fix(android): stabilize motion sampling and gate pedometer command

apps/android/app/src/main/java/ai/openclaw/android/NodeRuntime.kt

@@ -140,7 +140,8 @@ class NodeRuntime(context: Context) {
     cameraEnabled = { cameraEnabled.value },
     locationMode = { locationMode.value },
     voiceWakeMode = { VoiceWakeMode.Off },
-    motionAvailable = { motionHandler.isAvailable() },
+    motionActivityAvailable = { motionHandler.isActivityAvailable() },
+    motionPedometerAvailable = { motionHandler.isPedometerAvailable() },
     smsAvailable = { sms.canSendSms() },
     hasRecordAudioPermission = { hasRecordAudioPermission() },
     manualTls = { manualTls.value },
@@ -165,7 +166,6 @@ class NodeRuntime(context: Context) {
     isForeground = { _isForeground.value },
     cameraEnabled = { cameraEnabled.value },
     locationEnabled = { locationMode.value != LocationMode.Off },
-    motionAvailable = { motionHandler.isAvailable() },
     smsAvailable = { sms.canSendSms() },
     debugBuild = { BuildConfig.DEBUG },
     refreshNodeCanvasCapability = { nodeSession.refreshNodeCanvasCapability() },
@@ -175,6 +175,8 @@ class NodeRuntime(context: Context) {
       _canvasRehydrateErrorText.value = null
     },
     onCanvasA2uiReset = { _canvasA2uiHydrated.value = false },
+    motionActivityAvailable = { motionHandler.isActivityAvailable() },
+    motionPedometerAvailable = { motionHandler.isPedometerAvailable() },
   )
 
   data class GatewayTrustPrompt(

apps/android/app/src/main/java/ai/openclaw/android/node/ConnectionManager.kt

@@ -15,7 +15,8 @@ class ConnectionManager(
   private val cameraEnabled: () -> Boolean,
   private val locationMode: () -> LocationMode,
   private val voiceWakeMode: () -> VoiceWakeMode,
-  private val motionAvailable: () -> Boolean,
+  private val motionActivityAvailable: () -> Boolean,
+  private val motionPedometerAvailable: () -> Boolean,
   private val smsAvailable: () -> Boolean,
   private val hasRecordAudioPermission: () -> Boolean,
   private val manualTls: () -> Boolean,
@@ -79,7 +80,8 @@ class ConnectionManager(
       locationEnabled = locationMode() != LocationMode.Off,
       smsAvailable = smsAvailable(),
       voiceWakeEnabled = voiceWakeMode() != VoiceWakeMode.Off && hasRecordAudioPermission(),
-      motionAvailable = motionAvailable(),
+      motionActivityAvailable = motionActivityAvailable(),
+      motionPedometerAvailable = motionPedometerAvailable(),
       debugBuild = BuildConfig.DEBUG,
     )
 

apps/android/app/src/main/java/ai/openclaw/android/node/InvokeCommandRegistry.kt

@@ -20,7 +20,8 @@ data class NodeRuntimeFlags(
   val locationEnabled: Boolean,
   val smsAvailable: Boolean,
   val voiceWakeEnabled: Boolean,
-  val motionAvailable: Boolean,
+  val motionActivityAvailable: Boolean,
+  val motionPedometerAvailable: Boolean,
   val debugBuild: Boolean,
 )
 
@@ -29,7 +30,8 @@ enum class InvokeCommandAvailability {
   CameraEnabled,
   LocationEnabled,
   SmsAvailable,
-  MotionAvailable,
+  MotionActivityAvailable,
+  MotionPedometerAvailable,
   DebugBuild,
 }
 
@@ -179,11 +181,11 @@ object InvokeCommandRegistry {
       ),
       InvokeCommandSpec(
         name = OpenClawMotionCommand.Activity.rawValue,
-        availability = InvokeCommandAvailability.MotionAvailable,
+        availability = InvokeCommandAvailability.MotionActivityAvailable,
       ),
       InvokeCommandSpec(
         name = OpenClawMotionCommand.Pedometer.rawValue,
-        availability = InvokeCommandAvailability.MotionAvailable,
+        availability = InvokeCommandAvailability.MotionPedometerAvailable,
       ),
       InvokeCommandSpec(
         name = OpenClawSmsCommand.Send.rawValue,
@@ -213,7 +215,7 @@ object InvokeCommandRegistry {
           NodeCapabilityAvailability.LocationEnabled -> flags.locationEnabled
           NodeCapabilityAvailability.SmsAvailable -> flags.smsAvailable
           NodeCapabilityAvailability.VoiceWakeEnabled -> flags.voiceWakeEnabled
-          NodeCapabilityAvailability.MotionAvailable -> flags.motionAvailable
+          NodeCapabilityAvailability.MotionAvailable -> flags.motionActivityAvailable || flags.motionPedometerAvailable
         }
       }
       .map { it.name }
@@ -227,7 +229,8 @@ object InvokeCommandRegistry {
           InvokeCommandAvailability.CameraEnabled -> flags.cameraEnabled
           InvokeCommandAvailability.LocationEnabled -> flags.locationEnabled
           InvokeCommandAvailability.SmsAvailable -> flags.smsAvailable
-          InvokeCommandAvailability.MotionAvailable -> flags.motionAvailable
+          InvokeCommandAvailability.MotionActivityAvailable -> flags.motionActivityAvailable
+          InvokeCommandAvailability.MotionPedometerAvailable -> flags.motionPedometerAvailable
           InvokeCommandAvailability.DebugBuild -> flags.debugBuild
         }
       }

apps/android/app/src/main/java/ai/openclaw/android/node/InvokeDispatcher.kt

@@ -34,12 +34,13 @@ class InvokeDispatcher(
   private val isForeground: () -> Boolean,
   private val cameraEnabled: () -> Boolean,
   private val locationEnabled: () -> Boolean,
-  private val motionAvailable: () -> Boolean,
   private val smsAvailable: () -> Boolean,
   private val debugBuild: () -> Boolean,
   private val refreshNodeCanvasCapability: suspend () -> Boolean,
   private val onCanvasA2uiPush: () -> Unit,
   private val onCanvasA2uiReset: () -> Unit,
+  private val motionActivityAvailable: () -> Boolean,
+  private val motionPedometerAvailable: () -> Boolean,
 ) {
   suspend fun handleInvoke(command: String, paramsJson: String?): GatewaySession.InvokeResult {
     val spec =
@@ -241,13 +242,22 @@ class InvokeDispatcher(
             message = "LOCATION_DISABLED: enable Location in Settings",
           )
         }
-      InvokeCommandAvailability.MotionAvailable ->
+      InvokeCommandAvailability.MotionActivityAvailable ->
-        if (motionAvailable()) {
+        if (motionActivityAvailable()) {
           null
         } else {
           GatewaySession.InvokeResult.error(
             code = "MOTION_UNAVAILABLE",
-            message = "MOTION_UNAVAILABLE: motion sensors not available",
+            message = "MOTION_UNAVAILABLE: accelerometer not available",
+          )
+        }
+      InvokeCommandAvailability.MotionPedometerAvailable ->
+        if (motionPedometerAvailable()) {
+          null
+        } else {
+          GatewaySession.InvokeResult.error(
+            code = "PEDOMETER_UNAVAILABLE",
+            message = "PEDOMETER_UNAVAILABLE: step counter not available",
           )
         }
       InvokeCommandAvailability.SmsAvailable ->

apps/android/app/src/main/java/ai/openclaw/android/node/MotionHandler.kt

@@ -24,6 +24,9 @@ import kotlin.math.abs
 import kotlin.math.max
 import kotlin.math.sqrt
 
+private const val ACCELEROMETER_SAMPLE_TARGET = 20
+private const val ACCELEROMETER_SAMPLE_TIMEOUT_MS = 6_000L
+
 internal data class MotionActivityRequest(
   val startISO: String?,
   val endISO: String?,
@@ -57,7 +60,11 @@ internal data class PedometerRecord(
 )
 
 internal interface MotionDataSource {
-  fun isAvailable(context: Context): Boolean
+  fun isActivityAvailable(context: Context): Boolean
+
+  fun isPedometerAvailable(context: Context): Boolean
+
+  fun isAvailable(context: Context): Boolean = isActivityAvailable(context) || isPedometerAvailable(context)
 
   fun hasPermission(context: Context): Boolean
 
@@ -67,11 +74,14 @@ internal interface MotionDataSource {
 }
 
 private object SystemMotionDataSource : MotionDataSource {
-  override fun isAvailable(context: Context): Boolean {
+  override fun isActivityAvailable(context: Context): Boolean {
     val sensorManager = context.getSystemService(SensorManager::class.java)
-    val hasAccelerometer = sensorManager?.getDefaultSensor(Sensor.TYPE_ACCELEROMETER) != null
+    return sensorManager?.getDefaultSensor(Sensor.TYPE_ACCELEROMETER) != null
-    val hasStepCounter = sensorManager?.getDefaultSensor(Sensor.TYPE_STEP_COUNTER) != null
+  }
-    return hasAccelerometer || hasStepCounter
+
+  override fun isPedometerAvailable(context: Context): Boolean {
+    val sensorManager = context.getSystemService(SensorManager::class.java)
+    return sensorManager?.getDefaultSensor(Sensor.TYPE_STEP_COUNTER) != null
   }
 
   override fun hasPermission(context: Context): Boolean {
@@ -169,7 +179,7 @@ private object SystemMotionDataSource : MotionDataSource {
     sensor: Sensor,
   ): AccelerometerSample? {
     val sample =
-      withTimeoutOrNull(2200L) {
+      withTimeoutOrNull(ACCELEROMETER_SAMPLE_TIMEOUT_MS) {
         suspendCancellableCoroutine<AccelerometerSample?> { cont ->
           var count = 0
           var sumDelta = 0.0
@@ -187,7 +197,7 @@ private object SystemMotionDataSource : MotionDataSource {
                   ).toDouble()
                 sumDelta += abs(magnitude - SensorManager.GRAVITY_EARTH.toDouble())
                 count += 1
-                if (count >= 20 && !resumed) {
+                if (count >= ACCELEROMETER_SAMPLE_TARGET && !resumed) {
                   resumed = true
                   sensorManager.unregisterListener(this)
                   cont.resume(
@@ -318,6 +328,10 @@ class MotionHandler private constructor(
 
   fun isAvailable(): Boolean = dataSource.isAvailable(appContext)
 
+  fun isActivityAvailable(): Boolean = dataSource.isActivityAvailable(appContext)
+
+  fun isPedometerAvailable(): Boolean = dataSource.isPedometerAvailable(appContext)
+
   private fun parseActivityRequest(paramsJson: String?): MotionActivityRequest? {
     if (paramsJson.isNullOrBlank()) {
       return MotionActivityRequest(startISO = null, endISO = null, limit = 200)

apps/android/app/src/test/java/ai/openclaw/android/node/InvokeCommandRegistryTest.kt

@@ -25,7 +25,8 @@ class InvokeCommandRegistryTest {
           locationEnabled = false,
           smsAvailable = false,
           voiceWakeEnabled = false,
-          motionAvailable = false,
+          motionActivityAvailable = false,
+          motionPedometerAvailable = false,
           debugBuild = false,
         ),
       )
@@ -52,7 +53,8 @@ class InvokeCommandRegistryTest {
           locationEnabled = true,
           smsAvailable = true,
           voiceWakeEnabled = true,
-          motionAvailable = true,
+          motionActivityAvailable = true,
+          motionPedometerAvailable = true,
           debugBuild = false,
         ),
       )
@@ -79,7 +81,8 @@ class InvokeCommandRegistryTest {
           locationEnabled = false,
           smsAvailable = false,
           voiceWakeEnabled = false,
-          motionAvailable = false,
+          motionActivityAvailable = false,
+          motionPedometerAvailable = false,
           debugBuild = false,
         ),
       )
@@ -117,7 +120,8 @@ class InvokeCommandRegistryTest {
           locationEnabled = true,
           smsAvailable = true,
           voiceWakeEnabled = false,
-          motionAvailable = true,
+          motionActivityAvailable = true,
+          motionPedometerAvailable = true,
           debugBuild = true,
         ),
       )
@@ -145,4 +149,23 @@ class InvokeCommandRegistryTest {
     assertTrue(commands.contains("debug.ed25519"))
     assertTrue(commands.contains("app.update"))
   }
+
+  @Test
+  fun advertisedCommands_onlyIncludesSupportedMotionCommands() {
+    val commands =
+      InvokeCommandRegistry.advertisedCommands(
+        NodeRuntimeFlags(
+          cameraEnabled = false,
+          locationEnabled = false,
+          smsAvailable = false,
+          voiceWakeEnabled = false,
+          motionActivityAvailable = true,
+          motionPedometerAvailable = false,
+          debugBuild = false,
+        ),
+      )
+
+    assertTrue(commands.contains(OpenClawMotionCommand.Activity.rawValue))
+    assertFalse(commands.contains(OpenClawMotionCommand.Pedometer.rawValue))
+  }
 }

apps/android/app/src/test/java/ai/openclaw/android/node/MotionHandlerTest.kt

@@ -92,7 +92,8 @@ class MotionHandlerTest {
 
 private class FakeMotionDataSource(
   private val hasPermission: Boolean,
-  private val available: Boolean = true,
+  private val activityAvailable: Boolean = true,
+  private val pedometerAvailable: Boolean = true,
   private val activityRecord: MotionActivityRecord =
     MotionActivityRecord(
       startISO = "2026-02-28T00:00:00Z",
@@ -117,7 +118,9 @@ private class FakeMotionDataSource(
   private val activityError: Throwable? = null,
   private val pedometerError: Throwable? = null,
 ) : MotionDataSource {
-  override fun isAvailable(context: Context): Boolean = available
+  override fun isActivityAvailable(context: Context): Boolean = activityAvailable
+
+  override fun isPedometerAvailable(context: Context): Boolean = pedometerAvailable
 
   override fun hasPermission(context: Context): Boolean = hasPermission