sudo robotctl robot init

sudo robotctl robot init

Powers the joints and ramps to the home pose over about two seconds.

It moves every joint. Have the robot on its stand.

init needs no policy. The gamepad’s Start does this on its way to driving, so running it by hand is mostly a bench thing.

With the daemon stopped

robotd’s own subcommand still exists. It requires the daemon stopped, because two writers on one UART corrupt each other’s replies:

sudo systemctl stop robotd && sudo /opt/robot/daemon/current/bin/robotd init && sudo systemctl start robotd

Can you init after a fall

By default yes. A fall is a report — visible in robotctl monitor — not a gate, matching the prototype.

But a board that sets [safety] fall_limp or fall_recover in robotd.toml arms the gate: a fallen robot goes limp and refuses init / enable / skills until it is stood up.