diff --git a/assets/motions/adnoc1.jsonl b/assets/motions/adnoc1.jsonl
new file mode 100644
index 0000000..e51351c
--- /dev/null
+++ b/assets/motions/adnoc1.jsonl
@@ -0,0 +1,419 @@
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diff --git a/assets/motions/arm_home.jsonl b/assets/motions/arm_home.jsonl
new file mode 100644
index 0000000..a7b1b62
--- /dev/null
+++ b/assets/motions/arm_home.jsonl
@@ -0,0 +1,482 @@
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+{"t": 7.9795, "q": [-0.31125834584236145, -0.01346835121512413, 0.015079274773597717, 0.6277560591697693, -0.3265340030193329, 0.021105842664837837, -0.3186299800872803, 0.03026203252375126, -0.01519980188459158, 0.617469847202301, -0.33661627769470215, -0.020971177145838737, 0.002758730435743928, 0.007390908896923065, -0.02876763977110386, 0.29040175676345825, 0.2159557342529297, -0.005213138181716204, 0.9792070984840393, 0.1575925648212433, 0.0616828091442585, -0.04090216010808945, 0.295051634311676, -0.2237934172153473, 0.023093601688742638, 0.9780805706977844, -0.18356238305568695, 0.05243098363280296, 0.008868326433002949]}
+{"t": 7.9962, "q": [-0.31124982237815857, -0.013476874679327011, 0.015079274773597717, 0.6277645826339722, -0.3265422582626343, 0.021105796098709106, -0.31858736276626587, 0.030253509059548378, -0.015213193371891975, 0.6174954175949097, -0.33662447333335876, -0.020985642448067665, 0.002718554809689522, 0.007398495450615883, -0.02875296212732792, 0.29040175676345825, 0.21596772968769073, -0.005213138181716204, 0.9791951179504395, 0.15765248239040375, 0.06167082488536835, -0.04090216010808945, 0.29502764344215393, -0.22378143668174744, 0.023093601688742638, 0.9780805706977844, -0.1835743635892868, 0.05240701511502266, 0.008844357915222645]}
+{"t": 8.0129, "q": [-0.3112327754497528, -0.01346835121512413, 0.015079274773597717, 0.627773106098175, -0.3265340030193329, 0.021105842664837837, -0.3185703158378601, 0.030279075726866722, -0.015226585790514946, 0.6174868941307068, -0.33662039041519165, -0.0209784097969532, 0.002691771136596799, 0.007398495450615883, -0.02875296212732792, 0.2904376983642578, 0.2159557342529297, -0.005213138181716204, 0.9791951179504395, 0.1576405018568039, 0.0616828091442585, -0.0409381128847599, 0.2950036823749542, -0.22378143668174744, 0.02310558594763279, 0.9780805706977844, -0.18353840708732605, 0.05243098363280296, 0.008856342174112797]}
+{"t": 8.0299, "q": [-0.3112327754497528, -0.01346835121512413, 0.015106058679521084, 0.6277645826339722, -0.3265340030193329, 0.021105842664837837, -0.318578839302063, 0.03027055412530899, -0.01519980188459158, 0.6174868941307068, -0.33661627769470215, -0.020971177145838737, 0.0026783791836351156, 0.00746682845056057, -0.02870909683406353, 0.2904376983642578, 0.2159557342529297, -0.005213138181716204, 0.9791951179504395, 0.15760454535484314, 0.0616828091442585, -0.04090216010808945, 0.2950156629085541, -0.22380541265010834, 0.023093601688742638, 0.9780805706977844, -0.18356238305568695, 0.052395034581422806, 0.008844357915222645]}
+{"t": 8.0469, "q": [-0.3112412989139557, -0.01346835121512413, 0.015079274773597717, 0.6277645826339722, -0.3265381157398224, 0.021098555997014046, -0.31854474544525146, 0.03026203252375126, -0.015253368765115738, 0.617469847202301, -0.33662039041519165, -0.0209784097969532, 0.002691771136596799, 0.00745923537760973, -0.028713971376419067, 0.2903897762298584, 0.21596772968769073, -0.005213138181716204, 0.9791951179504395, 0.15756858885288239, 0.0616828091442585, -0.04090216010808945, 0.29503965377807617, -0.22380541265010834, 0.023093601688742638, 0.9780805706977844, -0.18356238305568695, 0.05241899937391281, 0.008844357915222645]}
diff --git a/config/robot_config.json b/config/robot_config.json
index 3ad700e..89d1c47 100644
--- a/config/robot_config.json
+++ b/config/robot_config.json
@@ -9,7 +9,7 @@
         "trigger_poll_hz":   50.0
     },
     "tts": {
-        "mode":             "recorded_only",
+        "mode":             "tts_only",
         "speaker_id":       2,
         "volume":           100,
         "seconds_per_char": 0.12,
@@ -34,6 +34,12 @@
         "reject_action":  "reject",
         "release_action": "release arm"
     },
+    "motion": {
+        "enabled":     true,
+        "unsafe_file": "adnoc1.jsonl",
+        "home_file":   "arm_home.jsonl",
+        "speed":       1.0
+    },
     "deploy": {
         "robot_ip":   "192.168.123.164",
         "robot_user": "unitree",
diff --git a/robot/arm_replay.py b/robot/arm_replay.py
new file mode 100644
index 0000000..eec6b0a
--- /dev/null
+++ b/robot/arm_replay.py
@@ -0,0 +1,195 @@
+"""Replay a recorded arm motion on the G1 via low-level joint control.
+
+Refactored from ``G1_Lootah/Manual_Recorder/g1_replay_v4_stable.py``:
+  * No interactive prompts / keyboard poller — fully blocking auto play.
+  * Assumes ``ChannelFactoryInitialize`` was already called by the bridge.
+  * Shares the DDS session; owns its own publisher + subscriber handles.
+
+Motion files are standard JSONL where each line is either metadata
+(``{"meta": {...}}``) or a frame (``{"t": <seconds>, "q": [29 floats]}``).
+Arms are joints 15–28; body joints 0–14 are held locked at the standing
+pose while the recorded trajectory plays on the arms.
+"""
+from __future__ import annotations
+
+import datetime
+import json
+import time
+from pathlib import Path
+from typing import List, Optional
+
+from unitree_sdk2py.core.channel import ChannelPublisher, ChannelSubscriber
+from unitree_sdk2py.idl.default import unitree_hg_msg_dds__LowCmd_
+from unitree_sdk2py.idl.unitree_hg.msg.dds_ import LowCmd_, LowState_
+from unitree_sdk2py.utils.crc import CRC
+
+
+def _ts() -> str:
+    return datetime.datetime.now().strftime("%H:%M:%S.%f")[:-3]
+
+
+G1_NUM_MOTOR         = 29
+ENABLE_ARM_SDK_INDEX = 29
+REPLAY_HZ            = 60.0
+
+# Gains copied from the reference script (ROBOT_ARM.PY standard).
+KP_HIGH  = 300.0
+KD_HIGH  = 3.0
+KP_LOW   = 80.0
+KD_LOW   = 3.0
+KP_WRIST = 40.0
+KD_WRIST = 1.5
+
+WEAK_MOTORS  = {4, 10, 15, 16, 17, 18, 22, 23, 24, 25}
+WRIST_MOTORS = {19, 20, 21, 26, 27, 28}
+
+# Move-to-start and return-to-home phase lengths (frames at REPLAY_HZ).
+STEPS_TO_START = 60    # ~1 s smooth entry
+STEPS_TO_HOME  = 180   # ~3 s smooth exit
+
+
+class ArmReplayer:
+    """Plays recorded joint trajectories. Construct AFTER ChannelFactoryInitialize."""
+
+    def __init__(self):
+        self._arm_pub = ChannelPublisher("rt/arm_sdk", LowCmd_)
+        self._arm_pub.Init()
+        self._state_sub = ChannelSubscriber("rt/lowstate", LowState_)
+        self._state_sub.Init(self._on_state, 10)
+        self._low_state: Optional[LowState_] = None
+        self._first_state = False
+        self._low_cmd = unitree_hg_msg_dds__LowCmd_()
+        self._crc = CRC()
+
+    # ── DDS callbacks ───────────────────────────────────────────────────────
+    def _on_state(self, msg: LowState_) -> None:
+        self._low_state = msg
+        self._first_state = True
+
+    # ── internals ───────────────────────────────────────────────────────────
+    def _send_frame(self, arm_q: List[float], body_lock_q: List[float]) -> None:
+        self._low_cmd.motor_cmd[ENABLE_ARM_SDK_INDEX].q = 1.0
+        for i in range(G1_NUM_MOTOR):
+            self._low_cmd.motor_cmd[i].mode = 1
+            self._low_cmd.motor_cmd[i].dq   = 0
+            self._low_cmd.motor_cmd[i].tau  = 0
+            # Arms follow the replay; body holds its standing pose.
+            self._low_cmd.motor_cmd[i].q = arm_q[i] if i >= 15 else body_lock_q[i]
+            if i in WEAK_MOTORS:
+                self._low_cmd.motor_cmd[i].kp = KP_LOW
+                self._low_cmd.motor_cmd[i].kd = KD_LOW
+            elif i in WRIST_MOTORS:
+                self._low_cmd.motor_cmd[i].kp = KP_WRIST
+                self._low_cmd.motor_cmd[i].kd = KD_WRIST
+            else:
+                self._low_cmd.motor_cmd[i].kp = KP_HIGH
+                self._low_cmd.motor_cmd[i].kd = KD_HIGH
+        self._low_cmd.crc = self._crc.Crc(self._low_cmd)
+        self._arm_pub.Write(self._low_cmd)
+
+    def _disable_sdk(self) -> None:
+        """Hand arm control back to the internal brain after replay."""
+        self._low_cmd.motor_cmd[ENABLE_ARM_SDK_INDEX].q = 0.0
+        self._low_cmd.crc = self._crc.Crc(self._low_cmd)
+        for _ in range(10):
+            self._arm_pub.Write(self._low_cmd)
+            time.sleep(0.02)
+
+    @staticmethod
+    def _load_home_q(path: Path) -> List[float]:
+        last_q = None
+        with open(path, "r") as f:
+            for line in f:
+                d = json.loads(line)
+                if "q" in d and len(d["q"]) == G1_NUM_MOTOR:
+                    last_q = d["q"]
+        if last_q is None:
+            raise ValueError(f"No valid frame in {path}")
+        return last_q
+
+    @staticmethod
+    def _load_frames(path: Path) -> List[dict]:
+        frames = []
+        with open(path, "r") as f:
+            for line in f:
+                d = json.loads(line)
+                if "q" in d:
+                    frames.append(d)
+        if not frames:
+            raise ValueError(f"No frames in {path}")
+        return frames
+
+    # ── public API ──────────────────────────────────────────────────────────
+    def play(self, motion_path: Path, home_path: Path,
+             speed: float = 1.0, wait_state_s: float = 3.0) -> bool:
+        """Blocking replay. Returns True on success, False if anything fails.
+
+        - ``motion_path`` : JSONL of recorded frames
+        - ``home_path``   : JSONL whose last frame is the arm "home" pose
+        - ``speed``       : 1.0 = original speed; 2.0 = twice as fast
+        - ``wait_state_s``: max seconds to wait for the first LowState_ message
+        """
+        # Wait for the first lowstate so we know the robot's current pose.
+        t0 = time.time()
+        while not self._first_state:
+            if time.time() - t0 > wait_state_s:
+                print(f"[arm_replay {_ts()}][WARN] no LowState within {wait_state_s}s"
+                      f" — aborting replay", flush=True)
+                return False
+            time.sleep(0.05)
+
+        try:
+            home_q = self._load_home_q(home_path)
+            frames = self._load_frames(motion_path)
+        except Exception as e:
+            print(f"[arm_replay {_ts()}][WARN] load failed: {e}", flush=True)
+            return False
+
+        body_lock_q = [self._low_state.motor_state[i].q for i in range(G1_NUM_MOTOR)]
+        start_q     = frames[0]["q"]
+        t_base      = frames[0]["t"]
+
+        print(f"[arm_replay {_ts()}] playing {motion_path.name} "
+              f"({len(frames)} frames, {(frames[-1]['t']-t_base):.1f}s)", flush=True)
+
+        # 1. Smooth move arms to the trajectory's starting pose.
+        for k in range(STEPS_TO_START):
+            alpha = k / STEPS_TO_START
+            interp = list(body_lock_q)
+            for j in range(15, 29):
+                interp[j] = (1 - alpha) * body_lock_q[j] + alpha * start_q[j]
+            self._send_frame(interp, body_lock_q)
+            time.sleep(1.0 / REPLAY_HZ)
+
+        # 2. Play the recorded trajectory at `speed`.
+        last_q    = start_q
+        t_play    = 0.0
+        t_real    = time.time()
+        while True:
+            t_now = time.time()
+            t_play += (t_now - t_real) * speed
+            t_real = t_now
+            target = None
+            for f in frames:
+                if f["t"] - t_base >= t_play:
+                    target = f
+                    break
+            if target is None:
+                break
+            self._send_frame(target["q"], body_lock_q)
+            last_q = target["q"]
+            time.sleep(1.0 / REPLAY_HZ)
+
+        # 3. Smooth return to home pose.
+        for k in range(STEPS_TO_HOME):
+            alpha = k / STEPS_TO_HOME
+            interp = list(last_q)
+            for j in range(15, 29):
+                interp[j] = (1 - alpha) * last_q[j] + alpha * home_q[j]
+            self._send_frame(interp, body_lock_q)
+            time.sleep(1.0 / REPLAY_HZ)
+
+        # 4. Hand arm control back to the internal brain.
+        self._disable_sdk()
+        print(f"[arm_replay {_ts()}] done", flush=True)
+        return True
diff --git a/robot/audio_player.py b/robot/audio_player.py
index 6bcd55f..631add3 100644
--- a/robot/audio_player.py
+++ b/robot/audio_player.py
@@ -15,6 +15,7 @@ from __future__ import annotations
 
 import datetime
 import json
+import threading
 import time
 import wave
 from pathlib import Path
@@ -42,8 +43,10 @@ CHUNK0_RETRIES     = 4
 CHUNK0_BACKOFF_S   = 1.0    # 1,2,3,4 s — total ≈ 10 s, covers a full arm cycle
 CHUNKN_RETRIES     = 2
 CHUNKN_BACKOFF_S   = 1.0    # 1,2 s — firmware usually clears within 1-2 s
-PRE_STREAM_SLEEP   = 0.1    # pause after PlayStop before first PlayStream
 INTER_CHUNK_MARGIN = 0.1    # extra sleep after each chunk's audio duration
+SLOW_FAIL_S        = 2.0    # if PlayStream blocks >N s then fails, the
+                            # firmware almost certainly played the audio
+                            # already — don't retry (we'd hear it twice).
 
 
 def _read_wav_pcm(path: Path) -> Optional[bytes]:
@@ -73,6 +76,11 @@ class AudioPlayer:
     def __init__(self, audio_client):
         self.audio_client = audio_client
         self._clips: Dict[Tuple[str, str], bytes] = {}
+        # Set by callers via cancel() to interrupt an in-progress play when a
+        # newer event arrives. play() checks the flag at every safe exit point
+        # (before each PlayStream, inside retry back-offs, between chunks) and
+        # bails out early so the worker thread can move to the next queue item.
+        self._cancel = threading.Event()
         self._load_all()
         if self._clips:
             print(f"[audio_player {_ts()}] loaded {len(self._clips)} clip(s): "
@@ -95,52 +103,92 @@ class AudioPlayer:
     def has(self, category: str, key: str) -> bool:
         return (category, key) in self._clips
 
+    def cancel(self) -> None:
+        """Signal the currently-playing clip (if any) to stop ASAP.
+
+        Called when a newer announcement arrives — the worker thread should
+        abandon the stale clip and move to the next one so audio stays in
+        sync with the latest arm motion.
+
+        IMPORTANT: we deliberately do NOT send AUDIO_STOP_PLAY to the
+        firmware here. That DDS RPC blocks for up to ~10 s when the
+        firmware is busy (e.g. during an arm replay), which is exactly
+        when cancel() tends to be called. Setting the event flag is
+        enough — play() checks it at every sleep/retry and returns False.
+        The firmware will naturally finish draining the in-flight PCM
+        buffer (a couple hundred ms of tail audio at most) while the
+        worker thread moves on to the new queue item.
+        """
+        self._cancel.set()
+
     # ── playback ────────────────────────────────────────────────────────────
     def play(self, category: str, key: str) -> bool:
-        """Blocking play. Returns True on success, False if clip missing / failed."""
+        """Blocking play. Returns True on success, False if clip missing / failed
+        / cancelled. Clears the cancel flag at entry so each new play starts fresh.
+        """
+        self._cancel.clear()
+
         pcm = self._clips.get((category, key))
         if pcm is None:
             return False
         if self.audio_client is None:
             return False
 
-        # Re-assert max volume on every play; the firmware sometimes resets
-        # between sessions or after certain events. Matches the Unitree
-        # reference script's pattern.
+        # NOTE: we used to call AUDIO_STOP_PLAY here and PlayStop below to be
+        # defensive. Both are DDS RPCs that can *block 5-10 s* when the G1
+        # firmware is busy (arm motion, recent TTS, etc.) — that's where most
+        # of the "mystery lag" was coming from. Skipping them: a new sid per
+        # play is enough for the firmware to treat this as a fresh stream.
+        # cancel() also avoids the RPC; it only sets the _cancel flag.
+        #
+        # SetVolume stays fast (<50 ms), keep it to guard against firmware
+        # resets between sessions.
         try:
             self.audio_client.SetVolume(100)
         except Exception:
             pass
 
-        # Cancel any in-flight stream from a previous call.
-        try:
-            from unitree_sdk2py.g1.audio.g1_audio_api import ROBOT_API_ID_AUDIO_STOP_PLAY
-            self.audio_client._Call(
-                ROBOT_API_ID_AUDIO_STOP_PLAY,
-                json.dumps({"app_name": PLAY_APP_NAME}),
-            )
-        except Exception:
-            pass
-        time.sleep(PRE_STREAM_SLEEP)
-
         sid = f"saqr_{int(time.time() * 1000)}"
         offset = 0
         chunk0_attempts = 0
         chunkn_attempts = 0
         while offset < len(pcm):
+            if self._cancel.is_set():
+                print(f"[audio_player {_ts()}] cancelled mid-play (new announcement)",
+                      flush=True)
+                return False
+
             chunk = pcm[offset:offset + PLAY_CHUNK_BYTES]
+            t_call_start = time.monotonic()
             code, _ = self.audio_client.PlayStream(PLAY_APP_NAME, sid, chunk)
+            t_call = time.monotonic() - t_call_start
 
             if code != 0:
-                # chunk 0: likely firmware busy (arm motion colliding with audio).
-                # retry with linear back-off; new sid so firmware sees a fresh stream.
+                # Slow-fail: firmware held the call for >SLOW_FAIL_S then
+                # rejected. The audio almost certainly played during that
+                # block — retrying would stutter / double-play. Treat as done.
+                if t_call > SLOW_FAIL_S:
+                    print(f"[audio_player {_ts()}][WARN] PlayStream rc={code} at byte "
+                          f"{offset} after {t_call:.1f}s — assuming chunk played, "
+                          f"skipping retry to avoid double audio", flush=True)
+                    offset += len(chunk)
+                    chunk_seconds = len(chunk) / (EXPECTED_RATE * EXPECTED_WIDTH)
+                    if self._cancel.wait(timeout=chunk_seconds + INTER_CHUNK_MARGIN):
+                        return False
+                    continue
+
+                # Fast-fail on chunk 0: retry with linear back-off.
+                # new sid so firmware sees a fresh stream.
                 if offset == 0 and chunk0_attempts < CHUNK0_RETRIES:
                     chunk0_attempts += 1
                     delay = CHUNK0_BACKOFF_S * chunk0_attempts
-                    print(f"[audio_player {_ts()}][WARN] PlayStream rc={code} at byte 0; "
-                          f"retry {chunk0_attempts}/{CHUNK0_RETRIES} in {delay:.1f}s",
-                          flush=True)
-                    time.sleep(delay)
+                    print(f"[audio_player {_ts()}][WARN] PlayStream rc={code} at byte 0 "
+                          f"after {t_call:.2f}s; retry {chunk0_attempts}/{CHUNK0_RETRIES} "
+                          f"in {delay:.1f}s", flush=True)
+                    if self._cancel.wait(timeout=delay):
+                        print(f"[audio_player {_ts()}] cancelled during retry back-off",
+                              flush=True)
+                        return False
                     sid = f"saqr_{int(time.time() * 1000)}"
                     continue
 
@@ -152,7 +200,10 @@ class AudioPlayer:
                     print(f"[audio_player {_ts()}][WARN] PlayStream rc={code} at byte {offset}; "
                           f"mid-stream retry {chunkn_attempts}/{CHUNKN_RETRIES} in {delay:.1f}s",
                           flush=True)
-                    time.sleep(delay)
+                    if self._cancel.wait(timeout=delay):
+                        print(f"[audio_player {_ts()}] cancelled during mid-stream retry",
+                              flush=True)
+                        return False
                     continue
 
                 print(f"[audio_player {_ts()}][WARN] PlayStream rc={code} at byte {offset} "
@@ -170,12 +221,11 @@ class AudioPlayer:
             offset += len(chunk)
             # Wait for the chunk to finish playing before sending the next.
             chunk_seconds = len(chunk) / (EXPECTED_RATE * EXPECTED_WIDTH)
-            time.sleep(chunk_seconds + INTER_CHUNK_MARGIN)
+            if self._cancel.wait(timeout=chunk_seconds + INTER_CHUNK_MARGIN):
+                print(f"[audio_player {_ts()}] cancelled between chunks", flush=True)
+                return False
 
-        # Short settle time after the final chunk before PlayStop.
-        time.sleep(0.2)
-        try:
-            self.audio_client.PlayStop(PLAY_APP_NAME)
-        except Exception:
-            pass
+        # Don't call PlayStop — see the note at the top of this method.
+        # The firmware will finish draining the last chunk's PCM buffer on
+        # its own once we stop sending more data.
         return True
diff --git a/robot/bridge.py b/robot/bridge.py
index 000241d..9e5567c 100644
--- a/robot/bridge.py
+++ b/robot/bridge.py
@@ -247,10 +247,13 @@ class Bridge:
 
         try:
             if status == DANGER_STATUS:
-                # Fire audio first, give the worker thread a head start so
-                # PlayStream reaches the firmware BEFORE the arm command.
-                # Once audio is actively playing, the arm command queues
-                # behind it without blocking playback → audible overlap.
+                # Parallel: fire audio first, give it a small head start so
+                # PlayStream reaches the firmware before the low-level arm
+                # replay does, then start the motion. Audio and arm run
+                # concurrently. If the firmware drops audio mid-stream
+                # (3104), retries handle it and — per tts.mode=recorded_only
+                # — we silently drop if retries fail. Theatrical overlap
+                # when it works, robot still moves when it doesn't.
                 if missing:
                     key = "_".join(sorted(missing))
                     self.robot.speak(build_unsafe_tts(missing),
diff --git a/robot/robot_controller.py b/robot/robot_controller.py
index afe19be..8cef242 100644
--- a/robot/robot_controller.py
+++ b/robot/robot_controller.py
@@ -33,6 +33,35 @@ TTS_MODE             = _TTS.get("mode", "tts_only")   # tts_only | recorded_or_t
 REJECT_ACTION  = _ARM["reject_action"]
 RELEASE_ACTION = _ARM["release_action"]
 
+# unitree_sdk2py/g1/audio/g1_audio_client.py bug: TtsMaker does
+#   self.tts_index += self.tts_index   # 0+0=0, never increments
+# We bypass the broken wrapper and call _Call(ROBOT_API_ID_AUDIO_TTS, ...)
+# with our own counter so the firmware sees a unique index per request.
+ROBOT_API_ID_AUDIO_TTS        = 1001
+ROBOT_API_ID_AUDIO_STOP_PLAY  = 1004
+
+# Audio RPC timeout: firmware occasionally stalls after long idle + prior
+# arm-sdk activity. Short timeout + retry recovers in seconds instead of
+# the 10s bridge default.
+TTS_RPC_TIMEOUT_S      = 3.0
+TTS_RETRY_MAX_ATTEMPTS = 2
+TTS_RETRY_DELAY_S      = 0.5
+
+# Prior-art reset pattern (G1_Lootah/Audio_Recorder/voice_note.txt and
+# g1_tts_arabic.py:50): call AUDIO_STOP_PLAY with a 300 ms settle before
+# each new audio operation or the firmware state goes stale and subsequent
+# TtsMaker calls time out with rc=3104.
+AUDIO_STOP_APP_NAME = "tts"
+AUDIO_STOP_SETTLE_S = 0.3
+
+# Recorded arm motions (assets/motions/*.jsonl) replace the high-level
+# ExecuteAction('reject') call with a teach-and-replay trajectory.
+_MOTION = _ROBOT.get("motion", {})
+MOTION_ENABLED     = bool(_MOTION.get("enabled", True))
+MOTION_UNSAFE_FILE = _MOTION.get("unsafe_file", "adnoc1.jsonl")
+MOTION_HOME_FILE   = _MOTION.get("home_file",   "arm_home.jsonl")
+MOTION_SPEED       = float(_MOTION.get("speed", 1.0))
+
 QueueItem = Tuple[str, Optional[str], Optional[str]]   # (text, category, key)
 
 
@@ -53,15 +82,23 @@ class RobotController:
         self.hub = None
         self._lowstate_sub = None
         self._player = None     # AudioPlayer, lazily initialised
+        self._arm_replayer = None   # ArmReplayer, lazily initialised
 
         self._tts_queue: Deque[QueueItem] = collections.deque(maxlen=TTS_QUEUE_MAX)
         self._tts_event = threading.Event()
+        # Set when the worker is not dispatching AND the queue is empty. Cleared
+        # on speak(). Callers who want to wait for audio to finish before
+        # issuing arm commands (so the firmware doesn't serialise-busy on us)
+        # can await this event.
+        self._audio_idle = threading.Event()
+        self._audio_idle.set()
         self._tts_worker_stop = threading.Event()
         self._tts_worker_thread: Optional[threading.Thread] = None
         self._tts_busy_factor: float = TTS_BUSY_FACTOR_MIN
         self._tts_last_call_t: float = 0.0
         self._tts_call_count: int = 0
         self._tts_busy_count: int = 0
+        self._tts_index: int = 0
 
         if dry_run:
             print(f"[BRIDGE {_ts()}] DRY RUN — G1 SDK will not be loaded.", flush=True)
@@ -88,7 +125,10 @@ class RobotController:
               flush=True)
 
         self.audio_client = AudioClient()
-        self.audio_client.SetTimeout(timeout)
+        # Override the bridge-wide 10s with a shorter audio-specific timeout
+        # so TtsMaker hangs (rc=3104 after full timeout) recover quickly via
+        # the retry loop in _speak_blocking instead of blocking the worker.
+        self.audio_client.SetTimeout(TTS_RPC_TIMEOUT_S)
         self.audio_client.Init()
         try:
             self.audio_client.SetVolume(TTS_VOLUME)
@@ -101,6 +141,20 @@ class RobotController:
         from robot.audio_player import AudioPlayer
         self._player = AudioPlayer(self.audio_client)
 
+        # Recorded arm-motion replayer (teach-and-replay trajectories under
+        # assets/motions/) — replaces the high-level ExecuteAction path.
+        if MOTION_ENABLED:
+            try:
+                from robot.arm_replay import ArmReplayer
+                self._arm_replayer = ArmReplayer()
+                print(f"[BRIDGE {_ts()}] ArmReplayer ready "
+                      f"(unsafe_file={MOTION_UNSAFE_FILE}, "
+                      f"home_file={MOTION_HOME_FILE}, speed={MOTION_SPEED})",
+                      flush=True)
+            except Exception as e:
+                print(f"[BRIDGE {_ts()}][WARN] ArmReplayer init failed: {e}",
+                      flush=True)
+
         self._tts_worker_thread = threading.Thread(
             target=self._tts_worker_loop, name="TtsWorker", daemon=True,
         )
@@ -126,12 +180,12 @@ class RobotController:
     # ── Public API ──────────────────────────────────────────────────────────
     def speak(self, text: str,
               category: Optional[str] = None, key: Optional[str] = None):
-        """Non-blocking — enqueue an announcement for the worker thread.
+        """Non-blocking — announcement request for the worker thread.
 
-        If ``category`` + ``key`` are provided and a matching WAV exists under
-        ``assets/audio/<category>/<key>.wav``, the worker plays the WAV via
-        PlayStream (no firmware TTS latency). Otherwise falls back per
-        ``tts.mode`` setting.
+        Freshness policy: a new announcement **cancels** any in-progress play
+        and **replaces** any queued item. This keeps audio synchronised with
+        the latest event — otherwise a stale phrase from an earlier event
+        could finish playing AFTER the newer arm motion has completed.
         """
         if self.dry_run:
             print(f"[BRIDGE {_ts()}] (dry) would speak({text!r}, category={category!r}, "
@@ -143,9 +197,24 @@ class RobotController:
         # Drop adjacent duplicates (same text + routing).
         if self._tts_queue and self._tts_queue[-1] == item:
             return
+        # Freshness: throw away any stale queued item and cancel the current
+        # play so the new item takes over immediately.
+        self._tts_queue.clear()
+        if self._player is not None:
+            self._player.cancel()
         self._tts_queue.append(item)
+        self._audio_idle.clear()
         self._tts_event.set()
 
+    def wait_for_audio_done(self, timeout: float = 15.0) -> bool:
+        """Block until the worker has drained the queue AND the current play
+        is finished. Returns True if audio finished, False on timeout.
+
+        Used by callers that need to ensure no audio is in flight before
+        issuing a low-level arm command (avoids firmware bus contention).
+        """
+        return self._audio_idle.wait(timeout=timeout)
+
     def shutdown_tts(self):
         self._tts_worker_stop.set()
         self._tts_event.set()
@@ -156,6 +225,8 @@ class RobotController:
     def _tts_worker_loop(self):
         while not self._tts_worker_stop.is_set():
             if not self._tts_queue:
+                # Queue drained AND no dispatch in progress → audio is idle.
+                self._audio_idle.set()
                 self._tts_event.wait(timeout=0.2)
                 self._tts_event.clear()
                 continue
@@ -204,6 +275,19 @@ class RobotController:
         base = max(TTS_MIN_SECONDS, len(text) * TTS_SECONDS_PER_CHAR)
         return base * self._tts_busy_factor
 
+    def _tts_maker_call(self, text: str, speaker_id: int) -> int:
+        """Bypass the SDK's broken TtsMaker (see ROBOT_API_ID_AUDIO_TTS note)
+        and call the underlying RPC with a real incrementing index."""
+        import json
+        self._tts_index += 1
+        param = json.dumps({
+            "index":      self._tts_index,
+            "text":       text,
+            "speaker_id": speaker_id,
+        })
+        code, _ = self.audio_client._Call(ROBOT_API_ID_AUDIO_TTS, param)
+        return code
+
     def _speak_blocking(self, text: str):
         if self.audio_client is None:
             return
@@ -218,27 +302,65 @@ class RobotController:
         print(
             f"[BRIDGE {_ts()}] tts -> {text!r}  "
             f"(est={est:.2f}s, gap={gap_str}, busy_x={self._tts_busy_factor:.2f}, "
-            f"q={qsize})",
+            f"q={qsize}, idx={self._tts_index + 1})",
             flush=True,
         )
 
-        call_t0 = time.monotonic()
+        # Firmware reset: AUDIO_STOP_PLAY clears any residual audio stream
+        # state from the prior TtsMaker/PlayStream, then a 300 ms settle
+        # before the new request. Without this the firmware time-outs the
+        # next call with rc=3104 after successful-then-parallel-arm events.
+        # See G1_Lootah/Audio_Recorder/voice_note.txt line 11.
+        import json as _json
+        stop_t0 = time.monotonic()
         try:
-            code = self.audio_client.TtsMaker(text, self.tts_speaker_id)
+            self.audio_client._Call(
+                ROBOT_API_ID_AUDIO_STOP_PLAY,
+                _json.dumps({"app_name": AUDIO_STOP_APP_NAME}),
+            )
         except Exception as e:
-            print(f"[BRIDGE {_ts()}][ERR] TtsMaker raised: {e}", flush=True)
-            return
-        call_dt = time.monotonic() - call_t0
+            print(f"[BRIDGE {_ts()}][WARN] AUDIO_STOP_PLAY raised: {e}", flush=True)
+        stop_dt = time.monotonic() - stop_t0
+        if stop_dt > 0.5:
+            print(f"[BRIDGE {_ts()}][WARN] AUDIO_STOP_PLAY slow "
+                  f"({stop_dt*1000:.0f}ms) — firmware busy", flush=True)
+        time.sleep(AUDIO_STOP_SETTLE_S)
 
+        code = -1
+        call_dt = 0.0
+        total_t0 = time.monotonic()
+        for attempt in range(1, TTS_RETRY_MAX_ATTEMPTS + 1):
+            call_t0 = time.monotonic()
+            try:
+                code = self._tts_maker_call(text, self.tts_speaker_id)
+            except Exception as e:
+                print(f"[BRIDGE {_ts()}][ERR] TtsMaker raised: {e}", flush=True)
+                return
+            call_dt = time.monotonic() - call_t0
+
+            if code == 0:
+                if attempt > 1:
+                    print(f"[BRIDGE {_ts()}] TtsMaker recovered on attempt "
+                          f"{attempt}/{TTS_RETRY_MAX_ATTEMPTS}", flush=True)
+                break
+
+            if attempt < TTS_RETRY_MAX_ATTEMPTS:
+                print(f"[BRIDGE {_ts()}][WARN] TtsMaker rc={code} "
+                      f"(call {call_dt*1000:.0f}ms) — retrying in "
+                      f"{TTS_RETRY_DELAY_S:.1f}s ({attempt}/"
+                      f"{TTS_RETRY_MAX_ATTEMPTS})", flush=True)
+                time.sleep(TTS_RETRY_DELAY_S)
+
+        total_dt = time.monotonic() - total_t0
         if code != 0:
             self._tts_busy_count += 1
             self._tts_busy_factor = min(
                 TTS_BUSY_FACTOR_MAX, self._tts_busy_factor * TTS_BUSY_FACTOR_UP
             )
             print(
-                f"[BRIDGE {_ts()}][WARN] TtsMaker rc={code} "
-                f"(call took {call_dt*1000:.0f}ms; busy_x -> "
-                f"{self._tts_busy_factor:.2f})",
+                f"[BRIDGE {_ts()}][WARN] TtsMaker rc={code} after "
+                f"{TTS_RETRY_MAX_ATTEMPTS} attempt(s) ({total_dt*1000:.0f}ms "
+                f"total; busy_x -> {self._tts_busy_factor:.2f}) — phrase dropped",
                 flush=True,
             )
         else:
@@ -248,16 +370,53 @@ class RobotController:
 
         self._tts_last_call_t = time.monotonic()
 
-        remaining = est - call_dt
+        remaining = est - total_dt
         if remaining > 0:
             time.sleep(remaining)
 
     # ── Arm ─────────────────────────────────────────────────────────────────
     def reject(self, release_after: float):
+        """Trigger the UNSAFE arm motion.
+
+        If a recorded motion is configured (``robot.motion.enabled`` + a
+        readable JSONL under ``assets/motions/``), play it via
+        ``ArmReplayer`` — that's the teach-and-replay trajectory. Otherwise
+        fall back to the legacy high-level ``ExecuteAction('reject')`` +
+        optional ``'release arm'`` pair.
+        """
         if self.dry_run:
-            print(f"[BRIDGE {_ts()}] (dry) would run '{REJECT_ACTION}' "
-                  f"then release after {release_after:.1f}s", flush=True)
+            if self._arm_replayer is not None or MOTION_ENABLED:
+                print(f"[BRIDGE {_ts()}] (dry) would play motion "
+                      f"{MOTION_UNSAFE_FILE}", flush=True)
+            else:
+                print(f"[BRIDGE {_ts()}] (dry) would run '{REJECT_ACTION}' "
+                      f"then release after {release_after:.1f}s", flush=True)
             return
+
+        # Preferred path: play a recorded motion.
+        if self._arm_replayer is not None:
+            from core.paths import PROJECT_ROOT
+            motions_dir = PROJECT_ROOT / "assets" / "motions"
+            motion_path = motions_dir / MOTION_UNSAFE_FILE
+            home_path   = motions_dir / MOTION_HOME_FILE
+            if not motion_path.exists() or not home_path.exists():
+                print(f"[BRIDGE {_ts()}][WARN] motion files missing under "
+                      f"{motions_dir} — skipping arm motion", flush=True)
+                return
+            print(f"[BRIDGE {_ts()}] -> play_motion {MOTION_UNSAFE_FILE}",
+                  flush=True)
+            t0 = time.monotonic()
+            try:
+                self._arm_replayer.play(motion_path, home_path, speed=MOTION_SPEED)
+            except Exception as e:
+                print(f"[BRIDGE {_ts()}][ERR] play_motion failed: {e}",
+                      flush=True)
+                return
+            dt = time.monotonic() - t0
+            print(f"[BRIDGE {_ts()}] motion done ({dt*1000:.0f} ms)", flush=True)
+            return
+
+        # Legacy fallback: high-level reject + release arm action.
         if self.arm_client is None or self._action_map is None:
             return
         if REJECT_ACTION not in self._action_map: