER_TEMP	8C5A0002	Right Arm Motor 5: Overtemperature
ARM_RIGHT5_STALL	8C5A0007	Right Arm Motor 5: Motor stall
ARM_RIGHT5_ENCODER_FAULT	8C5A0005	Right Arm Motor 5: Encoder fault
ARM_RIGHT5_HW_CHECK_FAIL	8C5A000A	Right Arm Motor 5: Hardware self-test failure
ARM_RIGHT6_OVER_LIMIT	8C610008	Right Arm Motor 6: Position limit exceeded
ARM_RIGHT6_OVER_VOLTAGE	8C620004	Right Arm Motor 6: Overvoltage
ARM_RIGHT6_UNDER_VOLTAGE	8C620023	Right Arm Motor 6: Undervoltage
ARM_RIGHT6_OVER_TEMP	8C620002	Right Arm Motor 6: Overtemperature
ARM_RIGHT6_STALL	8C620007	Right Arm Motor 6: Motor stall
ARM_RIGHT6_ENCODER_FAULT	8C620005	Right Arm Motor 6: Encoder fault
ARM_RIGHT6_HW_CHECK_FAIL	8C62000A	Right Arm Motor 6: Hardware self-test failure
ARM_RIGHT7_OVER_LIMIT	8C690008	Right Arm Motor 7: Position limit exceeded
ARM_RIGHT7_OVER_VOLTAGE	8C6A0004	Right Arm Motor 7: Overvoltage
ARM_RIGHT7_UNDER_VOLTAGE	8C6A0023	Right Arm Motor 7: Undervoltage
ARM_RIGHT7_OVER_TEMP	8C6A0002	Right Arm Motor 7: Overtemperature
ARM_RIGHT7_STALL	8C6A0007	Right Arm Motor 7: Motor stall
ARM_RIGHT7_ENCODER_FAULT	8C6A0005	Right Arm Motor 7: Encoder fault
ARM_RIGHT7_HW_CHECK_FAIL	8C6A000A	Right Arm Motor 7: Hardware self-test failure
ARM_RIGHT_SINGULARITY	8C21001B	Right arm singularity detected; target pose unreachable
ARM_RIGHT_FORCE_DATA_ABNORMAL	8C62000B	Right arm 6-axis force sensor: Data abnormality
ARM_RIGHT_FORCE_OVERLOAD	8C620010	Right arm 6-axis force sensor: Overload
ARM_RIGHT_CTRL_COMM_INTERRUPT	8822000C	Right arm controller: Communication interruption
ARM_RIGHT_CTRL_HW_CHECK_FAIL	8822000A	Right arm controller: Hardware self-test failure

Torso

Fault Code Constant	Value (0x)	Description
TORSO_LIFT1_OVER_VOLTAGE	823A0004	Lift Mechanism Motor 1: Overvoltage
TORSO_LIFT1_UNDER_VOLTAGE	823A0023	Lift Mechanism Motor 1: Undervoltage
TORSO_LIFT1_OVER_TEMP	823A0002	Lift Mechanism Motor 1: Overtemperature
TORSO_LIFT1_ENCODER_FAULT	823A0005	Lift Mechanism Motor 1: Encoder fault
TORSO_LIFT1_BATTERY_VOLTAGE	82390006	Lift Mechanism Motor 1: Encoder battery voltage abnormal
TORSO_LIFT1_OVER_LIMIT	82390008	Lift Mechanism Motor 1: Position limit exceeded
TORSO_LIFT1_COMM_INTERRUPT	823A000C	Lift Mechanism Motor 1: Communication interruption
TORSO_LIFT2_OVER_VOLTAGE	82420004	Lift Mechanism Motor 2: Overvoltage
TORSO_LIFT2_UNDER_VOLTAGE	82420023	Lift Mechanism Motor 2: Undervoltage
TORSO_LIFT2_OVER_TEMP	82420002	Lift Mechanism Motor 2: Overtemperature
TORSO_LIFT2_ENCODER_FAULT	82420005	Lift Mechanism Motor 2: Encoder fault
TORSO_LIFT2_BATTERY_VOLTAGE	82410006	Lift Mechanism Motor 2: Encoder battery voltage abnormal
TORSO_LIFT2_OVER_LIMIT	82410008	Lift Mechanism Motor 2: Position limit exceeded
TORSO_LIFT2_COMM_INTERRUPT	8242000C	Lift Mechanism Motor 2: Communication interruption
TORSO_LIFT3_OVER_VOLTAGE	824A0004	Lift Mechanism Motor 3: Overvoltage
TORSO_LIFT3_UNDER_VOLTAGE	824A0023	Lift Mechanism Motor 3: Undervoltage
TORSO_LIFT3_OVER_TEMP	824A0002	Lift Mechanism Motor 3: Overtemperature
TORSO_LIFT3_ENCODER_FAULT	824A0005	Lift Mechanism Motor 3: Encoder fault
TORSO_LIFT3_BATTERY_VOLTAGE	82490006	Lift Mechanism Motor 3: Encoder battery voltage abnormal
TORSO_LIFT3_OVER_LIMIT	82490008	Lift Mechanism Motor 3: Position limit exceeded
TORSO_LIFT3_COMM_INTERRUPT	824A000C	Lift Mechanism Motor 3: Communication interruption
TORSO_LIFT4_OVER_VOLTAGE	82520004	Lift Mechanism Motor 4: Overvoltage
TORSO_LIFT4_UNDER_VOLTAGE	82520023	Lift Mechanism Motor 4: Undervoltage
TORSO_LIFT4_OVER_TEMP	82520002	Lift Mechanism Motor 4: Overtemperature
TORSO_LIFT4_ENCODER_FAULT	82520005	Lift Mechanism Motor 4: Encoder fault
TORSO_LIFT4_BATTERY_VOLTAGE	82510006	Lift Mechanism Motor 4: Encoder battery voltage abnormal
TORSO_LIFT4_OVER_LIMIT	82510008	Lift Mechanism Motor 4: Position limit exceeded
TORSO_LIFT4_COMM_INTERRUPT	8252000C	Lift Mechanism Motor 4: Communication interruption

Head

Fault Code Constant	Value (0x)	Description
HEAD_NECK_YAW_OVER_VOLTAGE	825A0004	Neck Yaw Motor: Overvoltage
HEAD_NECK_YAW_UNDER_VOLTAGE	825A0023	Neck Yaw Motor: Undervoltage
HEAD_NECK_YAW_OVER_TEMP	825A0002	Neck Yaw Motor: Overtemperature
HEAD_NECK_YAW_ENCODER_FAULT	825A0005	Neck Yaw Motor: Encoder fault
HEAD_NECK_YAW_BATTERY_VOLTAGE	82590006	Neck Yaw Motor: Encoder battery voltage abnormal
HEAD_NECK_YAW_OVER_LIMIT	82590008	Neck Yaw Motor: Position limit exceeded
HEAD_NECK_YAW_COMM_INTERRUPT	825A000C	Neck Yaw Motor: Communication interruption
HEAD_NECK_PITCH_OVER_VOLTAGE	82620004	Neck Pitch Motor: Overvoltage
HEAD_NECK_PITCH_UNDER_VOLTAGE	82620023	Neck Pitch Motor: Undervoltage
HEAD_NECK_PITCH_OVER_TEMP	82620002	Neck Pitch Motor: Overtemperature
HEAD_NECK_PITCH_ENCODER_FAULT	82620005	Neck Pitch Motor: Encoder fault
HEAD_NECK_PITCH_BATTERY_VOLTAGE	82610006	Neck Pitch Motor: Encoder battery voltage abnormal
HEAD_NECK_PITCH_OVER_LIMIT	82610008	Neck Pitch Motor: Position limit exceeded
HEAD_NECK_PITCH_COMM_INTERRUPT	8262000C	Neck Pitch Motor: Communication interruption

Chassis

Fault Code Constant	Value (0x)	Description
CHASSIS_BATTERY_LOW	80000014	Main battery: Low level
CHASSIS_BATTERY_OVER_TEMP	80010002	Main battery: Overtemperature
MAIN_POWER_FAULT	8002000D	Main power supply: Fault
MAIN_BATTERY_DEPLETED	80010015	Main battery: Depleted
POWER_BOARD_BMS_ABNORMAL	801A000B	Power board: BMS abnormal
POWER_BOARD_OVER_VOLTAGE	801A0004	Power board: Overvoltage
CHASSIS_CAMERA_DATA_ABNORMAL	8432000B	Chassis camera: Data abnormal
CHASSIS_CAMERA_COMM_TIMEOUT	84310003	Chassis camera: Communication timeout
CHASSIS_CAMERA_HW_CHECK_FAIL	8432000A	Chassis camera: Hardware self-test failure
CHASSIS_CAMERA_COMM_INTERRUPT	8432000C	Chassis camera: Communication interruption
CHASSIS_LIDAR_DISCONNECT	8402000F	Chassis LiDAR: Connection abnormal
CHASSIS_LIDAR_COMM_INTERRUPT	8402000C	Chassis LiDAR: Communication interruption
CHASSIS_LIDAR_DATA_ABNORMAL	8402000B	Chassis LiDAR 1: Data abnormal
IMU_DATA_ABNORMAL	8452000B	IMU: Data abnormal
CHASSIS_CTRL_COMM_INTERRUPT	8812000C	Chassis controller: Communication interruption
CHASSIS_SAFETY_EDGE_TRIGGER	8A0B0019	Chassis safety edge: Triggered

End Effector

Gripper

Fault Code Constant	Value (0x)	Description
GRIPPER_STALL	8E020007	Gripper: Motor stall
GRIPPER_OVER_CURRENT	8E020001	Gripper: Overcurrent
GRIPPER_OVER_TEMP	8E020002	Gripper: Overtemperature
GRIPPER_OVER_VOLTAGE	8E020004	Gripper: Overvoltage
GRIPPER_UNDER_VOLTAGE	8E020023	Gripper: Undervoltage
GRIPPER_COMM_INTERRUPT	8E02000C	Gripper: Communication interruption
GRIPPER_HW_CHECK_FAIL	8E02000A	Gripper: Hardware self-test failure

Five‑Finger Dexterous Hand

Fault Code Constant	Value (0x)	Description
DEXTEROUS_HAND_OVER_CURRENT	8E0A0001	Dexterous Hand: Overcurrent
DEXTEROUS_HAND_OVER_VOLTAGE	8E0A0004	Dexterous Hand: Overvoltage
DEXTEROUS_HAND_UNDER_VOLTAGE	8E0A0023	Dexterous Hand: Undervoltage
DEXTEROUS_HAND_COMM_INTERRUPT	8E0A000C	Dexterous Hand: Communication interruption
DEXTEROUS_HAND_HW_CHECK_FAIL	8E0A000A	Dexterous Hand: Hardware self-test failure

Cameras

Fault Code Constant	Value (0x)	Description
CHEST_CAMERA_COMM_TIMEOUT	84410003	Chest vision camera: Communication timeout
CHEST_CAMERA_HW_CHECK_FAIL	8442000A	Chest vision camera: Hardware self-test failure
CHEST_CAMERA_DATA_ABNORMAL	8442000B	Chest vision camera: Data abnormal
CHEST_CAMERA_COMM_INTERRUPT	8442000C	Chest vision camera: Communication interruption
BACK_CAMERA_COMM_TIMEOUT	84490003	Back vision camera: Communication timeout
BACK_CAMERA_HW_CHECK_FAIL	844A000A	Back vision camera: Hardware self-test failure
BACK_CAMERA_DATA_ABNORMAL	844A000B	Back vision camera: Data abnormal
BACK_CAMERA_COMM_INTERRUPT	844A000C	Back vision camera: Communication interruption
LEFT_HAND_CAMERA_COMM_TIMEOUT	84690003	Left hand camera: Communication timeout
LEFT_HAND_CAMERA_HW_CHECK_FAIL	846A000A	Left hand camera: Hardware self-test failure
LEFT_HAND_CAMERA_DATA_ABNORMAL	846A000B	Left hand camera: Data abnormal
LEFT_HAND_CAMERA_COMM_INTERRUPT	846A000C	Left hand camera: Communication interruption
RIGHT_HAND_CAMERA_COMM_TIMEOUT	84710003	Right hand camera: Communication timeout
RIGHT_HAND_CAMERA_HW_CHECK_FAIL	8472000A	Right hand camera: Hardware self-test failure
RIGHT_HAND_CAMERA_DATA_ABNORMAL	8472000B	Right hand camera: Data abnormal
RIGHT_HAND_CAMERA_COMM_INTERRUPT	8472000C	Right hand camera: Communication interruption
HEAD_CAMERA_COMM_TIMEOUT	84390003	Head vision camera: Communication timeout
HEAD_CAMERA_HW_CHECK_FAIL	843A000A	Head vision camera: Hardware self-test failure
HEAD_CAMERA_DATA_ABNORMAL	843A000B	Head vision camera: Data abnormal
HEAD_CAMERA_COMM_INTERRUPT	843A000C	Head vision camera: Communication interruption

Communication

Fault Code Constant	Value (0x)	Description
COMM_4G5G_ABNORMAL	8602000C	4G/5G Module: Communication abnormal
COMM_WIFI_ABNORMAL	860A000C	Wi-Fi Module: Communication abnormal
COMM_BT_ABNORMAL	8612000C	Bluetooth Module: Communication abnormal
COMM_CAN_ABNORMAL	861A000C	CAN bus: Communication abnormal

Interaction Devices

Fault Code Constant	Value (0x)	Description
UI_SCREEN_NOT_DETECTED	9002000F	Screen: Not detected
UI_CHEST_INDICATOR_NOT_DETECTED	900A000F	Chest status indicator: Not detected
UI_CHASSIS_INDICATOR_NOT_DETECTED	9012000F	Chassis status indicator: Not detected
UI_SPEAKER_NOT_DETECTED	901A000F	Thorax speaker: Not detected
UI_MICROPHONE_NOT_DETECTED	9022000F	Microphone: Not detected

Emergency Stop Button

Fault Code Constant	Value (0x)	Description
ESTOP_BUTTON_TRIGGER	8A030019	Emergency Stop Button Pressed

Generic Fault ID

Constant	Value	Description
GENERIC_FAULT_ID	300	Generic unmapped fault ID, intended for exceptional scenarios that do not yet have a dedicated fault code. Assemble using make_fault_code(permission, category, subsystem, level, GENERIC_FAULT_ID).