45 lines
1.7 KiB
Markdown
45 lines
1.7 KiB
Markdown
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# Robot Status
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Live diagnostics panel — battery, motors, IMU, system, network — with family-aware fields for Go2 and G1.
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<p align="center">
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<img src="../images/status_go2.png" width="48%" />
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<img src="../images/status_g1.png" width="48%" />
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</p>
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## Sections
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### Battery
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- **Go2** — pack voltage from `lowstate.power_v` (volts at the root, multiplied to mV in the UI), plus `bms_state.bq_ntc` / `mcu_ntc` for cell temperatures, SOC %, current, cycle count.
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- **G1** — `bms_state.bmsvoltage` array: `[0]` is pack voltage, `[1]` is cell voltage. Plus per-rail temperatures: MOS, BAT1, RES.
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### Motors
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Per-joint table: temperature, position, velocity, torque, lost packets. Live-updates from `rt/lowstate`.
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### IMU
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Quaternion + RPY + gyroscope + accelerometer.
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### LiDAR
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Operational state, work mode, motor temp.
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### System
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Family-aware merge of firmware + system info:
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- **Go2** — Package Version (single combined firmware string fetched via bashrunner).
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- **G1** — Hardware Version + Software Version (separate fields, fetched from the device info API).
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The **Connection Type** row (Local / AP / Remote, and which IP/SN) lives at the bottom of this section. The legacy "Network" card was folded in.
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## Bashrunner Fetch (Go2)
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Go2's package version isn't surfaced through any data-channel topic. The UI calls a small `bashrunner` RPC to read `/etc/unitree/version` (or equivalent), correlates the response by request ID where possible, and falls back to setting the firmware string on any matching reply — Go2 isn't always strict about echoing the ID back.
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## Copy Buttons
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Most labelled fields have a clipboard copy button next to the value (SN, IP, MAC, version strings). Click → green check; failure → red.
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