Did Richardson understand the Namamugi warnings?

Did Charles Lennox Richardson understand the warnings to clear the road before the Namamugi incident?

He should have understood the danger: Richardson had years of East Asian experience, and companions who recognized the warning tried to move him aside.

The answer focuses on whether Charles Lennox Richardson could reasonably have recognized the warnings to clear the road for a Satsuma lord's entourage. Richardson had spent years in Shanghai and China and was regarded as experienced in the region. He was also travelling with people who understood the situation and tried to move him out of the way. That does not make his killing lawful under the treaty system, but it complicates a simple picture of an unsuspecting foreign visitor. The Namamugi incident became a collision between local status customs and extraterritorial privilege.