Robot Status

Live diagnostics panel — battery, motors, IMU, system, network — with family-aware fields for Go2 and G1.

Sections

Battery

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.
G1 — bms_state.bmsvoltage array: [0] is pack voltage, [1] is cell voltage. Plus per-rail temperatures: MOS, BAT1, RES.

Motors

Per-joint table: temperature, position, velocity, torque, lost packets. Live-updates from rt/lowstate.

IMU

Quaternion + RPY + gyroscope + accelerometer.

LiDAR

Operational state, work mode, motor temp.

System

Family-aware merge of firmware + system info:

Go2 — Package Version (single combined firmware string fetched via bashrunner).
G1 — Hardware Version + Software Version (separate fields, fetched from the device info API).

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.

Bashrunner Fetch (Go2)

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.

Copy Buttons

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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