Sanad Dashboard

Quick Voice

System Info

Network interfaces

Subsystems (connected / disconnected)

Audio Control

Microphone

Speaker

G1 Built-in Speaker Volume –

Persisted in data/motions/config.json · applies live via DDS

Audio device profile

Manual sink / source override

Quick Actions

Speed

Live Voice Commands

Arm Trigger

Deferred Trigger

Last heard: --

Pending action: --

Audio attached: -- | Arm attached: -- | Gemini: --

Live Gemini Process

State: --

User: --

Gemini API Key

The key used by GeminiVoiceClient and the Live Gemini subprocess. Saved to data/motions/config.json. Get a free key at aistudio.google.com/app/apikey.

Current

New key

Typed Replay Engine

Record speaker

Session

Wake Phrase Manager

Motion Control

Gestural Speaking Speed

SDK Actions (built-in)

JSONL Replays (recorded)

Replay Manager

Motion Files

Upload .jsonl

Test Replay

Teaching Mode

Macro Recorder (Audio + Motion)

Record

Play

Voice (WAV)

Motion (JSONL)

Speed

Camera Vision & Face Recognition

Camera Vision --

Face Recognition --

Toggles take effect within ~1 second on the running Gemini session — no restart required.

Live Preview

Camera off — toggle Vision ON to see the live feed.

Resolution / FPS

JPEG Quality

Each button rebuilds the capture pipeline (~0.5 s). Modes match the RealSense D435I colour sensor — on USB 2.x, stick to 424×240 or 640×480. If the feed is grayscale/IR, pin the colour node with SANAD_CAMERA_USB_INDEX.

Add New Face

Name

Description — who is this person? (Gemini reads it)

📁 Upload images

Tip: add 2–3 photos / different angles per person for best recognition. The description is sent to Gemini with the photos — it can then greet and talk about the person using what you wrote.

Enrolled Faces

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Zones & Places

Zone Recognition --

Destination: none

Group locations into zones, add places inside each (name + description + optional reference photos), and link saved faces to a place. “Go here” sets a destination and shows Gemini the place — the robot drives there once movement (locomotion) is enabled.

Add New Zone

Zones

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Live motor surface/winding temperatures from rt/lowstate on the full G1 (29 DOF). Blue ≈ 30°C → red ≈ 120°C. Drag to orbit, scroll to zoom. Streamed over /ws/motor-temps — no second DDS subscriber.

FSM — unknown MSC — SDK —

Enable movement Enable Gemini movement

CAM FACE PLACE MOVE GEMINI-MOVE EXPLORE · soon

Manual operator control. Robot is assumed standing in walking mode — use Ready/Start only if needed. All controls below are locked until Enable movement is on; E-STOP always works. While movement is on, arm replays/actions are disabled (and vice-versa).

Locomotion / Teleop

Discrete step pad

Run (1.2)

vx 0.00 · vy 0.00 · ω 0.00

W/S forward·back · Q/E strafe · A/D rotate · Space halt

Postures & Modes

MotionSwitcher / Low-Level

Diagnostics — joints 12–28

Skill Registry

No skills configured

Saved Records

No records saved

Terminal — unitree@robot

disconnected

Runs as the dashboard's user on the robot (typically unitree). No SSH handshake — the dashboard is already on the robot. Works on whichever Wi-Fi the robot is connected to.