Update 2026-06-08 11:03:52

.claude/settings.json

@@ -0,0 +1,7 @@
+{
+  "permissions": {
+    "allow": [
+      "Bash(node -e ' *)"
+    ]
+  }
+}

G1_Controller/__init__.py

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+"""G1_Controller — manual dashboard locomotion control (N2 Phase 1).
+
+`LocoController` wraps the Unitree `LocoClient` + `MotionSwitcherClient` for
+operator-driven walking, postures and a discrete step pad. It reuses the arm
+controller's single process-wide DDS init (one `ChannelFactoryInitialize`) and
+is gated behind an in-memory "Enable movement" arm flag that defaults OFF every
+boot. See dashboard/routes/controller.py for the REST surface.
+"""
+
+from Project.Sanad.G1_Controller.loco_controller import LocoController
+
+__all__ = ["LocoController"]

G1_Controller/loco_controller.py

@@ -0,0 +1,567 @@
+"""LocoController — manual G1 locomotion via the Unitree LocoClient (N2 Phase 1).
+
+Ported from the proven scripts in G1_Lootah/Controller (g1_mode_controller.py,
+keyboard_controller.py, hanger_boot_sequence.py). Design notes:
+
+* **One DDS init per process.** The arm controller owns the single
+  `ChannelFactoryInitialize(0, nic)` (motion/arm_controller.py). This class
+  NEVER initialises DDS — it lazily builds its `LocoClient` /
+  `MotionSwitcherClient` only after `arm._initialized` is True.
+* **Default DISARMED.** `_armed` starts False every boot and gates every WRITE
+  method. Reads (status / fsm / joints), E-STOP and disarm are ALWAYS allowed.
+* **StopMove watchdog.** Continuous `Move(..., True)` never self-terminates, so a
+  daemon thread StopMoves if no `move()` refresh arrives within
+  `watchdog_timeout_sec`. The frontend re-sends setpoints at ~10 Hz, so a tab
+  close / network drop trips the watchdog within the timeout.
+* **Velocity caps.** Symmetric clamp on vx/vy/vyaw — Walk 0.6, Run 1.2.
+* **Allow-anytime-warn.** move/step never hard-block on FSM; if not walk-ready
+  they still execute but return a `warning`.
+* **Sim fallback.** When `unitree_sdk2py` is absent (workstation), every write
+  returns `{"simulated": True}` (never raises) so the whole UI is testable.
+
+SDK facts confirmed from source — do not "fix" them:
+* `LocoClient.Move(vx, vy, vyaw, True)` — the continuous-mode kwarg is misspelled
+  `continous_move` (one n); we pass it POSITIONALLY to avoid a TypeError.
+* `LocoClient` has NO StandUp()/Squat() — use SetFsmId(4)/SetFsmId(2).
+* FSM id / mode are read via the private RPC `bot._Call(7001/7002, "{}")`.
+"""
+
+from __future__ import annotations
+
+import json
+import threading
+import time
+from typing import Any, Optional
+
+from Project.Sanad.core.config_loader import section as _cfg_section
+from Project.Sanad.core.logger import get_logger
+
+log = get_logger("loco_controller")
+
+# -- SDK import (optional) -----------------------------------------------------
+try:
+    from unitree_sdk2py.g1.loco.g1_loco_client import LocoClient
+    from unitree_sdk2py.comm.motion_switcher.motion_switcher_client import (
+        MotionSwitcherClient,
+    )
+    _HAS_SDK = True
+except ImportError:
+    LocoClient = None
+    MotionSwitcherClient = None
+    _HAS_SDK = False
+    log.warning("Unitree SDK not available — LocoController in simulation mode")
+
+# LocoClient general RPC api-ids for FSM read-back (stable across SDK builds).
+ROBOT_API_ID_LOCO_GET_FSM_ID = 7001
+ROBOT_API_ID_LOCO_GET_FSM_MODE = 7002
+
+# G1 29-DoF joint names for indices 12-28 (0-11 legs, 12-14 waist, 15-21 left
+# arm, 22-28 right arm). Used by the Diagnostics joint read-out.
+JOINT_NAMES = {
+    12: "WAIST_YAW", 13: "WAIST_ROLL", 14: "WAIST_PITCH",
+    15: "L_SHOULDER_PITCH", 16: "L_SHOULDER_ROLL", 17: "L_SHOULDER_YAW",
+    18: "L_ELBOW", 19: "L_WRIST_ROLL", 20: "L_WRIST_PITCH", 21: "L_WRIST_YAW",
+    22: "R_SHOULDER_PITCH", 23: "R_SHOULDER_ROLL", 24: "R_SHOULDER_YAW",
+    25: "R_ELBOW", 26: "R_WRIST_ROLL", 27: "R_WRIST_PITCH", 28: "R_WRIST_YAW",
+}
+
+# Discrete step pad — (vx, vy, vyaw) sign per direction; magnitude is
+# step_speed_frac * cap_walk (a gentle single step).
+_STEP_DIRS = {
+    "forward":      (1.0, 0.0, 0.0),
+    "backward":     (-1.0, 0.0, 0.0),
+    "slide_left":   (0.0, 1.0, 0.0),
+    "slide_right":  (0.0, -1.0, 0.0),
+    "rotate_left":  (0.0, 0.0, 1.0),
+    "rotate_right": (0.0, 0.0, -1.0),
+}
+
+_POSTURES = (
+    "zero_torque", "damp", "stand_up", "squat", "sit",
+    "low_stand", "high_stand", "lie_to_stand",
+)
+
+
+class LocoController:
+    """Thread-safe manual locomotion control with a simulation fallback."""
+
+    def __init__(self, arm=None):
+        self._arm = arm                 # shared ArmController (owns the ONE DDS init)
+        self._bot = None                # LocoClient (lazy)
+        self._msc = None                # MotionSwitcherClient (lazy)
+        self._lc_ready = False
+        self._lock = threading.RLock()  # serialise all loco client WRITE calls
+        self._armed = False             # in-memory MANUAL gate — OFF every boot
+
+        self._cur_v = (0.0, 0.0, 0.0)   # last commanded (vx, vy, vyaw)
+        self._teleop_active = False
+        self._last_msc_mode: Optional[str] = None
+
+        # watchdog
+        self._last_move_ts = 0.0
+        self._wd_thread: Optional[threading.Thread] = None
+        self._wd_stop = threading.Event()
+        self._wd_stop.set()             # not running until armed
+        # Monotonic stop-generation counter, bumped under _lock by
+        # estop/stop/disarm. move()/step()/prep_mode() capture it at start and
+        # bail the instant it changes — so E-STOP preempts an in-flight motion
+        # immediately AND can never be silently "un-cancelled" by a concurrent
+        # command (a lock-free Event clear() could; an int compare under the
+        # lock cannot).
+        self._stop_gen = 0
+        # Serializes the discrete blocking operations (step/prep_mode) so two
+        # can't overlap and interleave Move commands. Continuous teleop move()
+        # is intentionally NOT guarded by this.
+        self._discrete_busy = False
+
+        cfg = _cfg_section("motion", "loco_controller")
+        self._cap_walk = float(cfg.get("cap_walk", 0.6))
+        self._cap_run = float(cfg.get("cap_run", 1.2))
+        self._lin_step = float(cfg.get("lin_step", 0.05))
+        self._ang_step = float(cfg.get("ang_step", 0.2))
+        self._wd_timeout = float(cfg.get("watchdog_timeout_sec", 0.5))
+        self._block_window = float(cfg.get("arm_block_window_sec", 1.5))
+        self._step_dur = float(cfg.get("step_duration_sec", 0.6))
+        self._step_frac = float(cfg.get("step_speed_frac", 0.5))
+        self._loco_timeout = float(cfg.get("loco_timeout_sec", 10.0))
+        self._msc_timeout = float(cfg.get("msc_timeout_sec", 5.0))
+
+    # ── client lifecycle ─────────────────────────────────────────────────────
+
+    def _ensure_client(self) -> bool:
+        """Lazily build LocoClient + MotionSwitcherClient. Returns readiness.
+
+        Never initialises DDS — requires the shared arm to have already run the
+        single ChannelFactoryInitialize.
+        """
+        if not _HAS_SDK:
+            return False
+        if self._lc_ready:
+            return True
+        if self._arm is None or not getattr(self._arm, "_initialized", False):
+            return False
+        with self._lock:
+            if self._lc_ready:
+                return True
+            try:
+                bot = LocoClient()
+                bot.SetTimeout(self._loco_timeout)
+                bot.Init()
+                msc = MotionSwitcherClient()
+                msc.SetTimeout(self._msc_timeout)
+                msc.Init()
+                self._bot = bot
+                self._msc = msc
+                self._lc_ready = True
+                log.info("LocoClient + MotionSwitcherClient ready")
+            except Exception as exc:
+                log.error("LocoClient init failed: %s", exc)
+                self._lc_ready = False
+        return self._lc_ready
+
+    def _safe_call(self, name: str, fn, *a, **kw):
+        try:
+            return True, fn(*a, **kw)
+        except Exception as exc:
+            log.error("%s failed: %s", name, exc)
+            return False, None
+
+    def _rpc_get_int(self, api_id: int):
+        bot = self._bot
+        if bot is None:
+            return None
+        try:
+            code, data = bot._Call(api_id, "{}")
+            if code == 0 and data:
+                return json.loads(data).get("data")
+        except Exception:
+            pass
+        return None
+
+    @staticmethod
+    def _clamp(v: float, cap: float) -> float:
+        return max(-cap, min(cap, float(v)))
+
+    # ── FSM / readiness ──────────────────────────────────────────────────────
+
+    def fsm_id(self):
+        return self._rpc_get_int(ROBOT_API_ID_LOCO_GET_FSM_ID)
+
+    def fsm_mode(self):
+        return self._rpc_get_int(ROBOT_API_ID_LOCO_GET_FSM_MODE)
+
+    def _walk_ready_warning(self) -> Optional[str]:
+        """allow-anytime-warn: None when ready, else a human message."""
+        if not self._lc_ready:
+            return None
+        fid = self.fsm_id()
+        fmode = self.fsm_mode()
+        if fid == 200 and fmode not in (None, 2):
+            return None
+        return (f"Robot not in walk-ready FSM (id={fid}, mode={fmode}). "
+                f"Command sent anyway.")
+
+    # ── arm flag + watchdog ──────────────────────────────────────────────────
+
+    def is_armed(self) -> bool:
+        return self._armed
+
+    def movement_active(self) -> bool:
+        """True when the robot may be walking: manual armed, teleop active, OR a
+        move/step issued within the block window. Used as the arm's motion-block
+        predicate so the arm never replays while the robot is (or just was)
+        moving — regardless of whether the MANUAL gate or the GEMINI gate
+        (Phase 3 voice dispatch, which calls move/step directly) triggered it."""
+        if self._armed or self._teleop_active:
+            return True
+        return (time.monotonic() - self._last_move_ts) < self._block_window
+
+    def arm_movement(self) -> dict:
+        """Unlock manual control. Cancels any in-flight arm motion first so the
+        arm and locomotion are never active simultaneously (movement wins)."""
+        try:
+            if self._arm is not None and getattr(self._arm, "is_busy", False):
+                log.info("arming movement — cancelling in-flight arm motion")
+                self._arm.cancel()
+        except Exception:
+            log.exception("arm.cancel() on arm_movement failed")
+        with self._lock:
+            self._armed = True
+        self._start_watchdog()
+        log.info("movement ARMED")
+        return {"ok": True, "armed": True}
+
+    def disarm_movement(self) -> dict:
+        with self._lock:
+            self._stop_gen += 1          # break any in-flight step/prep/move
+            self._armed = False
+            self._teleop_active = False
+        self._wd_stop.set()
+        try:
+            self._raw_stop()
+        except Exception:
+            log.exception("StopMove on disarm failed")
+        log.info("movement DISARMED")
+        return {"ok": True, "armed": False}
+
+    def _start_watchdog(self):
+        self._wd_stop.clear()
+        if self._wd_thread is None or not self._wd_thread.is_alive():
+            self._wd_thread = threading.Thread(
+                target=self._watchdog_loop, daemon=True, name="loco-watchdog")
+            self._wd_thread.start()
+
+    def _watchdog_loop(self):
+        period = max(0.02, min(0.1, self._wd_timeout / 2.0))
+        while not self._wd_stop.is_set():
+            fire = False
+            # Read-and-decide under the lock (atomic check-then-act); the actual
+            # StopMove runs after release so the critical section stays tiny.
+            with self._lock:
+                if self._teleop_active and (time.monotonic() - self._last_move_ts) > self._wd_timeout:
+                    self._teleop_active = False
+                    fire = True
+            if fire:
+                log.warning("watchdog: teleop setpoint stale (>%.2fs) — StopMove",
+                            self._wd_timeout)
+                try:
+                    self._raw_stop()
+                except Exception:
+                    log.exception("watchdog StopMove failed")
+            self._wd_stop.wait(period)
+
+    def _raw_stop(self) -> bool:
+        """Issue StopMove if the client is up; no-op in sim. Lock-light."""
+        if not self._lc_ready or self._bot is None:
+            return False
+        with self._lock:
+            ok, _ = self._safe_call("StopMove", self._bot.StopMove)
+        return ok
+
+    # ── movement ─────────────────────────────────────────────────────────────
+
+    def move(self, vx: float, vy: float, vyaw: float, run: bool = False) -> dict:
+        cap = self._cap_run if run else self._cap_walk
+        cvx, cvy, cvyaw = self._clamp(vx, cap), self._clamp(vy, cap), self._clamp(vyaw, cap)
+        capped = (cvx, cvy, cvyaw) != (float(vx), float(vy), float(vyaw))
+        warning = self._walk_ready_warning()
+        sent = {"vx": cvx, "vy": cvy, "vyaw": cvyaw}
+
+        with self._lock:
+            my_gen = self._stop_gen          # capture under lock
+
+        if not self._ensure_client():
+            with self._lock:                 # sim: record intent for UI/watchdog
+                self._cur_v = (cvx, cvy, cvyaw)
+                self._last_move_ts = time.monotonic()
+                self._teleop_active = True
+            self._start_watchdog()
+            return {"ok": True, "sent": sent, "capped": capped,
+                    "warning": warning, "simulated": True}
+        with self._lock:
+            # If an E-STOP / stop / disarm landed since we captured my_gen, do NOT
+            # (re)command velocity — and do NOT stamp the motion flags (so a
+            # cancelled tick doesn't extend the arm-block window).
+            if self._stop_gen != my_gen:
+                return {"ok": False, "cancelled": True, "sent": sent,
+                        "capped": capped, "warning": warning, "simulated": False}
+            self._cur_v = (cvx, cvy, cvyaw)
+            self._last_move_ts = time.monotonic()
+            self._teleop_active = True
+            self._safe_call("SetBalanceMode", self._bot.SetBalanceMode, 1)
+            ok, _ = self._safe_call("Move", self._bot.Move, cvx, cvy, cvyaw, True)
+        self._start_watchdog()
+        return {"ok": bool(ok), "sent": sent, "capped": capped,
+                "warning": warning, "simulated": False}
+
+    def stop_move(self) -> dict:
+        """Halt translation/rotation. Allowed even when disarmed."""
+        with self._lock:
+            self._stop_gen += 1
+            self._teleop_active = False
+        if not self._ensure_client():
+            return {"ok": True, "simulated": True}
+        ok = self._raw_stop()
+        return {"ok": bool(ok), "simulated": False}
+
+    def estop(self) -> dict:
+        """Emergency stop = StopMove only (no Damp / FSM change → keeps posture).
+        ALWAYS allowed, even disarmed and in sim. Bumps the stop generation so any
+        in-flight move()/step()/prep_mode() bails immediately (no lock wait)."""
+        with self._lock:
+            self._stop_gen += 1
+            self._teleop_active = False
+            self._cur_v = (0.0, 0.0, 0.0)
+        if not self._ensure_client():
+            log.warning("E-STOP (sim)")
+            return {"ok": True, "simulated": True}
+        ok = self._raw_stop()
+        log.warning("E-STOP — StopMove issued")
+        return {"ok": bool(ok), "simulated": False}
+
+    def step(self, direction: str) -> dict:
+        """Discrete one-step pad: Move for step_duration then StopMove.
+        Blocking (~step_duration); call via asyncio.to_thread from the route.
+
+        The sleep loop does NOT hold self._lock, so E-STOP / StopMove (which take
+        the lock briefly) preempt it immediately; the loop also bails the moment
+        the stop generation changes."""
+        if direction not in _STEP_DIRS:
+            return {"ok": False, "reason": f"unknown direction: {direction}"}
+        sx, sy, syaw = _STEP_DIRS[direction]
+        k = self._cap_walk * self._step_frac
+        vx, vy, vyaw = sx * k, sy * k, syaw * k
+        warning = self._walk_ready_warning()
+        with self._lock:
+            if self._discrete_busy:
+                return {"ok": False, "dir": direction, "reason": "busy",
+                        "warning": warning, "simulated": not self._lc_ready}
+            self._discrete_busy = True
+            my_gen = self._stop_gen
+            self._last_move_ts = time.monotonic()
+            self._teleop_active = True
+        self._start_watchdog()
+        if not self._ensure_client():
+            with self._lock:
+                self._teleop_active = False
+                self._discrete_busy = False
+            return {"ok": True, "dir": direction, "warning": warning, "simulated": True}
+        try:
+            with self._lock:
+                if self._stop_gen != my_gen:        # stopped before we began
+                    return {"ok": False, "dir": direction, "cancelled": True,
+                            "warning": warning, "simulated": False}
+                self._safe_call("SetBalanceMode", self._bot.SetBalanceMode, 1)
+                self._safe_call("Move", self._bot.Move, vx, vy, vyaw, True)
+            t_end = time.monotonic() + self._step_dur
+            while time.monotonic() < t_end:
+                if self._stop_gen != my_gen:
+                    break
+                with self._lock:
+                    self._last_move_ts = time.monotonic()  # keep watchdog fed
+                time.sleep(0.05)
+        finally:
+            with self._lock:
+                self._safe_call("StopMove", self._bot.StopMove)
+                self._teleop_active = False
+                self._discrete_busy = False
+        return {"ok": True, "dir": direction, "warning": warning, "simulated": False}
+
+    # ── postures / modes ─────────────────────────────────────────────────────
+
+    def prep_mode(self) -> dict:
+        """PREP — StopMove → Damp → StandUp(FSM4) → height ramp → BalanceStand(0).
+        Exact order from g1_mode_controller.prep_mode, minus the blocking input().
+        Blocking (~1s); call via asyncio.to_thread."""
+        if not self._ensure_client():
+            return {"ok": True, "mode": "prep", "simulated": True}
+        with self._lock:
+            if self._discrete_busy:
+                return {"ok": False, "mode": "prep", "reason": "busy", "simulated": False}
+            self._discrete_busy = True
+            my_gen = self._stop_gen
+            self._safe_call("StopMove", self._bot.StopMove)
+            self._safe_call("Damp", self._bot.Damp)
+            self._safe_call("SetFsmId(4)", self._bot.SetFsmId, 4)
+        try:
+            # Height ramp OUTSIDE the lock so E-STOP can preempt at any time.
+            h = 0.02
+            while h <= 0.5 + 1e-9:
+                if self._stop_gen != my_gen:
+                    log.warning("PREP cancelled (E-STOP)")
+                    return {"ok": False, "mode": "prep", "cancelled": True, "simulated": False}
+                with self._lock:
+                    self._safe_call("SetStandHeight", self._bot.SetStandHeight, round(h, 3))
+                time.sleep(0.03)
+                h += 0.02
+            with self._lock:
+                self._safe_call("BalanceStand", self._bot.BalanceStand, 0)
+                self._safe_call("SetStandHeight", self._bot.SetStandHeight, 0.22)
+        finally:
+            with self._lock:
+                self._discrete_busy = False
+        log.info("PREP complete")
+        return {"ok": True, "mode": "prep", "simulated": False}
+
+    def ready_start_mode(self) -> dict:
+        """READY = PREP then Start (FSM 200 / balance engaged)."""
+        self.prep_mode()
+        if not self._ensure_client():
+            return {"ok": True, "mode": "ready", "simulated": True}
+        with self._lock:
+            if hasattr(self._bot, "Start"):
+                ok, _ = self._safe_call("Start", self._bot.Start)
+            else:
+                ok, _ = self._safe_call("SetFsmId(200)", self._bot.SetFsmId, 200)
+        log.info("READY/START complete")
+        return {"ok": bool(ok), "mode": "ready", "simulated": False}
+
+    def posture(self, name: str) -> dict:
+        if name not in _POSTURES:
+            return {"ok": False, "reason": f"unknown posture: {name}"}
+        if not self._ensure_client():
+            return {"ok": True, "posture": name, "simulated": True}
+        bot = self._bot
+        with self._lock:
+            if name == "zero_torque":
+                ok, _ = self._safe_call("ZeroTorque", bot.ZeroTorque)
+            elif name == "damp":
+                ok, _ = self._safe_call("Damp", bot.Damp)
+            elif name == "stand_up":
+                ok, _ = self._safe_call("SetFsmId(4)", bot.SetFsmId, 4)
+            elif name == "squat":
+                ok, _ = self._safe_call("SetFsmId(2)", bot.SetFsmId, 2)
+            elif name == "sit":
+                ok, _ = self._safe_call("Sit", bot.Sit)
+            elif name == "low_stand":
+                ok, _ = self._safe_call("LowStand", bot.LowStand)
+            elif name == "high_stand":
+                ok, _ = self._safe_call("HighStand", bot.HighStand)
+            elif name == "lie_to_stand":
+                if hasattr(bot, "Lie2StandUp"):
+                    ok, _ = self._safe_call("Lie2StandUp", bot.Lie2StandUp)
+                else:
+                    ok, _ = self._safe_call("SetFsmId(702)", bot.SetFsmId, 702)
+            else:  # unreachable (guarded above)
+                ok = False
+        return {"ok": bool(ok), "posture": name, "simulated": False}
+
+    def set_balance_mode(self, mode: int) -> dict:
+        if not self._ensure_client():
+            return {"ok": True, "balance_mode": int(mode), "simulated": True}
+        with self._lock:
+            ok, _ = self._safe_call("SetBalanceMode", self._bot.SetBalanceMode, int(mode))
+        return {"ok": bool(ok), "balance_mode": int(mode), "simulated": False}
+
+    def set_stand_height(self, h: float) -> dict:
+        if not self._ensure_client():
+            return {"ok": True, "height": float(h), "simulated": True}
+        with self._lock:
+            ok, _ = self._safe_call("SetStandHeight", self._bot.SetStandHeight, float(h))
+        return {"ok": bool(ok), "height": float(h), "simulated": False}
+
+    # ── MotionSwitcher ───────────────────────────────────────────────────────
+
+    def msc_check(self) -> dict:
+        if not self._ensure_client() or self._msc is None:
+            return {"mode_name": None, "simulated": not self._lc_ready}
+        try:
+            ret = self._msc.CheckMode()
+            name = None
+            if isinstance(ret, tuple) and len(ret) >= 2 and isinstance(ret[1], dict):
+                name = ret[1].get("name")
+            elif isinstance(ret, dict):
+                name = ret.get("name")
+            self._last_msc_mode = name
+            return {"mode_name": name}
+        except Exception as exc:
+            log.error("msc_check failed: %s", exc)
+            return {"mode_name": None}
+
+    def msc_select_ai(self) -> dict:
+        if not self._ensure_client() or self._msc is None:
+            return {"ok": True, "simulated": True}
+        with self._lock:
+            ok, _ = self._safe_call("SelectMode(ai)", self._msc.SelectMode, "ai")
+        return {"ok": bool(ok), "simulated": False}
+
+    def msc_release(self) -> dict:
+        if not self._ensure_client() or self._msc is None:
+            return {"ok": True, "simulated": True}
+        with self._lock:
+            ok, _ = self._safe_call("ReleaseMode", self._msc.ReleaseMode)
+        return {"ok": bool(ok), "simulated": False}
+
+    def reconnect(self) -> dict:
+        """Drop and rebuild Loco + MSC clients (does NOT re-init the DDS factory)."""
+        with self._lock:
+            self._bot = None
+            self._msc = None
+            self._lc_ready = False
+        ok = self._ensure_client()
+        return {"ok": bool(ok), "lc_ready": self._lc_ready}
+
+    # ── reads ────────────────────────────────────────────────────────────────
+
+    def joints(self) -> dict:
+        q: list = []
+        try:
+            if self._arm is not None:
+                q = self._arm.get_current_q()
+        except Exception:
+            q = []
+        out = []
+        for idx in range(12, 29):
+            val = q[idx] if idx < len(q) else 0.0
+            out.append({"idx": idx, "name": JOINT_NAMES.get(idx, f"motor_{idx}"),
+                        "q": float(val)})
+        return {"joints": out}
+
+    def status(self) -> dict:
+        # Polling /status lazily brings up the client once arm DDS is ready.
+        self._ensure_client()
+        fid = self.fsm_id() if self._lc_ready else None
+        fmode = self.fsm_mode() if self._lc_ready else None
+        walk_ready = bool(self._lc_ready and fid == 200 and fmode not in (None, 2))
+        return {
+            "sdk_available": _HAS_SDK,
+            "lc_ready": self._lc_ready,
+            "armed": self._armed,
+            "fsm_id": fid,
+            "fsm_mode": fmode,
+            "walk_ready": walk_ready,
+            "msc_mode": self._last_msc_mode,
+            "teleop_active": self._teleop_active,
+            "last_velocity": {"vx": self._cur_v[0], "vy": self._cur_v[1], "vyaw": self._cur_v[2]},
+            "caps": {"walk": self._cap_walk, "run": self._cap_run},
+            "arm_initialized": bool(self._arm is not None and getattr(self._arm, "_initialized", False)),
+        }
+
+    # ── shutdown helper ──────────────────────────────────────────────────────
+
+    def shutdown(self):
+        """Best-effort StopMove + disarm for process shutdown."""
+        try:
+            self.estop()
+        finally:
+            self.disarm_movement()

config/core_config.json

@@ -41,7 +41,7 @@
     "model_ws_uri": "wss://generativelanguage.googleapis.com/ws/google.ai.generativelanguage.v1alpha.GenerativeService.BidiGenerateContent",
     "voice_name": "Charon",
     "ws_timeout_sec": 30,
-    "default_system_prompt": "You are Sanad (Bousandah), a wise and friendly Emirati assistant. Speak strictly in the UAE dialect (Khaleeji). Be helpful, concise, and use local greetings like 'Marhaba' and 'Ya Khoy'."
+    "default_system_prompt": "You are Bousandah, a wise and friendly Emirati assistant. Speak strictly in the UAE dialect (Khaleeji). Be helpful, concise, and use local greetings like 'Marhaba' and 'Ya Khoy'."
   },
 
   "g1_hardware": {
@@ -53,7 +53,7 @@
 
   "script_files": {
     "_comment": "Filenames (under scripts/) used across voice + dashboard",
-    "persona": "sanad_v2",
+    "persona": "sanad_script.txt",
     "rules": "sanad_rule.txt",
     "arm_phrases": "sanad_arm.txt"
   },

config/motion_config.json

@@ -13,6 +13,20 @@
     "jsonl_id_start": 100
   },
 
+  "loco_controller": {
+    "_comment": "G1_Controller/loco_controller.py — manual locomotion. NIC is shared from the arm's DDS init (config core.dds / SANAD_DDS_INTERFACE), not set here.",
+    "cap_walk": 0.6,
+    "cap_run": 1.2,
+    "lin_step": 0.05,
+    "ang_step": 0.2,
+    "watchdog_timeout_sec": 0.5,
+    "arm_block_window_sec": 1.5,
+    "step_duration_sec": 0.6,
+    "step_speed_frac": 0.5,
+    "loco_timeout_sec": 10.0,
+    "msc_timeout_sec": 5.0
+  },
+
   "macro_player": {
     "_comment": "motion/macro_player.py — JSONL playback",
     "ramp_in_steps": 60,

dashboard/app.py

@@ -51,9 +51,12 @@ _REST_ROUTES: list[tuple[str, str, str]] = [
     ("live_subprocess", "/api/live-subprocess", "live-subprocess"),
     ("typed_replay",    "/api/typed-replay",    "typed-replay"),
     ("recognition",     "/api/recognition",     "recognition"),
+    ("zones",           "/api/zones",           "zones"),
+    ("temp_monitor",    "/api/temp",            "temperature"),
+    ("controller",      "/api/controller",      "controller"),
 ]
 
-_WS_ROUTES: list[str] = ["log_stream"]
+_WS_ROUTES: list[str] = ["log_stream", "motor_temps", "terminal"]
 
 _loaded_routes: list[str] = []
 _failed_routes: dict[str, str] = {}

dashboard/routes/audio_control.py

@@ -473,3 +473,450 @@ async def apply_audio():
             pass
         return result
     return await asyncio.to_thread(_do)
+
+
+# ─────────────────────── Reset endpoints (Pulse + USB) ───────────────────────
+#
+# Two distinct recovery paths for the dashboard's audio panel:
+#
+#   POST /api/audio/reset       — SOFT: restart pulseaudio / pipewire-pulse.
+#       Fixes Pulse-side state (stuck profile, lost default sink, crashed
+#       module). Cannot recover a kernel-side missing USB capture descriptor
+#       — snd-usb-audio parses those at probe time and Pulse can't influence
+#       that. Use for "devices look weird" failures.
+#
+#   POST /api/audio/usb-reset   — HARD: unbind+rebind snd-usb-audio scoped
+#       to the Anker VID:PID. Forces snd-usb-audio to re-parse UAC1
+#       descriptors → input profile reappears even after the firmware/USB
+#       handshake dropped it. Use for "Anker mic missing from pactl" — the
+#       symptom soft-reset cannot fix.
+#
+# Both gate with module-level locks (no concurrent reset), refuse while Live
+# Gemini is running or a record is mid-playback, and return structured
+# before/after diagnostics so the dashboard can show meaningful toasts.
+
+_RESET_LOCK = threading.Lock()
+_USB_RESET_LOCK = threading.Lock()
+
+# Anker PowerConf A3321 — used both for VID:PID matching in sysfs and for
+# logging. Change here if you add support for a different USB conference
+# device (Hollyland etc).
+_USB_RESET_TARGETS = (
+    {"vid": "291a", "pid": "3301", "label": "Anker PowerConf"},
+)
+
+
+def _refuse_if_busy() -> None:
+    """Raise HTTPException(409) if Live Gemini is active or a record is playing.
+
+    Used by both reset endpoints — a userspace audio restart mid-stream
+    leaves the active session in a broken state (PortAudio handle pointing
+    at a dead Pulse, in-flight write() raises, etc.). Cheaper to refuse
+    than to recover.
+    """
+    try:
+        from Project.Sanad.main import live_sub
+    except Exception:
+        live_sub = None
+    if live_sub is not None:
+        try:
+            st = live_sub.status() or {}
+        except Exception:
+            st = {}
+        state = (st.get("state") or "").lower()
+        if st.get("running") or state not in ("", "stopped", "error"):
+            raise HTTPException(
+                409, f"Stop Live Gemini before resetting audio (state={state or '?'}).",
+            )
+
+    try:
+        from Project.Sanad.main import audio_mgr
+    except Exception:
+        audio_mgr = None
+    if audio_mgr is not None and hasattr(audio_mgr, "playback_status"):
+        try:
+            ps = audio_mgr.playback_status() or {}
+            if ps.get("playing"):
+                raise HTTPException(
+                    409, "Stop the active playback before resetting audio.",
+                )
+        except HTTPException:
+            raise
+        except Exception:
+            pass
+
+
+def _detect_pa_flavour() -> str:
+    """Return 'pipewire' if pipewire-pulse is the active daemon, else 'pulse'."""
+    try:
+        r = subprocess.run(
+            ["pgrep", "-x", "pipewire-pulse"],
+            check=False, capture_output=True, text=True, timeout=1.0,
+        )
+        if r.returncode == 0 and (r.stdout or "").strip():
+            return "pipewire"
+    except (FileNotFoundError, subprocess.SubprocessError):
+        pass
+    return "pulse"
+
+
+def _kill_audio_daemon(flavour: str) -> dict:
+    """Issue the restart command for the detected daemon. Non-zero exit is a
+    soft warning (some installs return 1 when there's no daemon to kill)."""
+    if flavour == "pipewire":
+        cmd = ["systemctl", "--user", "restart", "pipewire-pulse.service"]
+    else:
+        cmd = ["pulseaudio", "-k"]
+    try:
+        r = subprocess.run(cmd, check=False, capture_output=True,
+                           text=True, timeout=5.0)
+        info = {"cmd": " ".join(cmd), "returncode": r.returncode,
+                "stderr": (r.stderr or "").strip()[:300]}
+        if r.returncode != 0:
+            log.warning("audio reset: %s exited %d (%s)",
+                        cmd[0], r.returncode, info["stderr"])
+        return info
+    except FileNotFoundError as exc:
+        return {"cmd": " ".join(cmd), "returncode": -1,
+                "stderr": f"binary missing: {exc}"}
+    except subprocess.TimeoutExpired:
+        return {"cmd": " ".join(cmd), "returncode": -1,
+                "stderr": "timeout (>5s)"}
+
+
+def _wait_for_pactl(deadline_s: float = 5.0, interval_s: float = 0.2) -> bool:
+    """Poll `pactl info` until it returns 0 or the deadline expires."""
+    import time as _time
+    end = _time.monotonic() + deadline_s
+    while _time.monotonic() < end:
+        if ad.pactl_available():
+            return True
+        _time.sleep(interval_s)
+    return False
+
+
+@router.post("/reset")
+async def reset_audio_subsystem():
+    """SOFT reset — restart pulseaudio/pipewire-pulse and re-resolve devices.
+
+    Use when devices look stuck, pactl is unavailable, or the wrong sink
+    is being selected. **Does NOT recover a kernel-side missing USB capture
+    descriptor** — for that symptom use /api/audio/usb-reset.
+    """
+    if os.geteuid() == 0:
+        raise HTTPException(
+            403, "Refusing to reset audio as root — Sanad must run as the "
+            "unitree user so the per-user PulseAudio session is reachable.",
+        )
+    if not _RESET_LOCK.acquire(blocking=False):
+        raise HTTPException(429, "Reset already in progress.")
+    try:
+        _refuse_if_busy()
+        log.info(
+            "audio reset requested (uid=%s PULSE_RUNTIME_PATH=%s XDG_RUNTIME_DIR=%s)",
+            os.geteuid(),
+            os.environ.get("PULSE_RUNTIME_PATH") or "-",
+            os.environ.get("XDG_RUNTIME_DIR") or "-",
+        )
+        try:
+            from Project.Sanad.main import audio_mgr
+        except Exception:
+            audio_mgr = None
+
+        def _do() -> dict:
+            before = {"pactl_available": ad.pactl_available(),
+                      "selection": ad.current_selection()}
+
+            # Quiesce AudioManager so the next play_wav rebinds cleanly.
+            pya_closed = False
+            if audio_mgr is not None:
+                play_lock = getattr(audio_mgr, "play_lock", None)
+                acquired = False
+                if play_lock is not None:
+                    acquired = play_lock.acquire(timeout=2.0)
+                try:
+                    try:
+                        audio_mgr.close()
+                        pya_closed = True
+                    except Exception as exc:
+                        log.warning("audio reset: audio_mgr.close failed: %s", exc)
+                finally:
+                    if acquired and play_lock is not None:
+                        play_lock.release()
+
+            flavour = _detect_pa_flavour()
+            kill_info = _kill_audio_daemon(flavour)
+            came_back = _wait_for_pactl(deadline_s=5.0)
+            if not came_back and flavour == "pulse":
+                # autospawn may be disabled — try an explicit start.
+                try:
+                    subprocess.run(["pulseaudio", "--start"], check=False,
+                                   capture_output=True, text=True, timeout=3.0)
+                except (FileNotFoundError, subprocess.SubprocessError) as exc:
+                    log.warning("audio reset: pulseaudio --start failed: %s", exc)
+                came_back = _wait_for_pactl(deadline_s=2.0)
+            if not came_back:
+                raise HTTPException(500, {
+                    "error": "audio daemon did not return within ~7s",
+                    "flavour": flavour, "kill": kill_info,
+                })
+
+            apply_result: dict = {}
+            try:
+                apply_result = ad.apply_current_selection() or {}
+            except Exception as exc:
+                log.warning("audio reset: apply_current_selection failed: %s", exc)
+                apply_result = {"error": str(exc)}
+
+            if audio_mgr is not None:
+                try:
+                    import pyaudio
+                    audio_mgr.pya = pyaudio.PyAudio()
+                    audio_mgr.refresh_devices()
+                except Exception as exc:
+                    log.error("audio reset: PyAudio re-init failed: %s", exc)
+                    raise HTTPException(
+                        500, f"PortAudio re-init failed after daemon restart: {exc}")
+
+            after_sel = ad.current_selection() or {}
+            detected = ad.detect_plugged_profiles() or []
+            after = {
+                "pactl_available": ad.pactl_available(),
+                "selection": after_sel,
+                "detected_profiles": [p.get("profile", {}).get("id") for p in detected],
+            }
+            return {
+                "ok": True, "best_effort": True, "flavour": flavour,
+                "kill": kill_info, "pya_reinitialized": pya_closed,
+                "apply_result": apply_result,
+                "input_recovered": bool(after_sel.get("source")),
+                "output_recovered": bool(after_sel.get("sink")),
+                "before": before, "after": after,
+                "hint": ("Soft reset only fixes Pulse-side state. If "
+                         "input_recovered is False, try POST /api/audio/usb-reset "
+                         "or physically replug the dongle."),
+            }
+        return await asyncio.to_thread(_do)
+    finally:
+        _RESET_LOCK.release()
+
+
+def _find_usb_devices_by_vid_pid(vid: str, pid: str) -> list[str]:
+    """Return sysfs bus-id strings (e.g. '1-3') for every USB device whose
+    idVendor/idProduct match. Empty list when nothing matches.
+
+    We read /sys/bus/usb/devices/* — every USB *device* (not interface) has
+    idVendor/idProduct files. Interfaces (paths with a colon, e.g. '1-3:1.1')
+    do not, so they're naturally skipped.
+    """
+    import glob
+    hits: list[str] = []
+    for path in glob.glob("/sys/bus/usb/devices/*"):
+        name = os.path.basename(path)
+        if ":" in name:
+            continue
+        try:
+            with open(os.path.join(path, "idVendor")) as f:
+                v = f.read().strip().lower()
+            with open(os.path.join(path, "idProduct")) as f:
+                p = f.read().strip().lower()
+        except OSError:
+            continue
+        if v == vid.lower() and p == pid.lower():
+            hits.append(name)
+    return hits
+
+
+def _snd_usb_interfaces_for_device(bus_id: str) -> list[str]:
+    """For USB device `bus_id` (e.g. '1-3'), return all interface names that
+    are currently bound to the snd-usb-audio driver (e.g. ['1-3:1.0']).
+
+    Used so we unbind ONLY the audio interfaces and don't touch HID / HUB
+    interfaces on the same composite device.
+    """
+    import glob
+    bound: list[str] = []
+    base = f"/sys/bus/usb/devices/{bus_id}"
+    for iface in glob.glob(f"{base}/{bus_id}:*"):
+        driver_link = os.path.join(iface, "driver")
+        if not os.path.islink(driver_link):
+            continue
+        try:
+            driver = os.path.basename(os.readlink(driver_link))
+        except OSError:
+            continue
+        if driver == "snd-usb-audio":
+            bound.append(os.path.basename(iface))
+    return bound
+
+
+def _write_sysfs(path: str, value: str) -> tuple[bool, str]:
+    """Write `value` to a sysfs file. Returns (success, error_message).
+
+    Writes to /sys/bus/usb/drivers/snd-usb-audio/{bind,unbind} usually
+    require root. If permission denied, the caller should fall back to
+    invoking shell_scripts/reset_anker_usb.sh via sudo (one-time sudoers
+    setup documented in that script's header).
+    """
+    try:
+        with open(path, "w") as f:
+            f.write(value)
+        return True, ""
+    except PermissionError as exc:
+        return False, f"permission denied: {path} ({exc})"
+    except OSError as exc:
+        return False, f"write failed: {path} ({exc})"
+
+
+@router.post("/usb-reset")
+async def usb_reset_anker():
+    """HARD reset — unbind+rebind snd-usb-audio for the Anker (VID:PID
+    291a:3301). Forces the kernel to re-parse the USB Audio Class
+    descriptors, which is the only way to recover a missing capture profile
+    on this Jetson without a physical replug.
+
+    Tries two paths:
+      1. Direct sysfs write (no sudo) — works if a udev rule has set
+         `audio` group ownership / world-write on the snd-usb-audio bind
+         files, or if Sanad runs as root (it shouldn't).
+      2. Fallback to `sudo shell_scripts/reset_anker_usb.sh` — works after
+         a one-time sudoers entry; see that script's header for setup.
+
+    Refuses while Live Gemini or a record playback is in flight (same
+    guard as the soft reset).
+    """
+    if not _USB_RESET_LOCK.acquire(blocking=False):
+        raise HTTPException(429, "USB reset already in progress.")
+    try:
+        _refuse_if_busy()
+
+        # Find candidate Anker USB devices currently enumerated.
+        candidates: list[dict] = []
+        for tgt in _USB_RESET_TARGETS:
+            for bus_id in _find_usb_devices_by_vid_pid(tgt["vid"], tgt["pid"]):
+                candidates.append({"bus_id": bus_id, **tgt})
+        if not candidates:
+            wanted = ", ".join(
+                "{}:{}".format(t["vid"], t["pid"]) for t in _USB_RESET_TARGETS
+            )
+            raise HTTPException(
+                404,
+                f"No matching USB device found (looked for {wanted}). "
+                "Plug the Anker dongle and try again.",
+            )
+
+        log.info("usb reset: candidates=%s", candidates)
+
+        def _do() -> dict:
+            before_detected = [
+                p.get("profile", {}).get("id")
+                for p in (ad.detect_plugged_profiles() or [])
+            ]
+            results: list[dict] = []
+            for cand in candidates:
+                bus = cand["bus_id"]
+                ifaces = _snd_usb_interfaces_for_device(bus)
+                attempt = {"bus_id": bus, "label": cand["label"],
+                           "snd_interfaces": ifaces, "method": None,
+                           "ok": False, "error": ""}
+                if not ifaces:
+                    attempt["error"] = ("no snd-usb-audio interfaces bound "
+                                        "to this device — already unbound or "
+                                        "kernel didn't claim it")
+                    results.append(attempt)
+                    continue
+
+                # ─── Path 1: direct sysfs write ───
+                unbind_path = "/sys/bus/usb/drivers/snd-usb-audio/unbind"
+                bind_path = "/sys/bus/usb/drivers/snd-usb-audio/bind"
+                direct_ok = True
+                direct_err = ""
+                for iface in ifaces:
+                    ok, err = _write_sysfs(unbind_path, iface)
+                    if not ok:
+                        direct_ok = False
+                        direct_err = err
+                        break
+                if direct_ok:
+                    import time as _time
+                    _time.sleep(0.5)
+                    for iface in ifaces:
+                        ok, err = _write_sysfs(bind_path, iface)
+                        if not ok:
+                            direct_ok = False
+                            direct_err = err
+                            break
+                if direct_ok:
+                    attempt.update({"method": "direct-sysfs", "ok": True})
+                    results.append(attempt)
+                    continue
+
+                # ─── Path 2: sudo helper script ───
+                from pathlib import Path as _Path
+                helper = (_Path(__file__).resolve().parent.parent.parent
+                          / "shell_scripts" / "reset_anker_usb.sh")
+                if not helper.exists():
+                    attempt.update({"method": "direct-sysfs",
+                                    "error": f"{direct_err}; helper not present "
+                                             f"at {helper}"})
+                    results.append(attempt)
+                    continue
+                try:
+                    r = subprocess.run(
+                        ["sudo", "-n", str(helper), bus],
+                        check=False, capture_output=True, text=True, timeout=10.0,
+                    )
+                    attempt["method"] = "sudo-helper"
+                    if r.returncode == 0:
+                        attempt["ok"] = True
+                    else:
+                        attempt["error"] = (
+                            f"sudo helper exited {r.returncode}: "
+                            f"{(r.stderr or r.stdout or '').strip()[:300]}"
+                        )
+                except subprocess.TimeoutExpired:
+                    attempt["error"] = "sudo helper timed out (>10s)"
+                except FileNotFoundError as exc:
+                    attempt["error"] = f"sudo not available: {exc}"
+                results.append(attempt)
+
+            # Settle, then re-detect
+            import time as _time
+            _time.sleep(1.0)
+            try:
+                ad.apply_current_selection()
+            except Exception:
+                pass
+            try:
+                from Project.Sanad.main import audio_mgr
+                if audio_mgr is not None and hasattr(audio_mgr, "refresh_devices"):
+                    audio_mgr.refresh_devices()
+            except Exception:
+                pass
+
+            after_detected = [
+                p.get("profile", {}).get("id")
+                for p in (ad.detect_plugged_profiles() or [])
+            ]
+            any_ok = any(r.get("ok") for r in results)
+            mic_now = any(
+                "anker" in (p.get("profile", {}).get("id") or "").lower()
+                for p in (ad.detect_plugged_profiles() or [])
+            )
+
+            return {
+                "ok": any_ok,
+                "candidates": results,
+                "before_detected_profiles": before_detected,
+                "after_detected_profiles": after_detected,
+                "input_recovered": mic_now,
+                "hint": (
+                    "If ok is False, the unbind/rebind path needs sudo. "
+                    "Run `bash shell_scripts/reset_anker_usb.sh --setup-sudoers` "
+                    "once on the robot to install the sudoers entry, then retry."
+                ) if not any_ok else None,
+            }
+
+        return await asyncio.to_thread(_do)
+    finally:
+        _USB_RESET_LOCK.release()

dashboard/routes/controller.py

@@ -0,0 +1,295 @@
+"""Controller tab — manual dashboard locomotion control (N2 Phase 1/2).
+
+Routes live under /api/controller. All WRITE actions (move / step / postures /
+modes / MotionSwitcher) require the in-memory "Enable movement" arm flag and
+return 409 when disarmed. Reads (/status, /joints, /msc, /status/summary),
+E-STOP and the arm toggle are ALWAYS available.
+
+`/status/summary` is the aggregate the dashboard polls for the global subsystem
+status strip (Camera / Face / Place / Movement). It is kept under /api/controller
+(final path /api/controller/status/summary) so no second router is needed; note
+/api/status (no /summary) is already used by the SPA, so the suffix matters.
+"""
+
+from __future__ import annotations
+
+import asyncio
+
+from fastapi import APIRouter, HTTPException, Query
+from pydantic import BaseModel
+
+from Project.Sanad.config import BASE_DIR
+from Project.Sanad.core.logger import get_logger
+from Project.Sanad.vision import recognition_state
+
+log = get_logger("controller_routes")
+
+router = APIRouter()
+
+STATE_PATH = BASE_DIR / "data" / ".recognition_state.json"
+
+
+# ── lazy subsystem accessors ────────────────────────────────
+
+def _get_loco():
+    try:
+        from Project.Sanad.main import loco_controller  # type: ignore
+        return loco_controller
+    except Exception:
+        return None
+
+
+def _get_camera():
+    try:
+        from Project.Sanad.main import camera  # type: ignore
+        return camera
+    except Exception:
+        return None
+
+
+def _get_live_sub():
+    try:
+        from Project.Sanad.main import live_sub  # type: ignore
+        return live_sub
+    except Exception:
+        return None
+
+
+def _get_dispatch():
+    try:
+        from Project.Sanad.main import movement_dispatch  # type: ignore
+        return movement_dispatch
+    except Exception:
+        return None
+
+
+def _require_loco():
+    lc = _get_loco()
+    if lc is None:
+        raise HTTPException(503, "Locomotion controller subsystem unavailable.")
+    return lc
+
+
+def _require_armed(lc):
+    if not lc.is_armed():
+        raise HTTPException(409, "Movement is disarmed. Enable movement first.")
+
+
+# ── reads ───────────────────────────────────────────────────
+
+@router.get("/status")
+async def get_status():
+    lc = _require_loco()
+    return await asyncio.to_thread(lc.status)
+
+
+@router.get("/joints")
+async def get_joints():
+    lc = _require_loco()
+    return await asyncio.to_thread(lc.joints)
+
+
+@router.get("/msc")
+async def get_msc():
+    lc = _require_loco()
+    return await asyncio.to_thread(lc.msc_check)
+
+
+# ── arm flag / E-STOP (always available) ────────────────────
+
+@router.post("/arm")
+async def set_arm(on: bool = Query(...)):
+    lc = _require_loco()
+    res = await asyncio.to_thread(lc.arm_movement if on else lc.disarm_movement)
+    return res
+
+
+@router.post("/gemini-movement")
+async def set_gemini_movement(on: bool = Query(...)):
+    """Enable / disable Gemini voice-driven locomotion (N2 Phase 3 gate).
+
+    Writes recognition_state.movement_enabled — SEPARATE from the manual arm
+    flag. The Gemini child announces the toggle (spoken), and the parent
+    MovementDispatcher starts/stops acting on confirmation phrases. Default OFF.
+    """
+    st = await asyncio.to_thread(recognition_state.mutate, STATE_PATH,
+                                 movement_enabled=bool(on))
+    # Enabling Gemini movement also clears any E-STOP latch on the dispatcher.
+    if on:
+        md = _get_dispatch()
+        if md is not None:
+            try:
+                md.clear_estop()
+            except Exception:
+                log.exception("clear_estop failed")
+    log.info("gemini-movement %s", "ON" if on else "OFF")
+    return {"ok": True, "movement_enabled": st.movement_enabled}
+
+
+@router.post("/estop")
+async def estop():
+    lc = _require_loco()
+    res = await asyncio.to_thread(lc.estop)
+    # Full stop: drop the manual arm flag AND latch the voice dispatcher off, so
+    # no source (teleop, step, or voice dispatch) can keep driving the robot. The
+    # dispatcher latch is used instead of flipping movement_enabled so the Gemini
+    # child does not deliver a spoken "movement disabled" line during an E-STOP.
+    try:
+        await asyncio.to_thread(lc.disarm_movement)
+    except Exception:
+        log.exception("estop disarm failed")
+    md = _get_dispatch()
+    if md is not None:
+        try:
+            md.emergency_stop()
+        except Exception:
+            log.exception("estop dispatcher latch failed")
+    return {"ok": True, **res}
+
+
+@router.post("/stop")
+async def stop():
+    lc = _require_loco()
+    # Allowed even when disarmed — StopMove is always safe.
+    res = await asyncio.to_thread(lc.stop_move)
+    return res
+
+
+# ── movement (armed) ────────────────────────────────────────
+
+class MoveBody(BaseModel):
+    vx: float = 0.0
+    vy: float = 0.0
+    vyaw: float = 0.0
+    run: bool = False
+
+
+@router.post("/move")
+async def move(body: MoveBody):
+    lc = _require_loco()
+    _require_armed(lc)
+    return await asyncio.to_thread(lc.move, body.vx, body.vy, body.vyaw, body.run)
+
+
+@router.post("/step")
+async def step(dir: str = Query(...)):
+    lc = _require_loco()
+    _require_armed(lc)
+    res = await asyncio.to_thread(lc.step, dir)
+    if not res.get("ok"):
+        raise HTTPException(400, res.get("reason", "step failed"))
+    return res
+
+
+# ── modes / postures (armed) ────────────────────────────────
+
+@router.post("/mode/prep")
+async def mode_prep():
+    lc = _require_loco()
+    _require_armed(lc)
+    return await asyncio.to_thread(lc.prep_mode)
+
+
+@router.post("/mode/ready")
+async def mode_ready():
+    lc = _require_loco()
+    _require_armed(lc)
+    return await asyncio.to_thread(lc.ready_start_mode)
+
+
+@router.post("/posture/{name}")
+async def posture(name: str):
+    lc = _require_loco()
+    _require_armed(lc)
+    res = await asyncio.to_thread(lc.posture, name)
+    if not res.get("ok") and res.get("reason"):
+        raise HTTPException(400, res["reason"])
+    return res
+
+
+@router.post("/balance")
+async def balance(mode: int = Query(...)):
+    lc = _require_loco()
+    _require_armed(lc)
+    return await asyncio.to_thread(lc.set_balance_mode, mode)
+
+
+@router.post("/height")
+async def height(h: float = Query(...)):
+    lc = _require_loco()
+    _require_armed(lc)
+    return await asyncio.to_thread(lc.set_stand_height, h)
+
+
+# ── MotionSwitcher / reconnect (armed) ──────────────────────
+
+@router.post("/msc/select-ai")
+async def msc_select_ai():
+    lc = _require_loco()
+    _require_armed(lc)
+    return await asyncio.to_thread(lc.msc_select_ai)
+
+
+@router.post("/msc/release")
+async def msc_release():
+    lc = _require_loco()
+    _require_armed(lc)
+    return await asyncio.to_thread(lc.msc_release)
+
+
+@router.post("/reconnect")
+async def reconnect():
+    lc = _require_loco()
+    _require_armed(lc)
+    return await asyncio.to_thread(lc.reconnect)
+
+
+# ── aggregate subsystem summary (always available) ──────────
+
+@router.get("/status/summary")
+async def status_summary():
+    """Live on/off state for the header status strip. Never raises."""
+    try:
+        st = recognition_state.read(STATE_PATH)
+    except Exception:
+        st = recognition_state.RecognitionState()
+
+    cam = _get_camera()
+    camera_running = False
+    try:
+        camera_running = bool(cam is not None and cam.is_running())
+    except Exception:
+        camera_running = False
+
+    lc = _get_loco()
+    movement_armed = False
+    try:
+        movement_armed = bool(lc is not None and lc.is_armed())
+    except Exception:
+        movement_armed = False
+
+    sub = _get_live_sub()
+    gemini_running = False
+    try:
+        runner = getattr(sub, "is_running", None)
+        gemini_running = bool(callable(runner) and runner())
+    except Exception:
+        gemini_running = False
+
+    # Effective Gemini-movement = the file flag AND not latched off by an E-STOP.
+    md = _get_dispatch()
+    estopped = False
+    try:
+        estopped = bool(md is not None and md.is_estopped())
+    except Exception:
+        estopped = False
+
+    return {
+        "vision_enabled": st.vision_enabled,
+        "camera_running": camera_running,
+        "face_rec_enabled": st.face_rec_enabled,
+        "zone_rec_enabled": st.zone_rec_enabled,
+        "movement_armed": movement_armed,
+        "gemini_movement_enabled": st.movement_enabled and not estopped,
+        "gemini_running": gemini_running,
+    }

dashboard/routes/macros.py

@@ -15,6 +15,22 @@ log = get_logger("macros_route")
 router = APIRouter()
 
 
+def _block_if_movement_armed():
+    """409 when locomotion movement is armed — arm motion is mutually exclusive
+    with walking. The arm controller's motion-block is the safety net."""
+    try:
+        from Project.Sanad.main import loco_controller  # type: ignore
+        armed = loco_controller is not None and loco_controller.is_armed()
+    except HTTPException:
+        raise
+    except Exception:
+        return
+    if armed:
+        raise HTTPException(
+            409, "Arm actions are disabled while movement is enabled. "
+                 "Disable movement in the Controller tab first.")
+
+
 class MacroName(BaseModel):
     name: str
 
@@ -63,6 +79,7 @@ async def stop_recording():
 @router.post("/play")
 async def play_macro(payload: MacroName):
     from Project.Sanad.main import brain
+    _block_if_movement_armed()
     return await brain.play_macro(payload.name)
 
 
@@ -157,6 +174,8 @@ async def play_combined(payload: ComboPlayPayload):
     has_motion = payload.action_id is not None or bool(payload.motion_file)
     if not has_audio and not has_motion:
         raise HTTPException(400, "pick at least one of audio_file / action_id / motion_file")
+    if has_motion:
+        _block_if_movement_armed()   # audio-only combos still allowed while armed
 
     tasks = []
     result: dict = {

dashboard/routes/motion.py

@@ -10,6 +10,23 @@ from pydantic import BaseModel
 router = APIRouter()
 
 
+def _block_if_movement_armed():
+    """409 if locomotion movement is armed — arm actions are mutually exclusive
+    with walking. The arm controller's own motion-block is the safety net; this
+    just gives the dashboard a clear message instead of a silent no-op."""
+    try:
+        from Project.Sanad.main import loco_controller  # type: ignore
+        armed = loco_controller is not None and loco_controller.is_armed()
+    except HTTPException:
+        raise
+    except Exception:
+        return
+    if armed:
+        raise HTTPException(
+            409, "Arm actions are disabled while movement is enabled. "
+                 "Disable movement in the Controller tab first.")
+
+
 @router.get("/status")
 async def motion_status():
     from Project.Sanad.main import arm
@@ -33,6 +50,7 @@ async def trigger_action(payload: TriggerPayload):
     from Project.Sanad.main import arm
     if arm is None:
         raise HTTPException(503, "Arm controller not attached.")
+    _block_if_movement_armed()
 
     speed = max(0.1, min(payload.speed, 5.0))
 

dashboard/routes/records.py

@@ -111,8 +111,42 @@ async def play_record(payload: RecordPlay):
 
     from Project.Sanad.main import audio_mgr
     import asyncio
-    await asyncio.to_thread(audio_mgr.play_wav, raw_path)
+    # Fire-and-forget — play_wav blocks for the clip duration on the G1
-    return {"ok": True, "record_name": payload.record_name, "file_kind": payload.file_kind, "path": str(raw_path)}
+    # DDS path, and the dashboard's pause / resume / stop / status calls
+    # need to be served while it's running. Without this, /play wouldn't
+    # return until the clip finished and the UI couldn't interact with
+    # the in-flight playback.
+    asyncio.create_task(asyncio.to_thread(
+        audio_mgr.play_wav, raw_path, payload.record_name,
+    ))
+    return {"ok": True, "record_name": payload.record_name,
+            "file_kind": payload.file_kind, "path": str(raw_path)}
+
+
+@router.post("/pause")
+async def pause_playback():
+    from Project.Sanad.main import audio_mgr
+    return audio_mgr.pause_playback()
+
+
+@router.post("/resume")
+async def resume_playback():
+    from Project.Sanad.main import audio_mgr
+    return audio_mgr.resume_playback()
+
+
+@router.post("/stop")
+async def stop_playback():
+    from Project.Sanad.main import audio_mgr
+    import asyncio
+    await asyncio.to_thread(audio_mgr.stop_playback)
+    return {"ok": True, "stopped": True}
+
+
+@router.get("/playback-status")
+async def playback_status():
+    from Project.Sanad.main import audio_mgr
+    return audio_mgr.playback_status()
 
 
 class RecordRename(BaseModel):

dashboard/routes/replay.py

@@ -21,6 +21,22 @@ log = get_logger("replay_route")
 router = APIRouter()
 
 
+def _block_if_movement_armed():
+    """409 when locomotion movement is armed — arm motion (replay / teaching) is
+    mutually exclusive with walking."""
+    try:
+        from Project.Sanad.main import loco_controller  # type: ignore
+        armed = loco_controller is not None and loco_controller.is_armed()
+    except HTTPException:
+        raise
+    except Exception:
+        return
+    if armed:
+        raise HTTPException(
+            409, "Arm actions are disabled while movement is enabled. "
+                 "Disable movement in the Controller tab first.")
+
+
 # -- models --
 
 class ReplayRequest(BaseModel):
@@ -94,6 +110,7 @@ _BG_TASKS: set[asyncio.Task] = set()
 async def test_replay(payload: ReplayRequest):
     """Test-play a motion file at the given speed."""
     from Project.Sanad.main import arm
+    _block_if_movement_armed()
     if arm.is_busy:
         raise HTTPException(409, "Arm is busy.")
     path = safe_path_under(MOTIONS_DIR, payload.name)
@@ -142,6 +159,7 @@ async def start_teaching(payload: TeachRequest):
     from Project.Sanad.main import teacher
     if teacher is None:
         raise HTTPException(503, "Teaching module not available.")
+    _block_if_movement_armed()
     if teacher.is_recording:
         raise HTTPException(409, "Teaching session already active.")
     existing = MOTIONS_DIR / f"{payload.name}.jsonl"

dashboard/routes/temp_monitor.py

@@ -0,0 +1,67 @@
+"""REST endpoints backing the 3D motor-temperature dashboard (N1).
+
+Serves the motor name/mesh mapping + thresholds, and a one-shot temperature
+snapshot (the front-end's initial fetch fallback). The live stream is over
+/ws/motor-temps (dashboard/websockets/motor_temps.py). The 3D view itself is
+the static page at /static/temp3d/index.html.
+"""
+
+from __future__ import annotations
+
+import time
+
+from fastapi import APIRouter
+
+from Project.Sanad.dashboard.temp_motor_map import (
+    MOTOR_NAMES,
+    MOTOR_TO_MESH,
+    TEMP_HOT_THRESHOLD,
+    TEMP_MAX,
+    TEMP_MIN,
+    TEMP_WARM_THRESHOLD,
+    build_payload,
+)
+
+router = APIRouter()
+
+
+def _get_arm():
+    """Lazy import — avoids a circular import on dashboard load."""
+    try:
+        from Project.Sanad.main import arm  # type: ignore
+        return arm
+    except Exception:
+        return None
+
+
+@router.get("/mapping")
+async def motor_mapping():
+    """Motor id → name / mesh map + the temperature gradient thresholds."""
+    return {
+        "motor_names": MOTOR_NAMES,
+        "motor_to_mesh": MOTOR_TO_MESH,
+        "thresholds": {
+            "min": TEMP_MIN,
+            "max": TEMP_MAX,
+            "warm": TEMP_WARM_THRESHOLD,
+            "hot": TEMP_HOT_THRESHOLD,
+        },
+    }
+
+
+@router.get("/motors")
+async def motors_snapshot():
+    """One-shot motor temperature + position snapshot (Marcus payload shape)."""
+    arm = _get_arm()
+    temps: list = []
+    positions: list = []
+    if arm is not None:
+        try:
+            temps = arm.get_motor_temps()
+        except Exception:
+            temps = []
+        try:
+            positions = arm.get_current_q()
+        except Exception:
+            positions = []
+    return build_payload(temps, positions, time.time())

dashboard/routes/zones.py

@@ -0,0 +1,421 @@
+"""Zones tab — zone → place → linked-faces management + "go here" destination.
+
+Hierarchy (replaces the old flat places):
+  Zone (name + description)
+    └─ Place (name + description + optional reference photos + linked face ids)
+
+Routes live under /api/zones. Toggle + CRUD changes write
+data/.recognition_state.json (the SAME file faces use); the Gemini child polls
+it at 1 Hz and re-primes / announces mid-session. The "go here" endpoints set a
+navigation target the robot will head to once N2 locomotion is wired — for now
+they just record the target and feed Gemini the place's reference.
+"""
+
+from __future__ import annotations
+
+import io
+from typing import Optional
+
+from fastapi import APIRouter, File, HTTPException, Query, UploadFile
+from fastapi.responses import FileResponse, StreamingResponse
+from pydantic import BaseModel
+
+from Project.Sanad.config import BASE_DIR
+from Project.Sanad.core.logger import get_logger
+from Project.Sanad.dashboard.routes._safe_io import check_upload_size
+from Project.Sanad.vision import recognition_state
+
+log = get_logger("zones_routes")
+
+router = APIRouter()
+
+STATE_PATH = BASE_DIR / "data" / ".recognition_state.json"
+
+
+# ── lazy subsystem accessors ────────────────────────────────
+
+def _get_camera():
+    try:
+        from Project.Sanad.main import camera  # type: ignore
+        return camera
+    except Exception:
+        return None
+
+
+def _get_zone_gallery():
+    try:
+        from Project.Sanad.main import zone_gallery  # type: ignore
+        return zone_gallery
+    except Exception:
+        return None
+
+
+def _get_face_gallery():
+    try:
+        from Project.Sanad.main import gallery  # type: ignore
+        return gallery
+    except Exception:
+        return None
+
+
+def _require_zones():
+    g = _get_zone_gallery()
+    if g is None:
+        raise HTTPException(503, "Zone gallery subsystem unavailable.")
+    return g
+
+
+def _bump_zones_version() -> int:
+    cur = recognition_state.read(STATE_PATH)
+    v = cur.zones_version + 1
+    recognition_state.mutate(STATE_PATH, zones_version=v)
+    return v
+
+
+def _validate_image(content: bytes, filename: str | None = None) -> None:
+    check_upload_size(content)
+    if len(content) < 16:
+        raise HTTPException(400, "Image too small / empty.")
+    if not (content[:3] == b"\xff\xd8\xff" or content[:8] == b"\x89PNG\r\n\x1a\n"):
+        raise HTTPException(400, f"Only JPEG/PNG accepted (got {filename or 'unknown'}).")
+
+
+def _safe_photo_name(name: str) -> None:
+    if "/" in name or ".." in name or "\x00" in name:
+        raise HTTPException(400, "Invalid photo name.")
+
+
+def _resolve_faces(face_ids: list[int]) -> list[dict]:
+    """Turn linked face ids into [{id, name}] using the face gallery."""
+    g = _get_face_gallery()
+    out = []
+    for fid in face_ids:
+        name = None
+        if g is not None:
+            try:
+                e = g.get(fid)
+                name = e.name if e else None
+            except Exception:
+                name = None
+        out.append({"id": fid, "name": name})
+    return out
+
+
+def _place_to_dict(p) -> dict:
+    d = p.to_dict()
+    d["faces"] = _resolve_faces(p.face_ids)
+    return d
+
+
+def _zone_to_dict(z) -> dict:
+    return {
+        "id": z.id, "name": z.name, "description": z.description,
+        "added_at": z.added_at,
+        "places": [_place_to_dict(p) for p in z.places],
+    }
+
+
+def _nav_target_dict(st, gallery) -> Optional[dict]:
+    zid, pid = st.nav_target_zone_id, st.nav_target_place_id
+    if not zid or not pid:
+        return None
+    zone_name = place_name = None
+    if gallery is not None:
+        try:
+            z = gallery.get_zone(zid)
+            zone_name = z.name if z else None
+            p = gallery.get_place(zid, pid)
+            place_name = p.name if p else None
+        except Exception:
+            pass
+    return {"zone_id": zid, "place_id": pid,
+            "zone_name": zone_name, "place_name": place_name}
+
+
+# ── state + toggle ──────────────────────────────────────────
+
+@router.get("/state")
+async def get_state():
+    st = recognition_state.read(STATE_PATH)
+    g = _get_zone_gallery()
+    zones_count = places_count = 0
+    if g is not None:
+        try:
+            zones = g.list_zones()
+            zones_count = len(zones)
+            places_count = sum(len(z.places) for z in zones)
+        except Exception:
+            pass
+    return {
+        "zone_rec_enabled": st.zone_rec_enabled,
+        "zones_version": st.zones_version,
+        "zones_count": zones_count,
+        "places_count": places_count,
+        "nav_target": _nav_target_dict(st, g),
+    }
+
+
+@router.post("/zone-rec")
+async def set_zone_rec(on: bool = Query(...)):
+    """Enable / disable the robot's knowledge of zones & places (hot)."""
+    st = recognition_state.mutate(STATE_PATH, zone_rec_enabled=bool(on))
+    log.info("zone recognition %s", "ON" if on else "OFF")
+    return {"ok": True, "zone_rec_enabled": st.zone_rec_enabled}
+
+
+@router.post("/sync")
+async def sync_zones():
+    v = _bump_zones_version()
+    log.info("zones sync requested → v.%d", v)
+    return {"ok": True, "zones_version": v}
+
+
+# ── zones CRUD ──────────────────────────────────────────────
+
+class NamePayload(BaseModel):
+    name: Optional[str] = None
+
+
+class DescribePayload(BaseModel):
+    description: Optional[str] = None
+
+
+class FacesPayload(BaseModel):
+    face_ids: list[int] = []
+
+
+@router.get("")
+async def list_zones():
+    g = _require_zones()
+    zones = g.list_zones()
+    return {"zones": [_zone_to_dict(z) for z in zones], "total": len(zones)}
+
+
+@router.post("/create")
+async def create_zone(name: Optional[str] = Query(default=None),
+                      description: Optional[str] = Query(default=None)):
+    g = _require_zones()
+    if not (name or "").strip() and not (description or "").strip():
+        raise HTTPException(400, "A zone needs at least a name or a description.")
+    z = g.create_zone(name=name, description=description)
+    _bump_zones_version()
+    return {"ok": True, "zone": _zone_to_dict(z)}
+
+
+@router.post("/{zone_id}/rename")
+async def rename_zone(zone_id: int, payload: NamePayload):
+    g = _require_zones()
+    try:
+        g.rename_zone(zone_id, payload.name)
+    except FileNotFoundError as exc:
+        raise HTTPException(404, str(exc))
+    _bump_zones_version()
+    return {"ok": True, "zone": _zone_to_dict(g.get_zone(zone_id))}
+
+
+@router.post("/{zone_id}/describe")
+async def describe_zone(zone_id: int, payload: DescribePayload):
+    g = _require_zones()
+    try:
+        g.describe_zone(zone_id, payload.description)
+    except FileNotFoundError as exc:
+        raise HTTPException(404, str(exc))
+    _bump_zones_version()
+    return {"ok": True, "zone": _zone_to_dict(g.get_zone(zone_id))}
+
+
+@router.delete("/{zone_id}")
+async def delete_zone(zone_id: int):
+    g = _require_zones()
+    try:
+        g.delete_zone(zone_id)
+    except FileNotFoundError as exc:
+        raise HTTPException(404, str(exc))
+    # If the active destination was inside this zone, clear it.
+    st = recognition_state.read(STATE_PATH)
+    if st.nav_target_zone_id == zone_id:
+        recognition_state.mutate(STATE_PATH, nav_target_zone_id=0, nav_target_place_id=0)
+    _bump_zones_version()
+    return {"ok": True, "deleted": zone_id}
+
+
+# ── places CRUD (within a zone) ─────────────────────────────
+
+@router.post("/{zone_id}/places/create")
+async def create_place(
+    zone_id: int,
+    name: Optional[str] = Query(default=None),
+    description: Optional[str] = Query(default=None),
+    face_ids: list[int] = Query(default=[]),
+    files: Optional[list[UploadFile]] = File(default=None),
+):
+    g = _require_zones()
+    if g.get_zone(zone_id) is None:
+        raise HTTPException(404, f"zone_{zone_id} not found")
+    if not (name or "").strip() and not (description or "").strip():
+        raise HTTPException(400, "A place needs at least a name or a description.")
+    image_bytes: list[bytes] = []
+    for f in (files or []):
+        content = await f.read()
+        if not content:
+            continue
+        _validate_image(content, f.filename)
+        image_bytes.append(content)
+    p = g.create_place(zone_id, name=name, description=description,
+                       face_ids=face_ids, image_bytes_list=image_bytes or None)
+    _bump_zones_version()
+    return {"ok": True, "place": _place_to_dict(p)}
+
+
+@router.post("/{zone_id}/places/{place_id}/rename")
+async def rename_place(zone_id: int, place_id: int, payload: NamePayload):
+    g = _require_zones()
+    try:
+        g.rename_place(zone_id, place_id, payload.name)
+    except FileNotFoundError as exc:
+        raise HTTPException(404, str(exc))
+    _bump_zones_version()
+    return {"ok": True, "place": _place_to_dict(g.get_place(zone_id, place_id))}
+
+
+@router.post("/{zone_id}/places/{place_id}/describe")
+async def describe_place(zone_id: int, place_id: int, payload: DescribePayload):
+    g = _require_zones()
+    try:
+        g.describe_place(zone_id, place_id, payload.description)
+    except FileNotFoundError as exc:
+        raise HTTPException(404, str(exc))
+    _bump_zones_version()
+    return {"ok": True, "place": _place_to_dict(g.get_place(zone_id, place_id))}
+
+
+@router.post("/{zone_id}/places/{place_id}/faces")
+async def set_place_faces(zone_id: int, place_id: int, payload: FacesPayload):
+    """Replace the set of saved faces linked to this place."""
+    g = _require_zones()
+    try:
+        g.set_place_faces(zone_id, place_id, payload.face_ids)
+    except FileNotFoundError as exc:
+        raise HTTPException(404, str(exc))
+    _bump_zones_version()
+    return {"ok": True, "place": _place_to_dict(g.get_place(zone_id, place_id))}
+
+
+@router.post("/{zone_id}/places/{place_id}/capture")
+async def capture_to_place(zone_id: int, place_id: int):
+    g = _require_zones()
+    cam = _get_camera()
+    if cam is None or not cam.is_running():
+        raise HTTPException(409, "Camera is not running. Toggle Vision ON first.")
+    jpeg = cam.get_fresh_frame(max_age_s=0.5, timeout_s=1.5)
+    if not jpeg:
+        raise HTTPException(409, "Camera has no frame yet.")
+    try:
+        fname = g.add_photo(zone_id, place_id, jpeg)
+    except FileNotFoundError as exc:
+        raise HTTPException(404, str(exc))
+    _bump_zones_version()
+    return {"ok": True, "added": fname, "place": _place_to_dict(g.get_place(zone_id, place_id))}
+
+
+@router.post("/{zone_id}/places/{place_id}/upload")
+async def upload_to_place(zone_id: int, place_id: int,
+                          files: list[UploadFile] = File(...)):
+    g = _require_zones()
+    if g.get_place(zone_id, place_id) is None:
+        raise HTTPException(404, f"zone_{zone_id}/place_{place_id} not found")
+    added: list[str] = []
+    for f in files:
+        content = await f.read()
+        _validate_image(content, f.filename)
+        try:
+            added.append(g.add_photo(zone_id, place_id, content))
+        except FileNotFoundError as exc:
+            raise HTTPException(404, str(exc))
+    _bump_zones_version()
+    return {"ok": True, "added": added, "place": _place_to_dict(g.get_place(zone_id, place_id))}
+
+
+@router.delete("/{zone_id}/places/{place_id}")
+async def delete_place(zone_id: int, place_id: int):
+    g = _require_zones()
+    try:
+        g.delete_place(zone_id, place_id)
+    except FileNotFoundError as exc:
+        raise HTTPException(404, str(exc))
+    st = recognition_state.read(STATE_PATH)
+    if st.nav_target_zone_id == zone_id and st.nav_target_place_id == place_id:
+        recognition_state.mutate(STATE_PATH, nav_target_zone_id=0, nav_target_place_id=0)
+    _bump_zones_version()
+    return {"ok": True, "deleted": place_id}
+
+
+@router.delete("/{zone_id}/places/{place_id}/photo/{photo_name}")
+async def delete_place_photo(zone_id: int, place_id: int, photo_name: str):
+    g = _require_zones()
+    _safe_photo_name(photo_name)
+    try:
+        g.delete_photo(zone_id, place_id, photo_name)
+    except FileNotFoundError as exc:
+        raise HTTPException(404, str(exc))
+    _bump_zones_version()
+    return {"ok": True, "deleted": photo_name}
+
+
+@router.get("/{zone_id}/places/{place_id}/photo/{photo_name}")
+async def get_place_photo(zone_id: int, place_id: int, photo_name: str,
+                          download: int = Query(default=0)):
+    g = _require_zones()
+    _safe_photo_name(photo_name)
+    path = g.get_photo(zone_id, place_id, photo_name)
+    if path is None:
+        raise HTTPException(404, "Photo not found.")
+    media = "image/png" if path.suffix.lower() == ".png" else "image/jpeg"
+    headers = {}
+    if download:
+        headers["Content-Disposition"] = (
+            f'attachment; filename="zone_{zone_id}_place_{place_id}_{photo_name}"')
+    return FileResponse(path, media_type=media, headers=headers)
+
+
+@router.get("/{zone_id}/places/{place_id}/download.zip")
+async def download_place_zip(zone_id: int, place_id: int):
+    g = _require_zones()
+    try:
+        data = g.zip_place(zone_id, place_id)
+    except FileNotFoundError as exc:
+        raise HTTPException(404, str(exc))
+    return StreamingResponse(
+        io.BytesIO(data), media_type="application/zip",
+        headers={
+            "Content-Disposition": f'attachment; filename="zone_{zone_id}_place_{place_id}.zip"',
+            "Content-Length": str(len(data)),
+        },
+    )
+
+
+# ── "go here" navigation target ─────────────────────────────
+
+@router.post("/{zone_id}/places/{place_id}/go")
+async def go_to_place(zone_id: int, place_id: int):
+    """Set this place as the active destination. Records the target and lets
+    the Gemini child pick it up (reference photo + goal). Actual robot motion
+    is wired by N2 locomotion — until then this just establishes the goal."""
+    g = _require_zones()
+    p = g.get_place(zone_id, place_id)
+    if p is None:
+        raise HTTPException(404, f"zone_{zone_id}/place_{place_id} not found")
+    recognition_state.mutate(STATE_PATH,
+                             nav_target_zone_id=zone_id,
+                             nav_target_place_id=place_id)
+    log.info("nav target set → zone_%d/place_%d (%s)", zone_id, place_id,
+             p.name or "(unnamed)")
+    return {"ok": True, "nav_target": {"zone_id": zone_id, "place_id": place_id,
+                                       "place_name": p.name}}
+
+
+@router.post("/nav/clear")
+async def clear_nav_target():
+    recognition_state.mutate(STATE_PATH, nav_target_zone_id=0, nav_target_place_id=0)
+    log.info("nav target cleared")
+    return {"ok": True, "nav_target": None}

dashboard/static/index.html

@@ -5,7 +5,7 @@
   <meta name="viewport" content="width=device-width, initial-scale=1">
   <title>Sanad Dashboard</title>
   <style>
-    :root{--bg:#0a0f1a;--panel:#111827;--panel2:#1a2332;--accent:#0ea5e9;--accent2:#6366f1;--text:#e2e8f0;--muted:#64748b;--dim:#475569;--danger:#ef4444;--success:#22c55e;--warn:#f59e0b;--border:#1e293b;--glow:0 0 20px rgba(14,165,233,.08);--radius:12px}
+    :root{--bg:#0a0f1a;--panel:#111827;--panel2:#1a2332;--accent:#0ea5e9;--accent2:#6366f1;--text:#e2e8f0;--muted:#64748b;--dim:#475569;--danger:#ef4444;--success:#22c55e;--warn:#f59e0b;--border:#1e293b;--glow:0 0 20px rgba(14,165,233,.08);--radius:12px;--err:#ef4444}
     *{box-sizing:border-box;margin:0;padding:0}
     body{font-family:'Inter','Segoe UI',system-ui,sans-serif;background:var(--bg);color:var(--text);min-height:100vh}
     /* Header */
@@ -17,6 +17,16 @@
     .hdr-badge{padding:2px 7px;border-radius:4px;font-size:.68rem;font-weight:600;text-transform:uppercase;letter-spacing:.04em}
     .hdr-badge-err{background:rgba(239,68,68,.15);color:var(--danger);border:1px solid rgba(239,68,68,.3)}
     .hdr-badge-ok{background:rgba(34,197,94,.12);color:var(--success);border:1px solid rgba(34,197,94,.25)}
+    /* N2 — global subsystem status strip + Controller tab */
+    .status-pills{display:flex;gap:.45rem;align-items:center;padding:.3rem 1.5rem;background:var(--panel);border-bottom:1px solid var(--border);flex-wrap:wrap}
+    .pill-off{background:rgba(100,116,139,.12);color:var(--muted);border:1px solid var(--border)}
+    .pill-on{background:rgba(34,197,94,.14);color:var(--success);border:1px solid rgba(34,197,94,.3)}
+    .pill-soon{opacity:.45;cursor:not-allowed;background:rgba(100,116,139,.08);color:var(--muted);border:1px dashed var(--border)}
+    .steppad{display:grid;grid-template-columns:repeat(3,1fr);gap:.3rem;max-width:230px}
+    .steppad button{font-size:1rem;padding:.5rem 0}
+    .ctrl-strip{padding-left:0;border:none;background:transparent}
+    .motion-locked{opacity:.5;pointer-events:none;filter:grayscale(.4)}
+    #motion-lock-banner{display:none;align-items:center;gap:.5rem;margin-bottom:.6rem;padding:.5rem .7rem;background:rgba(245,158,11,.12);border:1px solid rgba(245,158,11,.35);border-radius:8px;color:var(--warn);font-size:.74rem}
     #estop{background:var(--danger);color:#fff;border:none;padding:.35rem .9rem;border-radius:6px;font-weight:700;font-size:.75rem;cursor:pointer;letter-spacing:.03em;box-shadow:0 0 12px rgba(239,68,68,.3);transition:all .15s}
     #estop:hover{box-shadow:0 0 20px rgba(239,68,68,.5);transform:scale(1.04)}
     /* Tabs */
@@ -118,13 +128,24 @@
   </div>
 </header>
 
+<!-- N2 — global subsystem status strip (visible on every tab) -->
+<div id="status-pills" class="status-pills">
+  <span class="hdr-badge pill-off" id="pill-camera" title="Camera / vision">CAM</span>
+  <span class="hdr-badge pill-off" id="pill-face" title="Face recognition">FACE</span>
+  <span class="hdr-badge pill-off" id="pill-place" title="Place / zone recognition">PLACE</span>
+  <span class="hdr-badge pill-off" id="pill-movement" title="Movement (manual locomotion armed)">MOVE</span>
+</div>
+
 <!-- Tabs -->
 <div class="tabs">
   <div class="tab active" onclick="switchTab('operations')">Operations</div>
   <div class="tab" onclick="switchTab('voice')">Voice & Audio</div>
   <div class="tab" onclick="switchTab('motion')">Motion & Replay</div>
+  <div class="tab" onclick="switchTab('controller')">Controller</div>
   <div class="tab" onclick="switchTab('recognition')">Recognition</div>
   <div class="tab" onclick="switchTab('recordings')">Recordings</div>
+  <div class="tab" onclick="switchTab('temp')">Temperature</div>
+  <div class="tab" onclick="switchTab('terminal')">Terminal</div>
   <div class="tab" onclick="switchTab('settings')">Settings & Logs</div>
 </div>
 
@@ -193,6 +214,8 @@
         </select>
         <button class="btn btn-primary btn-sm" onclick="applyAudioProfile(this)" title="Apply selected profile to PulseAudio">Apply</button>
         <button class="btn btn-ghost btn-sm" onclick="scanAudioDevices(this)" title="Scan all USB ports for audio devices">Scan</button>
+        <button class="btn btn-ghost btn-sm" onclick="resetAudioSubsystem(this)" title="SOFT reset: restart PulseAudio/pipewire-pulse. Use when devices look stuck. Does NOT recover a missing USB mic — for that use USB Reset.">Reset PA</button>
+        <button class="btn btn-ghost btn-sm" onclick="usbResetAnker(this)" title="HARD reset: unbind+rebind snd-usb-audio for the Anker (VID:PID 291a:3301). Use when Anker is plugged but the mic profile is missing from pactl. Needs a one-time sudoers setup — see hint in the error toast if it fails." style="color:var(--warn,#f5a623)">USB Reset</button>
       </div>
       <div id="audio-detected" style="margin-top:.3rem;font-size:.65rem;color:var(--dim)"></div>
     </div>
@@ -350,7 +373,8 @@
 
 <!-- ==================== TAB: Motion & Replay ==================== -->
 <div class="tab-content" id="tab-motion">
-<div class="grid">
+<div id="motion-lock-banner">🔒 Arm actions are disabled while <b>movement</b> is enabled (Controller tab). Disable movement to replay / trigger / teach.</div>
+<div class="grid" id="motion-grid">
 
   <!-- Full Motion Control -->
   <div class="card card-full">
@@ -552,9 +576,170 @@
     <div id="rec-faces-list" style="margin-top:.6rem"><div class="empty">Loading…</div></div>
   </div>
 
+  <!-- Zone Recognition toggle + active destination -->
+  <div class="card card-full">
+    <h3>Zones &amp; Places</h3>
+    <div class="row" style="gap:1rem;flex-wrap:wrap;align-items:center">
+      <div class="row" style="gap:.4rem">
+        <label style="min-width:7rem">Zone Recognition</label>
+        <label class="switch">
+          <input type="checkbox" id="rec-zonerec-toggle" onchange="setZoneRecEnabled(this.checked)">
+          <span class="slider"></span>
+        </label>
+        <span id="rec-zonerec-status" class="badge" style="margin-left:.5rem">--</span>
+      </div>
+      <button class="btn btn-ghost btn-sm" onclick="syncZones(this)" title="Re-send zones/places to live Gemini session">↻ Sync</button>
+      <span style="margin-left:auto;font-size:.65rem;color:var(--dim)" id="rec-zones-version"></span>
+    </div>
+    <div class="row" style="margin-top:.5rem;gap:.4rem;align-items:center">
+      <span style="font-size:.72rem;color:var(--dim)">Destination:</span>
+      <span id="rec-nav-target" style="font-size:.78rem">none</span>
+      <button class="btn btn-ghost btn-sm" id="rec-nav-clear" onclick="clearNavTarget(this)" style="display:none">Clear destination</button>
+    </div>
+    <div style="margin-top:.4rem;font-size:.7rem;color:var(--dim)">
+      Group locations into <b>zones</b>, add <b>places</b> inside each (name + description +
+      optional reference photos), and link saved <b>faces</b> to a place. “Go here” sets a
+      destination and shows Gemini the place — the robot drives there once movement
+      (locomotion) is enabled.
+    </div>
+  </div>
+
+  <!-- Add New Zone -->
+  <div class="card card-full">
+    <h3>Add New Zone</h3>
+    <div class="row" style="flex-wrap:wrap;gap:.4rem">
+      <input id="rec-newzone-name" placeholder="Zone name (e.g. Ground Floor)" style="flex:1;min-width:12rem">
+      <input id="rec-newzone-desc" placeholder="Description (optional)" style="flex:2;min-width:12rem">
+      <button class="btn btn-success btn-sm" onclick="createZone(this)">＋ Add zone</button>
+    </div>
+  </div>
+
+  <!-- Zones list -->
+  <div class="card card-full">
+    <h3>Zones <span id="rec-zones-count" style="font-weight:normal;color:var(--dim);font-size:.75rem"></span></h3>
+    <div class="row">
+      <button class="btn btn-ghost btn-sm" onclick="refreshZones()">↻ Refresh</button>
+    </div>
+    <div id="rec-zones-list" style="margin-top:.6rem"><div class="empty">Loading…</div></div>
+  </div>
+
 </div>
 </div>
 
+<!-- ==================== TAB: Temperature ==================== -->
+<div class="tab-content" id="tab-temp">
+  <div class="card card-full" style="padding:0;overflow:hidden">
+    <iframe id="temp3d-frame" title="G1 Motor Temperature (3D)"
+            style="width:100%;height:80vh;border:0;display:block;background:#0b0d12"
+            src="about:blank"></iframe>
+  </div>
+  <div style="margin-top:.4rem;font-size:.65rem;color:var(--dim)">
+    Live motor surface/winding temperatures from <code>rt/lowstate</code> on the full
+    G1 (29 DOF). Blue ≈ 30&deg;C → red ≈ 120&deg;C. Drag to orbit, scroll to zoom.
+    Streamed over <code>/ws/motor-temps</code> — no second DDS subscriber.
+  </div>
+</div>
+
+<!-- ==================== TAB: Controller (N2) ==================== -->
+<div class="tab-content" id="tab-controller">
+
+  <!-- Sticky status bar -->
+  <div class="card card-full" id="ctrl-statusbar" style="position:sticky;top:0;z-index:50">
+    <div class="row" style="justify-content:space-between;flex-wrap:wrap;gap:.5rem">
+      <div class="row" style="gap:.6rem;align-items:center">
+        <span class="badge" id="ctrl-fsm-badge">FSM —</span>
+        <span class="dot" id="ctrl-ready-dot"></span><span id="ctrl-ready-text" style="font-size:.72rem">unknown</span>
+        <span class="badge badge-info" id="ctrl-msc-badge">MSC —</span>
+        <span class="badge" id="ctrl-sdk-badge">SDK —</span>
+      </div>
+      <div class="row" style="gap:.8rem;align-items:center">
+        <label class="row" style="margin:0;gap:.4rem;align-items:center;text-transform:none">
+          <input type="checkbox" id="ctrl-arm-toggle" style="width:auto" onchange="ctrlSetArmed(this.checked)"> Enable movement
+        </label>
+        <label class="row" style="margin:0;gap:.4rem;align-items:center;text-transform:none" title="Voice-driven locomotion — Gemini moves the robot when asked (EN/AR)">
+          <input type="checkbox" id="ctrl-gmove-toggle" style="width:auto" onchange="ctrlSetGeminiMove(this.checked)"> Enable Gemini movement
+        </label>
+        <button class="btn btn-danger" onclick="ctrlEstop(this)">E-STOP</button>
+      </div>
+    </div>
+    <!-- mirrored subsystem strip + coming-soon gates -->
+    <div class="status-pills ctrl-strip" style="margin-top:.5rem">
+      <span class="hdr-badge pill-off" id="ctrl-pill-camera">CAM</span>
+      <span class="hdr-badge pill-off" id="ctrl-pill-face">FACE</span>
+      <span class="hdr-badge pill-off" id="ctrl-pill-place">PLACE</span>
+      <span class="hdr-badge pill-off" id="ctrl-pill-movement">MOVE</span>
+      <span class="hdr-badge pill-off" id="ctrl-pill-gmove" title="Gemini voice-driven locomotion">GEMINI-MOVE</span>
+      <span class="hdr-badge pill-soon" title="Phase 4 — autonomous navigation">EXPLORE · soon</span>
+    </div>
+    <div style="font-size:.66rem;color:var(--dim);margin-top:.45rem">
+      Manual operator control. Robot is assumed standing in walking mode — use <b>Ready/Start</b> only if needed.
+      All controls below are locked until <b>Enable movement</b> is on; <b>E-STOP</b> always works.
+      While movement is on, arm replays/actions are disabled (and vice-versa).
+    </div>
+  </div>
+
+  <div class="grid">
+    <!-- Locomotion / Teleop -->
+    <div class="card">
+      <h3>Locomotion / Teleop</h3>
+      <div style="font-size:.68rem;color:var(--muted);margin-bottom:.4rem">Discrete step pad</div>
+      <div id="ctrl-steppad" class="steppad">
+        <button class="btn btn-ghost" onclick="ctrlStep('rotate_left',this)" title="Rotate left">⟲</button>
+        <button class="btn btn-ghost" onclick="ctrlStep('forward',this)" title="Forward">▲</button>
+        <button class="btn btn-ghost" onclick="ctrlStep('rotate_right',this)" title="Rotate right">⟳</button>
+        <button class="btn btn-ghost" onclick="ctrlStep('slide_left',this)" title="Slide left">◀</button>
+        <button class="btn btn-danger" onclick="ctrlStop(this)" title="Stop">■</button>
+        <button class="btn btn-ghost" onclick="ctrlStep('slide_right',this)" title="Slide right">▶</button>
+        <button class="btn btn-ghost" style="visibility:hidden"></button>
+        <button class="btn btn-ghost" onclick="ctrlStep('backward',this)" title="Backward">▼</button>
+        <button class="btn btn-ghost" style="visibility:hidden"></button>
+      </div>
+      <div class="row" style="margin-top:.7rem;flex-wrap:wrap;gap:.5rem;align-items:center">
+        <button class="btn btn-primary" id="ctrl-teleop-btn" onclick="ctrlToggleTeleop()">Start teleop (WASD / Q-E)</button>
+        <label class="row" style="margin:0;gap:.35rem;align-items:center;text-transform:none"><input type="checkbox" id="ctrl-run-toggle" style="width:auto"> Run (1.2)</label>
+      </div>
+      <div id="ctrl-vel-readout" style="font-size:.7rem;color:var(--muted);margin-top:.4rem">vx 0.00 · vy 0.00 · ω 0.00</div>
+      <div style="font-size:.64rem;color:var(--dim);margin-top:.25rem">W/S forward·back · Q/E strafe · A/D rotate · Space halt</div>
+    </div>
+
+    <!-- Postures & Modes -->
+    <div class="card">
+      <h3>Postures &amp; Modes</h3>
+      <div class="row" style="flex-wrap:wrap;gap:.3rem">
+        <button class="btn btn-ghost" onclick="ctrlMode('prep',this)" title="StopMove→Damp→StandUp→height ramp">PREP</button>
+        <button class="btn btn-primary" onclick="ctrlMode('ready',this)" title="PREP + Start (FSM 200)">READY / START</button>
+        <button class="btn btn-ghost" onclick="ctrlPosture('stand_up',this)">StandUp</button>
+        <button class="btn btn-ghost" onclick="ctrlPosture('squat',this)">Squat</button>
+        <button class="btn btn-ghost" onclick="ctrlPosture('sit',this)">Sit</button>
+        <button class="btn btn-ghost" onclick="ctrlPosture('low_stand',this)">LowStand</button>
+        <button class="btn btn-ghost" onclick="ctrlPosture('high_stand',this)">HighStand</button>
+        <button class="btn btn-ghost" onclick="ctrlPosture('lie_to_stand',this)">Lie→Stand</button>
+        <button class="btn btn-danger" onclick="ctrlPosture('damp',this)">Damp</button>
+        <button class="btn btn-danger" onclick="ctrlPosture('zero_torque',this)">ZeroTorque</button>
+      </div>
+    </div>
+
+    <!-- MotionSwitcher / Low-Level -->
+    <div class="card">
+      <h3>MotionSwitcher / Low-Level</h3>
+      <div class="row" style="flex-wrap:wrap;gap:.3rem">
+        <button class="btn btn-ghost" onclick="ctrlMscSelectAi(this)">Select AI</button>
+        <button class="btn btn-ghost" onclick="ctrlMscRelease(this)">Release</button>
+        <button class="btn btn-ghost" onclick="ctrlMscShow(this)">Show mode</button>
+        <button class="btn btn-ghost" onclick="ctrlBalance(0,this)">Balance: static</button>
+        <button class="btn btn-ghost" onclick="ctrlBalance(1,this)">Balance: gait</button>
+        <button class="btn btn-ghost" onclick="ctrlReconnect(this)">Reconnect</button>
+      </div>
+    </div>
+
+    <!-- Diagnostics -->
+    <div class="card">
+      <h3>Diagnostics — joints 12–28</h3>
+      <pre id="ctrl-joints" style="font-size:.66rem;max-height:240px;overflow:auto;background:var(--panel2);border-radius:6px;padding:.5rem;margin:0"></pre>
+    </div>
+  </div>
+</div>
+
 <!-- ==================== TAB: Recordings ==================== -->
 <div class="tab-content" id="tab-recordings">
 <div class="grid">
@@ -569,6 +754,16 @@
   <!-- Saved Records -->
   <div class="card card-full">
     <h3>Saved Records</h3>
+    <!-- Now-Playing control bar — auto-shown when audio_mgr has an active
+         G1 playback, hidden when idle. Pause/Resume/Stop act on whatever
+         is currently playing (one playback at a time). -->
+    <div id="rec-playback-bar" class="row" style="display:none;gap:.4rem;align-items:center;margin-bottom:.5rem;padding:.45rem .6rem;background:rgba(80,180,255,.08);border-radius:.4rem">
+      <span style="font-size:.78rem">▶ <strong id="rec-playback-name">--</strong></span>
+      <span id="rec-playback-time" style="font-size:.7rem;color:var(--dim)">0.0 / 0.0 s</span>
+      <button class="btn btn-ghost btn-sm" id="rec-pause-btn" onclick="pauseRecord(this)" style="margin-left:auto">⏸ Pause</button>
+      <button class="btn btn-success btn-sm" id="rec-resume-btn" onclick="resumeRecord(this)" style="display:none">▶ Resume</button>
+      <button class="btn btn-danger btn-sm" onclick="stopRecord(this)">⏹ Stop</button>
+    </div>
     <div id="records-list"><div class="empty">No records saved</div></div>
     <button class="btn btn-ghost btn-sm" onclick="refreshRecords()" style="margin-top:.3rem">Refresh</button>
   </div>
@@ -576,6 +771,30 @@
 </div>
 </div>
 
+<!-- ==================== TAB: Terminal ==================== -->
+<!-- In-browser shell on the robot. WebSocket → PTY bridge in
+     dashboard/websockets/terminal.py. Click "SSH" to spawn a shell;
+     click again or close the tab to terminate.
+     xterm.js + xterm-addon-fit loaded from jsdelivr (no bundler needed). -->
+<div class="tab-content" id="tab-terminal">
+<link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/xterm@5.3.0/css/xterm.min.css">
+<script src="https://cdn.jsdelivr.net/npm/xterm@5.3.0/lib/xterm.min.js"></script>
+<script src="https://cdn.jsdelivr.net/npm/xterm-addon-fit@0.8.0/lib/xterm-addon-fit.min.js"></script>
+<div class="card" style="display:flex;flex-direction:column;height:calc(100vh - 220px);min-height:480px">
+  <div class="row" style="align-items:center;gap:.4rem">
+    <h3 style="margin:0;flex:1">Terminal — unitree@robot</h3>
+    <span id="term-status" style="font-size:.7rem;color:var(--dim)">disconnected</span>
+    <button id="term-ssh-btn" class="btn btn-primary btn-sm" onclick="termConnect(this)">SSH</button>
+    <button id="term-stop-btn" class="btn btn-danger btn-sm" onclick="termDisconnect(this)" disabled>Disconnect</button>
+    <button class="btn btn-ghost btn-sm" onclick="termClear()" title="Clear screen (Ctrl+L also works)">Clear</button>
+  </div>
+  <div style="font-size:.65rem;color:var(--dim);margin-top:.2rem">
+    Runs as the dashboard's user on the robot (typically <code>unitree</code>). No SSH handshake — the dashboard is already on the robot. Works on whichever Wi-Fi the robot is connected to.
+  </div>
+  <div id="term-host" style="flex:1;margin-top:.5rem;background:#000;border-radius:6px;padding:.3rem;overflow:hidden"></div>
+</div>
+</div>
+
 <!-- ==================== TAB: Settings & Logs ==================== -->
 <div class="tab-content" id="tab-settings">
 <div class="grid">
@@ -838,6 +1057,61 @@ async function scanAudioDevices(b){
   refreshAudioDevices();
   refreshAudio();
 }
+
+// SOFT reset — restart pulseaudio/pipewire-pulse. Fixes Pulse-side state.
+// Does NOT recover a kernel-side missing USB mic descriptor — for that
+// use usbResetAnker.
+async function resetAudioSubsystem(b){
+  if(!confirm('Reset PulseAudio?\n\nThis restarts the audio daemon on the robot.\n\nRequirements:\n  - Live Gemini must be stopped\n  - No record can be playing\n\nThis fixes stuck PulseAudio state. It does NOT recover a missing\nUSB mic profile — if the Anker mic still does not appear afterwards,\nuse the USB Reset button instead.'))return;
+  btnLoad(b);
+  try{
+    const r=await api('POST','/api/audio/reset');
+    if(r&&r.ok){
+      const inOk=r.input_recovered, outOk=r.output_recovered;
+      if(inOk&&outOk){
+        toast('Audio subsystem reset · '+(r.flavour||'pulse')+' OK','ok');
+      }else if(outOk){
+        toast('Reset done but mic still missing — try USB Reset','err');
+      }else{
+        toast('Reset done but no devices detected — check USB','err');
+      }
+    }else{
+      toast('Reset returned no result','err');
+    }
+  }catch(e){
+    toast('Reset failed: '+((e&&e.message)||'unknown'),'err');
+  }
+  btnDone(b);
+  refreshAudioDevices();
+  refreshAudio();
+}
+
+// HARD reset — snd-usb-audio unbind+rebind scoped to Anker VID:PID.
+// Forces the kernel to re-parse UAC1 descriptors. Needs sudoers entry
+// installed once via:
+//   sudo bash shell_scripts/reset_anker_usb.sh --setup-sudoers
+async function usbResetAnker(b){
+  if(!confirm('USB Reset Anker?\n\nThis unbinds and re-binds the snd-usb-audio driver\nfor the Anker dongle, forcing the kernel to re-parse\nthe USB Audio Class descriptors.\n\nUse this when the Anker is plugged but the mic profile\nis missing from the dashboard (PulseAudio shows the sink\nbut no source).\n\nRequirements:\n  - Live Gemini must be stopped\n  - No record can be playing\n\nIf this fails with "permission denied", run on the robot ONCE:\n  sudo bash shell_scripts/reset_anker_usb.sh --setup-sudoers'))return;
+  btnLoad(b);
+  try{
+    const r=await api('POST','/api/audio/usb-reset');
+    if(r&&r.ok){
+      if(r.input_recovered){
+        toast('USB reset OK · Anker mic recovered','ok');
+      }else{
+        toast('USB reset done but mic not in pactl yet — give it 2s and click Scan','err');
+      }
+    }else{
+      const hint=(r&&r.hint)?(' · '+r.hint):'';
+      toast('USB reset failed'+hint,'err');
+    }
+  }catch(e){
+    toast('USB reset failed: '+((e&&e.message)||'unknown'),'err');
+  }
+  btnDone(b);
+  refreshAudioDevices();
+  refreshAudio();
+}
 async function refreshAudioDevices(b){
   if(b)btnLoad(b);
   try{
@@ -1098,8 +1372,54 @@ async function reloadPrompt(){try{const r=await api('POST','/api/prompt/reload')
 
 // Records
 async function refreshRecords(){try{const r=await api('GET','/api/records/');const el=document.getElementById('records-list');if(!(r.records||[]).length){el.innerHTML='<div class="empty">No records saved</div>';return;}el.innerHTML=`<div style="font-size:.7rem;color:var(--dim);margin-bottom:.3rem">Total: ${r.total_records} | Updated: ${r.last_updated||'--'}</div><table><tr><th>Name</th><th>Text</th><th>Replays</th><th></th></tr>`+(r.records||[]).map(rec=>{const n=esc(rec.record_name);return`<tr><td>${n}</td><td style="max-width:200px;overflow:hidden;text-overflow:ellipsis;white-space:nowrap">${esc(rec.text||'')}</td><td>${rec.replay_count||0}</td><td><button class="btn btn-primary btn-sm" onclick="playRecord('${n}','speaker')">Play</button> <button class="btn btn-ghost btn-sm" onclick="playRecord('${n}','raw')">Raw</button> <button class="btn btn-danger btn-sm" onclick="deleteRecord('${n}')">Del</button></td></tr>`;}).join('')+'</table>';}catch(e){}}
-async function playRecord(name,kind){try{await api('POST','/api/records/play',{record_name:name,file_kind:kind});toast('Playing: '+name,'ok');}catch(e){}}
+async function playRecord(name,kind){try{await api('POST','/api/records/play',{record_name:name,file_kind:kind});toast('Playing: '+name,'ok');refreshPlaybackStatus();}catch(e){}}
 async function deleteRecord(name){if(confirm('Delete '+name+'?'))try{await api('POST','/api/records/delete',{record_name:name});toast('Deleted','ok');refreshRecords();}catch(e){}}
+// Saved-record playback controls — operate on the active G1 playback
+// (one at a time). The Pause/Resume buttons swap in refreshPlaybackStatus
+// based on what audio_mgr reports; the bar hides itself when nothing plays.
+async function pauseRecord(b){
+  if(b) btnLoad(b);
+  try{await api('POST','/api/records/pause');refreshPlaybackStatus();}
+  catch(e){toast('Pause failed: '+(e.message||e),'err');}
+  if(b) btnDone(b);
+}
+async function resumeRecord(b){
+  if(b) btnLoad(b);
+  try{await api('POST','/api/records/resume');refreshPlaybackStatus();}
+  catch(e){toast('Resume failed: '+(e.message||e),'err');}
+  if(b) btnDone(b);
+}
+async function stopRecord(b){
+  if(b) btnLoad(b);
+  try{await api('POST','/api/records/stop');toast('Stopped','info');refreshPlaybackStatus();}
+  catch(e){toast('Stop failed: '+(e.message||e),'err');}
+  if(b) btnDone(b);
+}
+async function refreshPlaybackStatus(){
+  try{
+    const s=await api('GET','/api/records/playback-status');
+    const bar=document.getElementById('rec-playback-bar');
+    if(!bar) return;
+    if(!s.playing){
+      bar.style.display='none';
+      return;
+    }
+    bar.style.display='flex';
+    document.getElementById('rec-playback-name').textContent =
+      s.record_name || '(unnamed)';
+    document.getElementById('rec-playback-time').textContent =
+      (s.position_sec||0).toFixed(1)+' / '+(s.duration_sec||0).toFixed(1)+' s';
+    const pauseBtn=document.getElementById('rec-pause-btn');
+    const resumeBtn=document.getElementById('rec-resume-btn');
+    if(s.paused){
+      pauseBtn.style.display='none';
+      resumeBtn.style.display='inline-block';
+    }else{
+      pauseBtn.style.display='inline-block';
+      resumeBtn.style.display='none';
+    }
+  }catch(e){}
+}
 
 // Live Voice
 async function startLiveVoice(b){
@@ -1448,7 +1768,7 @@ function stopRecPreview(){if(_recPreviewTimer){clearInterval(_recPreviewTimer);_
   const origSwitchTab=window.switchTab;
   window.switchTab=function(name){
     origSwitchTab(name);
-    if(name==='recognition'){refreshRecognition();refreshFaces();startRecPreview();}
+    if(name==='recognition'){refreshRecognition();refreshFaces();refreshZones();startRecPreview();}
     else{stopRecPreview();}
   };
 })();
@@ -1591,10 +1911,437 @@ async function deleteFace(id){
   }catch(e){toast('Delete failed','err');}
 }
 
+// ── Zones → Places → linked Faces (+ "go here" destination) ──
+let _facesCache=[];   // [{id,name}] from the face gallery, for the link picker
+let _navTarget=null;  // active destination {zone_id,place_id,zone_name,place_name}
+async function setZoneRecEnabled(on){
+  try{await api('POST','/api/zones/zone-rec?on='+(on?'1':'0'));toast(on?'Zone Recognition ON':'Zone Recognition OFF','ok');refreshZones();}
+  catch(e){toast('Zone Rec toggle failed: '+(e.message||e),'err');refreshZones();}
+}
+async function syncZones(b){
+  if(b) btnLoad(b);
+  try{await api('POST','/api/zones/sync');toast('Zones sync requested','ok');refreshZones();}
+  catch(e){toast('Sync failed','err');}
+  if(b) btnDone(b);
+}
+async function clearNavTarget(b){
+  if(b) btnLoad(b);
+  try{await api('POST','/api/zones/nav/clear');toast('Destination cleared','ok');refreshZones();}
+  catch(e){toast('Clear failed','err');}
+  if(b) btnDone(b);
+}
+async function refreshZones(){
+  try{const fr=await api('GET','/api/recognition/faces');_facesCache=(fr.faces||[]).map(f=>({id:f.id,name:f.name||('face_'+f.id)}));}catch(e){_facesCache=[];}
+  try{
+    const r=await api('GET','/api/zones/state');
+    const t=document.getElementById('rec-zonerec-toggle'); if(t) t.checked=!!r.zone_rec_enabled;
+    const zs=document.getElementById('rec-zonerec-status'); if(zs){zs.textContent=r.zone_rec_enabled?'on':'off';zs.className='badge '+(r.zone_rec_enabled?'badge-ok':'');}
+    const zc=document.getElementById('rec-zones-count'); if(zc) zc.textContent=`(${r.zones_count} zones, ${r.places_count} places)`;
+    const zv=document.getElementById('rec-zones-version'); if(zv) zv.textContent='v.'+r.zones_version;
+    _navTarget=r.nav_target||null;
+    const nt=document.getElementById('rec-nav-target'), nc=document.getElementById('rec-nav-clear');
+    if(nt){
+      if(_navTarget){nt.textContent=(_navTarget.place_name||('place_'+_navTarget.place_id))+' · '+(_navTarget.zone_name||('zone_'+_navTarget.zone_id));nt.style.color='var(--accent)';}
+      else{nt.textContent='none';nt.style.color='var(--dim)';}
+    }
+    if(nc) nc.style.display=_navTarget?'':'none';
+  }catch(e){}
+  const el=document.getElementById('rec-zones-list'); if(!el) return;
+  try{
+    const r=await api('GET','/api/zones');
+    if(!r.zones||!r.zones.length){el.innerHTML='<div class="empty">No zones yet — add one above</div>';return;}
+    el.innerHTML=r.zones.map(z=>renderZoneCard(z)).join('');
+  }catch(e){el.innerHTML='<div class="empty">(zone gallery not available)</div>';}
+}
+function _faceOptions(selectedIds){
+  const sel=new Set((selectedIds||[]).map(Number));
+  if(!_facesCache.length) return '<option disabled>(no saved faces)</option>';
+  return _facesCache.map(f=>`<option value="${f.id}" ${sel.has(f.id)?'selected':''}>${esc(f.name)}</option>`).join('');
+}
+function renderZoneCard(z){
+  const zname=z.name||`(zone_${z.id})`;
+  const places=(z.places||[]).map(p=>renderPlaceCard(z.id,p)).join('') || '<div class="empty" style="margin:.3rem 0">No places in this zone yet</div>';
+  return `<div class="card" style="margin-top:.6rem;border-left:3px solid var(--accent2)">
+    <div class="row" style="align-items:center;gap:.3rem">
+      <strong>📍 ${esc(zname)}</strong>
+      <button class="btn btn-ghost btn-sm" onclick="renameZone(${z.id})" title="Rename zone">✏</button>
+      <span style="flex:1;color:var(--muted);font-size:.72rem">${z.description?esc(z.description):'<span style=color:var(--dim)>(no description)</span>'}</span>
+      <button class="btn btn-ghost btn-sm" onclick="describeZone(${z.id})" title="Edit zone description">📝</button>
+      <span style="color:var(--dim);font-size:.7rem">${(z.places||[]).length} place(s)</span>
+      <button class="btn btn-danger btn-sm" onclick="deleteZone(${z.id})" title="Delete zone + its places">🗑</button>
+    </div>
+    <div style="margin-top:.4rem;padding-left:.6rem">${places}</div>
+    <div class="row" style="margin-top:.4rem;padding-left:.6rem;gap:.3rem;flex-wrap:wrap">
+      <input id="z${z.id}-np-name" placeholder="New place name" style="flex:1;min-width:8rem;font-size:.78rem">
+      <input id="z${z.id}-np-desc" placeholder="Description (optional)" style="flex:2;min-width:8rem;font-size:.78rem">
+      <button class="btn btn-success btn-sm" onclick="createPlaceInZone(${z.id},this)">＋ place</button>
+    </div>
+  </div>`;
+}
+function renderPlaceCard(zid,p){
+  const pname=p.name||`(place_${p.id})`;
+  const photos=(p.photos||[]).map(ph=>{
+    const url=`/api/zones/${zid}/places/${p.id}/photo/${encodeURIComponent(ph.name)}`;
+    return `<div style="display:inline-block;margin:.15rem;text-align:center">
+      <img src="${url}?t=${Date.now()}" alt="${esc(ph.name)}" style="width:64px;height:64px;object-fit:cover;border-radius:.3rem;background:#222"/>
+      <div style="font-size:.55rem"><a href="#" onclick="deletePlacePhoto(${zid},${p.id},'${esc(ph.name)}');return false" style="color:var(--err);text-decoration:none">🗑</a></div>
+    </div>`;
+  }).join('');
+  const chips=(p.faces||[]).map(f=>`<span class="badge" style="margin-right:.2rem">${esc(f.name||('face_'+f.id))}</span>`).join('') || '<span style="color:var(--dim);font-size:.7rem">none</span>';
+  const isDest=_navTarget&&_navTarget.zone_id===zid&&_navTarget.place_id===p.id;
+  return `<div class="card" style="margin-top:.35rem;background:var(--panel2)">
+    <div class="row" style="align-items:center;gap:.3rem">
+      <span>🏷</span><span id="rec-pname-${zid}-${p.id}" style="flex:1">${esc(pname)}</span>
+      <button class="btn btn-ghost btn-sm" onclick="renamePlace(${zid},${p.id})" title="Rename">✏</button>
+      ${isDest?'<span class="badge badge-ok">destination</span>':`<button class="btn btn-primary btn-sm" onclick="goToPlace(${zid},${p.id},this)" title="Set as destination">▶ Go here</button>`}
+      <button class="btn btn-danger btn-sm" onclick="deletePlace(${zid},${p.id})">🗑</button>
+    </div>
+    <div style="margin-top:.2rem;font-size:.72rem"><span style="color:var(--dim)">Description:</span>
+      <span id="rec-pdesc-${zid}-${p.id}" style="color:var(--muted)">${p.description?esc(p.description):'<span style=color:var(--dim)>(none)</span>'}</span>
+      <button class="btn btn-ghost btn-sm" onclick="describePlace(${zid},${p.id})" title="Edit description">✏</button>
+    </div>
+    <div style="margin-top:.25rem;font-size:.72rem"><span style="color:var(--dim)">People here:</span> ${chips}</div>
+    <div class="row" style="margin-top:.2rem;gap:.3rem;align-items:center">
+      <select id="pf-${zid}-${p.id}" multiple size="3" style="font-size:.72rem;min-width:9rem">${_faceOptions(p.face_ids)}</select>
+      <button class="btn btn-ghost btn-sm" onclick="savePlaceFaces(${zid},${p.id})" title="Link selected saved faces to this place">Save people</button>
+    </div>
+    <div style="margin-top:.25rem">${photos}</div>
+    <div class="row" style="margin-top:.3rem;gap:.3rem">
+      <button class="btn btn-success btn-sm" onclick="captureToPlace(${zid},${p.id},this)">📷 Capture</button>
+      <label class="btn btn-primary btn-sm" style="cursor:pointer;margin:0">📁 Upload<input type="file" multiple accept="image/jpeg,image/png" style="display:none" onchange="uploadToPlace(${zid},${p.id},this)"></label>
+      <a class="btn btn-ghost btn-sm" href="/api/zones/${zid}/places/${p.id}/download.zip" download>⬇ ZIP</a>
+    </div>
+  </div>`;
+}
+async function createZone(b){
+  const name=document.getElementById('rec-newzone-name').value.trim();
+  const desc=document.getElementById('rec-newzone-desc').value.trim();
+  if(!name&&!desc){toast('Enter a zone name or description','err');return;}
+  const qs=[]; if(name)qs.push('name='+encodeURIComponent(name)); if(desc)qs.push('description='+encodeURIComponent(desc));
+  btnLoad(b);
+  try{await api('POST','/api/zones/create?'+qs.join('&'));toast('Zone added','ok');
+    document.getElementById('rec-newzone-name').value='';document.getElementById('rec-newzone-desc').value='';refreshZones();}
+  catch(e){toast('Add zone failed: '+(e.message||e),'err');}
+  btnDone(b);
+}
+async function renameZone(zid){
+  const next=prompt('New zone name (blank to clear):'); if(next===null)return;
+  try{await api('POST','/api/zones/'+zid+'/rename',{name:next});toast('Renamed','ok');refreshZones();}catch(e){toast('Rename failed','err');}
+}
+async function describeZone(zid){
+  const next=prompt('Zone description (blank to clear):'); if(next===null)return;
+  try{await api('POST','/api/zones/'+zid+'/describe',{description:next});toast('Saved','ok');refreshZones();}catch(e){toast('Save failed','err');}
+}
+async function deleteZone(zid){
+  if(!confirm('Delete this zone AND all its places?'))return;
+  try{await api('DELETE','/api/zones/'+zid);toast('Zone deleted','ok');refreshZones();}catch(e){toast('Delete failed','err');}
+}
+async function createPlaceInZone(zid,b){
+  const nameEl=document.getElementById('z'+zid+'-np-name'), descEl=document.getElementById('z'+zid+'-np-desc');
+  const name=(nameEl?nameEl.value:'').trim(), desc=(descEl?descEl.value:'').trim();
+  if(!name&&!desc){toast('Enter a place name or description','err');return;}
+  const qs=[]; if(name)qs.push('name='+encodeURIComponent(name)); if(desc)qs.push('description='+encodeURIComponent(desc));
+  btnLoad(b);
+  try{await api('POST','/api/zones/'+zid+'/places/create?'+qs.join('&'));toast('Place added','ok');refreshZones();}
+  catch(e){toast('Add place failed: '+(e.message||e),'err');}
+  btnDone(b);
+}
+async function renamePlace(zid,pid){
+  const next=prompt('New place name (blank to clear):'); if(next===null)return;
+  try{await api('POST','/api/zones/'+zid+'/places/'+pid+'/rename',{name:next});toast('Renamed','ok');refreshZones();}catch(e){toast('Rename failed','err');}
+}
+async function describePlace(zid,pid){
+  const next=prompt('Place description for Gemini (blank to clear):'); if(next===null)return;
+  try{await api('POST','/api/zones/'+zid+'/places/'+pid+'/describe',{description:next});toast('Saved','ok');refreshZones();}catch(e){toast('Save failed','err');}
+}
+async function deletePlace(zid,pid){
+  if(!confirm('Delete this place and its photos?'))return;
+  try{await api('DELETE','/api/zones/'+zid+'/places/'+pid);toast('Place deleted','ok');refreshZones();}catch(e){toast('Delete failed','err');}
+}
+async function savePlaceFaces(zid,pid){
+  const sel=document.getElementById('pf-'+zid+'-'+pid); if(!sel)return;
+  const ids=Array.from(sel.selectedOptions).map(o=>parseInt(o.value)).filter(n=>!isNaN(n));
+  try{await api('POST','/api/zones/'+zid+'/places/'+pid+'/faces',{face_ids:ids});toast('People linked: '+ids.length,'ok');refreshZones();}
+  catch(e){toast('Save people failed: '+(e.message||e),'err');}
+}
+async function captureToPlace(zid,pid,b){
+  btnLoad(b);
+  try{await api('POST','/api/zones/'+zid+'/places/'+pid+'/capture');toast('Added photo','ok');refreshZones();}
+  catch(e){toast('Capture failed: '+(e.message||e),'err');}
+  btnDone(b);
+}
+async function uploadToPlace(zid,pid,input){
+  const files=input.files;if(!files||!files.length)return;
+  const fd=new FormData();for(const f of files) fd.append('files',f);
+  try{const resp=await fetch('/api/zones/'+zid+'/places/'+pid+'/upload',{method:'POST',body:fd});
+    if(!resp.ok)throw new Error(await resp.text());toast('Uploaded '+files.length+' photo(s)','ok');input.value='';refreshZones();}
+  catch(e){toast('Upload failed: '+(e.message||e),'err');}
+}
+async function deletePlacePhoto(zid,pid,name){
+  if(!confirm('Delete photo '+name+'?'))return;
+  try{await api('DELETE','/api/zones/'+zid+'/places/'+pid+'/photo/'+encodeURIComponent(name));toast('Photo deleted','ok');refreshZones();}
+  catch(e){toast('Delete failed: '+(e.message||e),'err');}
+}
+async function goToPlace(zid,pid,b){
+  if(b) btnLoad(b);
+  try{const r=await api('POST','/api/zones/'+zid+'/places/'+pid+'/go');toast('Destination set: '+((r.nav_target&&r.nav_target.place_name)||('place_'+pid)),'ok');refreshZones();}
+  catch(e){toast('Set destination failed: '+(e.message||e),'err');}
+  if(b) btnDone(b);
+}
+
+// ==================== Controller tab (N2) ====================
+let ctrlArmed=false, ctrlTeleop=false, ctrlVel={vx:0,vy:0,vyaw:0}, ctrlKeys=new Set(), ctrlTimer=null;
+const CTRL_LIN=0.05, CTRL_ANG=0.2;
+
+// silent POST (no toast) for high-frequency teleop / stop
+function ctrlPost(path,body){return fetch(API+path,{method:'POST',headers:{'Content-Type':'application/json'},body:body?JSON.stringify(body):undefined}).then(r=>r.json().catch(()=>({}))).catch(()=>({}));}
+function setPill(id,on){const el=document.getElementById(id);if(!el)return;el.classList.toggle('pill-on',!!on);el.classList.toggle('pill-off',!on);}
+
+function ctrlSetArmed(on){
+  ctrlPost('/api/controller/arm?on='+(on?'1':'0')).then(r=>{
+    ctrlArmed=!!r.armed; if(!ctrlArmed) ctrlStopTeleop();
+    ctrlRenderArmed(); refreshStatusStrip();
+    toast('Movement '+(ctrlArmed?'ENABLED':'disabled'), ctrlArmed?'ok':'info');
+  });
+}
+function ctrlRenderArmed(){
+  const t=document.getElementById('ctrl-arm-toggle'); if(t) t.checked=ctrlArmed;
+  document.querySelectorAll('#tab-controller .btn').forEach(b=>{
+    const oc=b.getAttribute('onclick')||'';
+    if(/ctrlEstop|ctrlStop\b/.test(oc)) return;       // E-STOP + Stop always live
+    b.disabled=!ctrlArmed;
+  });
+  setPill('ctrl-pill-movement',ctrlArmed);
+}
+
+async function ctrlEstop(b){btnLoad(b);try{await ctrlPost('/api/controller/estop');ctrlStopTeleop();toast('E-STOP sent','err');}catch(e){}btnDone(b);refreshController();}
+function ctrlStop(b){btnLoad(b);ctrlPost('/api/controller/stop').then(()=>btnDone(b));}
+async function ctrlStep(dir,b){btnLoad(b);try{const r=await api('POST','/api/controller/step?dir='+dir);if(r&&r.warning)toast(r.warning,'warn');}catch(e){}btnDone(b);}
+async function ctrlMode(m,b){btnLoad(b);try{await api('POST','/api/controller/mode/'+m);toast(m.toUpperCase()+' done','ok');}catch(e){}btnDone(b);refreshController();}
+async function ctrlPosture(p,b){btnLoad(b);try{const r=await api('POST','/api/controller/posture/'+p);if(r&&r.warning)toast(r.warning,'warn');else toast(p+' sent','ok');}catch(e){}btnDone(b);refreshController();}
+async function ctrlBalance(m,b){btnLoad(b);try{await api('POST','/api/controller/balance?mode='+m);toast('balance '+(m?'gait':'static'),'info');}catch(e){}btnDone(b);}
+async function ctrlMscSelectAi(b){btnLoad(b);try{await api('POST','/api/controller/msc/select-ai');toast('MSC → ai','ok');}catch(e){}btnDone(b);refreshController();}
+async function ctrlMscRelease(b){btnLoad(b);try{await api('POST','/api/controller/msc/release');toast('MSC released','ok');}catch(e){}btnDone(b);refreshController();}
+async function ctrlMscShow(b){btnLoad(b);try{const r=await api('GET','/api/controller/msc');toast('MSC mode: '+(r.mode_name||'?'),'info');}catch(e){}btnDone(b);}
+async function ctrlReconnect(b){btnLoad(b);try{await api('POST','/api/controller/reconnect');toast('reconnected','ok');}catch(e){}btnDone(b);refreshController();}
+function ctrlSetGeminiMove(on){
+  ctrlPost('/api/controller/gemini-movement?on='+(on?'1':'0')).then(r=>{
+    toast('Gemini movement '+(r.movement_enabled?'ENABLED':'disabled'), r.movement_enabled?'ok':'info');
+    refreshStatusStrip();
+  });
+}
+
+// continuous teleop @10 Hz — held keys ramp velocity; cap enforced server-side
+function ctrlToggleTeleop(){ctrlTeleop?ctrlStopTeleop():ctrlStartTeleop();}
+function ctrlStartTeleop(){
+  if(!ctrlArmed){toast('Enable movement first','warn');return;}
+  ctrlTeleop=true; const btn=document.getElementById('ctrl-teleop-btn'); if(btn)btn.textContent='Stop teleop';
+  window.addEventListener('keydown',ctrlKeyDown); window.addEventListener('keyup',ctrlKeyUp);
+  ctrlTimer=setInterval(ctrlTick,100);
+}
+function ctrlStopTeleop(){
+  if(!ctrlTeleop && !ctrlTimer) return;
+  ctrlTeleop=false; ctrlKeys.clear(); ctrlVel={vx:0,vy:0,vyaw:0};
+  if(ctrlTimer){clearInterval(ctrlTimer);ctrlTimer=null;}
+  window.removeEventListener('keydown',ctrlKeyDown); window.removeEventListener('keyup',ctrlKeyUp);
+  const btn=document.getElementById('ctrl-teleop-btn'); if(btn)btn.textContent='Start teleop (WASD / Q-E)';
+  const r=document.getElementById('ctrl-vel-readout'); if(r)r.textContent='vx 0.00 · vy 0.00 · ω 0.00';
+  ctrlPost('/api/controller/stop');
+}
+function ctrlKeyDown(e){const k=(e.key||'').toLowerCase(); if(['w','a','s','d','q','e',' '].includes(k)){ctrlKeys.add(k);e.preventDefault();}}
+function ctrlKeyUp(e){ctrlKeys.delete((e.key||'').toLowerCase());}
+function ctrlTick(){
+  if(ctrlKeys.has(' ')){ctrlVel={vx:0,vy:0,vyaw:0};}
+  else{
+    ctrlVel.vx = ctrlKeys.has('w')? Math.min(2,ctrlVel.vx+CTRL_LIN) : ctrlKeys.has('s')? Math.max(-2,ctrlVel.vx-CTRL_LIN) : 0;
+    ctrlVel.vy = ctrlKeys.has('q')? Math.min(2,ctrlVel.vy+CTRL_LIN) : ctrlKeys.has('e')? Math.max(-2,ctrlVel.vy-CTRL_LIN) : 0;
+    ctrlVel.vyaw = ctrlKeys.has('a')? Math.min(3,ctrlVel.vyaw+CTRL_ANG) : ctrlKeys.has('d')? Math.max(-3,ctrlVel.vyaw-CTRL_ANG) : 0;
+  }
+  const run=(document.getElementById('ctrl-run-toggle')||{}).checked||false;
+  const r=document.getElementById('ctrl-vel-readout'); if(r)r.textContent=`vx ${ctrlVel.vx.toFixed(2)} · vy ${ctrlVel.vy.toFixed(2)} · ω ${ctrlVel.vyaw.toFixed(2)}`;
+  ctrlPost('/api/controller/move',{vx:ctrlVel.vx,vy:ctrlVel.vy,vyaw:ctrlVel.vyaw,run});
+}
+
+async function refreshController(){
+  try{
+    const s=await api('GET','/api/controller/status');
+    ctrlArmed=!!s.armed; ctrlRenderArmed();
+    const fb=document.getElementById('ctrl-fsm-badge'); if(fb)fb.textContent='FSM '+(s.fsm_id??'—');
+    const dot=document.getElementById('ctrl-ready-dot'), rt=document.getElementById('ctrl-ready-text');
+    if(dot)dot.className='dot '+(s.walk_ready?'dot-ok':'dot-warn');
+    if(rt)rt.textContent=s.walk_ready?'walk-ready':('mode '+(s.fsm_mode??'?'));
+    const mb=document.getElementById('ctrl-msc-badge'); if(mb)mb.textContent='MSC '+(s.msc_mode||'—');
+    const sb=document.getElementById('ctrl-sdk-badge'); if(sb)sb.textContent=s.sdk_available?(s.lc_ready?'SDK live':'SDK init…'):'SIM';
+  }catch(e){}
+  try{const j=await api('GET','/api/controller/joints');
+    const el=document.getElementById('ctrl-joints');
+    if(el)el.textContent=(j.joints||[]).map(x=>`${String(x.idx).padStart(2)}  ${String(x.name).padEnd(16)} ${Number(x.q).toFixed(3)}`).join('\n');
+  }catch(e){}
+}
+
+// subsystem pills (global + controller mirror) + Motion-tab lockout — polled ~2.5s
+async function refreshStatusStrip(){
+  try{
+    const s=await api('GET','/api/controller/status/summary');
+    const cam=!!(s.vision_enabled&&s.camera_running);
+    setPill('pill-camera',cam); setPill('pill-face',s.face_rec_enabled); setPill('pill-place',s.zone_rec_enabled); setPill('pill-movement',s.movement_armed);
+    setPill('ctrl-pill-camera',cam); setPill('ctrl-pill-face',s.face_rec_enabled); setPill('ctrl-pill-place',s.zone_rec_enabled); setPill('ctrl-pill-movement',s.movement_armed);
+    setPill('ctrl-pill-gmove', s.gemini_movement_enabled);
+    const gt=document.getElementById('ctrl-gmove-toggle'); if(gt && document.activeElement!==gt) gt.checked=!!s.gemini_movement_enabled;
+    // keep the manual arm checkbox + button-enable state in sync even if the
+    // robot was disarmed elsewhere (e.g. E-STOP) and the Controller tab is open.
+    const at=document.getElementById('ctrl-arm-toggle');
+    if(at && document.activeElement!==at && (!!s.movement_armed)!==ctrlArmed){ ctrlArmed=!!s.movement_armed; ctrlRenderArmed(); }
+    applyMovementLock(!!s.movement_armed);
+  }catch(e){}
+}
+function applyMovementLock(armed){
+  const banner=document.getElementById('motion-lock-banner'); if(banner)banner.style.display=armed?'flex':'none';
+  const grid=document.getElementById('motion-grid'); if(grid)grid.classList.toggle('motion-locked',armed);
+}
+
+// Terminal tab — xterm.js attached to a WebSocket → PTY bridge on the robot.
+// Backend: dashboard/websockets/terminal.py.
+// Connection model: "SSH" button opens the socket + spawns the shell; the
+// Terminal tab itself doesn't auto-connect so leaving it open in the
+// background doesn't keep a bash running unnecessarily.
+let termInstance=null, termFit=null, termWS=null, termAutoSizeBound=false;
+function termLog(line){
+  if(termInstance) termInstance.write('\r\n\x1b[2m[term] '+line+'\x1b[0m\r\n');
+}
+// Control messages MUST be prefixed with \x1f (Unit Separator). The
+// backend uses the prefix to distinguish a control frame from raw
+// keystrokes — without it, a user who pastes `{"type":"resize",...}`
+// into the shell would silently resize the PTY instead of pasting.
+const TERM_CTRL_PREFIX='\x1f';
+function termFitSafe(){
+  if(!termFit||!termInstance) return;
+  try{ termFit.fit(); }catch(e){ return; }
+  if(termWS && termWS.readyState===1){
+    try{
+      termWS.send(TERM_CTRL_PREFIX+JSON.stringify({type:'resize', cols:termInstance.cols, rows:termInstance.rows}));
+    }catch(e){}
+  }
+}
+function termSetStatus(text,color){
+  const el=document.getElementById('term-status');
+  if(el){ el.textContent=text; el.style.color=color||'var(--dim)'; }
+}
+function termInit(){
+  if(termInstance) return;
+  if(typeof Terminal==='undefined'){ termSetStatus('xterm.js failed to load (check network/CDN)','var(--danger,#e57373)'); return; }
+  termInstance=new Terminal({
+    cursorBlink:true,
+    fontFamily:'ui-monospace, "Cascadia Mono", Menlo, Consolas, monospace',
+    fontSize:13,
+    theme:{ background:'#000000', foreground:'#e0e0e0', cursor:'#00d4ff' },
+    scrollback:5000,
+    convertEol:true,
+  });
+  if(typeof FitAddon!=='undefined' && FitAddon.FitAddon){
+    termFit=new FitAddon.FitAddon();
+    termInstance.loadAddon(termFit);
+  }
+  termInstance.open(document.getElementById('term-host'));
+  termFitSafe();
+  // Send keystrokes upstream to the PTY.
+  termInstance.onData(function(d){
+    if(termWS && termWS.readyState===1){
+      try{ termWS.send(d); }catch(e){}
+    }
+  });
+  // Re-fit on window resize once xterm is attached.
+  if(!termAutoSizeBound){
+    window.addEventListener('resize', termFitSafe);
+    termAutoSizeBound=true;
+  }
+}
+async function termConnect(b){
+  termInit();
+  if(termWS && (termWS.readyState===0 || termWS.readyState===1)){
+    toast('Terminal already connected','info'); return;
+  }
+  btnLoad(b);
+  const scheme=(location.protocol==='https:'?'wss:':'ws:');
+  const url=scheme+'//'+location.host+'/ws/terminal';
+  termSetStatus('connecting…','var(--warn,#f5a623)');
+  try{
+    termWS=new WebSocket(url);
+  }catch(e){
+    termSetStatus('ws construct failed','var(--danger,#e57373)');
+    btnDone(b); return;
+  }
+  termWS.onopen=function(){
+    termSetStatus('connected','var(--success,#4caf50)');
+    document.getElementById('term-stop-btn').disabled=false;
+    document.getElementById('term-ssh-btn').disabled=true;
+    btnDone(b);
+    // Send initial sizing so the PTY knows the right window.
+    try{
+      if(termInstance) termWS.send(TERM_CTRL_PREFIX+JSON.stringify({type:'init', cols:termInstance.cols, rows:termInstance.rows}));
+    }catch(e){}
+    termFitSafe();
+    if(termInstance) termInstance.focus();
+  };
+  termWS.onmessage=function(ev){
+    if(termInstance) termInstance.write(typeof ev.data==='string'?ev.data:'');
+  };
+  termWS.onerror=function(){
+    termSetStatus('ws error','var(--danger,#e57373)');
+  };
+  termWS.onclose=function(ev){
+    termSetStatus('disconnected (code '+ev.code+')','var(--dim)');
+    document.getElementById('term-stop-btn').disabled=true;
+    document.getElementById('term-ssh-btn').disabled=false;
+    btnDone(b);
+    if(termInstance) termLog('session closed');
+  };
+}
+function termDisconnect(b){
+  btnLoad(b);
+  try{ if(termWS) termWS.close(1000,'user disconnect'); }catch(e){}
+  termWS=null;
+  btnDone(b);
+}
+function termClear(){
+  if(termInstance){ termInstance.clear(); termInstance.focus(); }
+}
+
+// Temperature tab — lazy-load the 3D iframe on first open so its WebSocket
+// only connects when the user actually views it. Also wires the Controller tab:
+// refresh on enter, and stop teleop (release the window key listeners) on leave.
+// Terminal tab: lazy-init xterm on first open and re-fit on every entry so
+// the shell lays out correctly after a tab switch.
+(function(){
+  const origSwitchTab=window.switchTab;
+  window.switchTab=function(name){
+    origSwitchTab(name);
+    if(name!=='controller') ctrlStopTeleop();   // don't leave WASD bound to other tabs
+    if(name==='controller') refreshController();
+    if(name==='temp'){
+      const f=document.getElementById('temp3d-frame');
+      if(f && (!f.src || /about:blank$/.test(f.src))){
+        f.src='/static/temp3d/index.html';
+      }
+    }
+    if(name==='terminal'){
+      // Defer to next frame so the panel's display:flex has applied —
+      // FitAddon measures the host div and needs non-zero dimensions.
+      requestAnimationFrame(function(){ termInit(); termFitSafe(); if(termInstance) termInstance.focus(); });
+    }
+  };
+})();
+
 // Init — vision/camera/detector fetches removed; those endpoints were deleted.
-refreshStatus();refreshSystem();refreshAudio();refreshAudioDevices();refreshSkills();refreshReplayFiles();refreshScripts();refreshPrompt();refreshRecords();refreshLiveVoice();refreshLiveSub();refreshTR();refreshWakeActions();refreshApiKey();refreshCombo();refreshRecognition();connectLogs();
+refreshStatus();refreshSystem();refreshAudio();refreshAudioDevices();refreshSkills();refreshReplayFiles();refreshScripts();refreshPrompt();refreshRecords();refreshLiveVoice();refreshLiveSub();refreshTR();refreshWakeActions();refreshApiKey();refreshCombo();refreshRecognition();refreshZones();refreshPlaybackStatus();refreshStatusStrip();connectLogs();
 setTimeout(autoConnectGemini,2000);setTimeout(autoStartLiveSub,3000);
-setInterval(refreshStatus,5000);setInterval(refreshSystem,30000);setInterval(refreshLiveVoice,5000);setInterval(refreshLiveSub,5000);setInterval(refreshRecognition,5000);
+setInterval(refreshStatus,5000);setInterval(refreshSystem,30000);setInterval(refreshLiveVoice,5000);setInterval(refreshLiveSub,5000);setInterval(refreshRecognition,5000);setInterval(refreshPlaybackStatus,1000);
+setInterval(refreshStatusStrip,2500);
+setInterval(function(){const t=document.getElementById('tab-controller');if(t&&t.classList.contains('active'))refreshController();},2000);
+// Safety: if the tab loses focus / is hidden while teleoping, a keyup can be
+// missed and a key would "stick" (robot keeps moving). Stop teleop on blur/hide.
+window.addEventListener('blur',function(){ ctrlStopTeleop(); });
+document.addEventListener('visibilitychange',function(){ if(document.hidden) ctrlStopTeleop(); });
 </script>
 </body>
 </html>

dashboard/static/temp3d/js/STLLoader.js

@@ -0,0 +1,371 @@
+( function () {
+
+	/**
+ * Description: A THREE loader for STL ASCII files, as created by Solidworks and other CAD programs.
+ *
+ * Supports both binary and ASCII encoded files, with automatic detection of type.
+ *
+ * The loader returns a non-indexed buffer geometry.
+ *
+ * Limitations:
+ *  Binary decoding supports "Magics" color format (http://en.wikipedia.org/wiki/STL_(file_format)#Color_in_binary_STL).
+ *  There is perhaps some question as to how valid it is to always assume little-endian-ness.
+ *  ASCII decoding assumes file is UTF-8.
+ *
+ * Usage:
+ *  const loader = new STLLoader();
+ *  loader.load( './models/stl/slotted_disk.stl', function ( geometry ) {
+ *    scene.add( new THREE.Mesh( geometry ) );
+ *  });
+ *
+ * For binary STLs geometry might contain colors for vertices. To use it:
+ *  // use the same code to load STL as above
+ *  if (geometry.hasColors) {
+ *    material = new THREE.MeshPhongMaterial({ opacity: geometry.alpha, vertexColors: true });
+ *  } else { .... }
+ *  const mesh = new THREE.Mesh( geometry, material );
+ *
+ * For ASCII STLs containing multiple solids, each solid is assigned to a different group.
+ * Groups can be used to assign a different color by defining an array of materials with the same length of
+ * geometry.groups and passing it to the Mesh constructor:
+ *
+ * const mesh = new THREE.Mesh( geometry, material );
+ *
+ * For example:
+ *
+ *  const materials = [];
+ *  const nGeometryGroups = geometry.groups.length;
+ *
+ *  const colorMap = ...; // Some logic to index colors.
+ *
+ *  for (let i = 0; i < nGeometryGroups; i++) {
+ *
+ *		const material = new THREE.MeshPhongMaterial({
+ *			color: colorMap[i],
+ *			wireframe: false
+ *		});
+ *
+ *  }
+ *
+ *  materials.push(material);
+ *  const mesh = new THREE.Mesh(geometry, materials);
+ */
+
+	class STLLoader extends THREE.Loader {
+
+		constructor( manager ) {
+
+			super( manager );
+
+		}
+
+		load( url, onLoad, onProgress, onError ) {
+
+			const scope = this;
+			const loader = new THREE.FileLoader( this.manager );
+			loader.setPath( this.path );
+			loader.setResponseType( 'arraybuffer' );
+			loader.setRequestHeader( this.requestHeader );
+			loader.setWithCredentials( this.withCredentials );
+			loader.load( url, function ( text ) {
+
+				try {
+
+					onLoad( scope.parse( text ) );
+
+				} catch ( e ) {
+
+					if ( onError ) {
+
+						onError( e );
+
+					} else {
+
+						console.error( e );
+
+					}
+
+					scope.manager.itemError( url );
+
+				}
+
+			}, onProgress, onError );
+
+		}
+
+		parse( data ) {
+
+			function isBinary( data ) {
+
+				const reader = new DataView( data );
+				const face_size = 32 / 8 * 3 + 32 / 8 * 3 * 3 + 16 / 8;
+				const n_faces = reader.getUint32( 80, true );
+				const expect = 80 + 32 / 8 + n_faces * face_size;
+
+				if ( expect === reader.byteLength ) {
+
+					return true;
+
+				} // An ASCII STL data must begin with 'solid ' as the first six bytes.
+				// However, ASCII STLs lacking the SPACE after the 'd' are known to be
+				// plentiful.  So, check the first 5 bytes for 'solid'.
+				// Several encodings, such as UTF-8, precede the text with up to 5 bytes:
+				// https://en.wikipedia.org/wiki/Byte_order_mark#Byte_order_marks_by_encoding
+				// Search for "solid" to start anywhere after those prefixes.
+				// US-ASCII ordinal values for 's', 'o', 'l', 'i', 'd'
+
+
+				const solid = [ 115, 111, 108, 105, 100 ];
+
+				for ( let off = 0; off < 5; off ++ ) {
+
+					// If "solid" text is matched to the current offset, declare it to be an ASCII STL.
+					if ( matchDataViewAt( solid, reader, off ) ) return false;
+
+				} // Couldn't find "solid" text at the beginning; it is binary STL.
+
+
+				return true;
+
+			}
+
+			function matchDataViewAt( query, reader, offset ) {
+
+				// Check if each byte in query matches the corresponding byte from the current offset
+				for ( let i = 0, il = query.length; i < il; i ++ ) {
+
+					if ( query[ i ] !== reader.getUint8( offset + i, false ) ) return false;
+
+				}
+
+				return true;
+
+			}
+
+			function parseBinary( data ) {
+
+				const reader = new DataView( data );
+				const faces = reader.getUint32( 80, true );
+				let r,
+					g,
+					b,
+					hasColors = false,
+					colors;
+				let defaultR, defaultG, defaultB, alpha; // process STL header
+				// check for default color in header ("COLOR=rgba" sequence).
+
+				for ( let index = 0; index < 80 - 10; index ++ ) {
+
+					if ( reader.getUint32( index, false ) == 0x434F4C4F
+        /*COLO*/
+        && reader.getUint8( index + 4 ) == 0x52
+        /*'R'*/
+        && reader.getUint8( index + 5 ) == 0x3D
+        /*'='*/
+					) {
+
+						hasColors = true;
+						colors = new Float32Array( faces * 3 * 3 );
+						defaultR = reader.getUint8( index + 6 ) / 255;
+						defaultG = reader.getUint8( index + 7 ) / 255;
+						defaultB = reader.getUint8( index + 8 ) / 255;
+						alpha = reader.getUint8( index + 9 ) / 255;
+
+					}
+
+				}
+
+				const dataOffset = 84;
+				const faceLength = 12 * 4 + 2;
+				const geometry = new THREE.BufferGeometry();
+				const vertices = new Float32Array( faces * 3 * 3 );
+				const normals = new Float32Array( faces * 3 * 3 );
+
+				for ( let face = 0; face < faces; face ++ ) {
+
+					const start = dataOffset + face * faceLength;
+					const normalX = reader.getFloat32( start, true );
+					const normalY = reader.getFloat32( start + 4, true );
+					const normalZ = reader.getFloat32( start + 8, true );
+
+					if ( hasColors ) {
+
+						const packedColor = reader.getUint16( start + 48, true );
+
+						if ( ( packedColor & 0x8000 ) === 0 ) {
+
+							// facet has its own unique color
+							r = ( packedColor & 0x1F ) / 31;
+							g = ( packedColor >> 5 & 0x1F ) / 31;
+							b = ( packedColor >> 10 & 0x1F ) / 31;
+
+						} else {
+
+							r = defaultR;
+							g = defaultG;
+							b = defaultB;
+
+						}
+
+					}
+
+					for ( let i = 1; i <= 3; i ++ ) {
+
+						const vertexstart = start + i * 12;
+						const componentIdx = face * 3 * 3 + ( i - 1 ) * 3;
+						vertices[ componentIdx ] = reader.getFloat32( vertexstart, true );
+						vertices[ componentIdx + 1 ] = reader.getFloat32( vertexstart + 4, true );
+						vertices[ componentIdx + 2 ] = reader.getFloat32( vertexstart + 8, true );
+						normals[ componentIdx ] = normalX;
+						normals[ componentIdx + 1 ] = normalY;
+						normals[ componentIdx + 2 ] = normalZ;
+
+						if ( hasColors ) {
+
+							colors[ componentIdx ] = r;
+							colors[ componentIdx + 1 ] = g;
+							colors[ componentIdx + 2 ] = b;
+
+						}
+
+					}
+
+				}
+
+				geometry.setAttribute( 'position', new THREE.BufferAttribute( vertices, 3 ) );
+				geometry.setAttribute( 'normal', new THREE.BufferAttribute( normals, 3 ) );
+
+				if ( hasColors ) {
+
+					geometry.setAttribute( 'color', new THREE.BufferAttribute( colors, 3 ) );
+					geometry.hasColors = true;
+					geometry.alpha = alpha;
+
+				}
+
+				return geometry;
+
+			}
+
+			function parseASCII( data ) {
+
+				const geometry = new THREE.BufferGeometry();
+				const patternSolid = /solid([\s\S]*?)endsolid/g;
+				const patternFace = /facet([\s\S]*?)endfacet/g;
+				let faceCounter = 0;
+				const patternFloat = /[\s]+([+-]?(?:\d*)(?:\.\d*)?(?:[eE][+-]?\d+)?)/.source;
+				const patternVertex = new RegExp( 'vertex' + patternFloat + patternFloat + patternFloat, 'g' );
+				const patternNormal = new RegExp( 'normal' + patternFloat + patternFloat + patternFloat, 'g' );
+				const vertices = [];
+				const normals = [];
+				const normal = new THREE.Vector3();
+				let result;
+				let groupCount = 0;
+				let startVertex = 0;
+				let endVertex = 0;
+
+				while ( ( result = patternSolid.exec( data ) ) !== null ) {
+
+					startVertex = endVertex;
+					const solid = result[ 0 ];
+
+					while ( ( result = patternFace.exec( solid ) ) !== null ) {
+
+						let vertexCountPerFace = 0;
+						let normalCountPerFace = 0;
+						const text = result[ 0 ];
+
+						while ( ( result = patternNormal.exec( text ) ) !== null ) {
+
+							normal.x = parseFloat( result[ 1 ] );
+							normal.y = parseFloat( result[ 2 ] );
+							normal.z = parseFloat( result[ 3 ] );
+							normalCountPerFace ++;
+
+						}
+
+						while ( ( result = patternVertex.exec( text ) ) !== null ) {
+
+							vertices.push( parseFloat( result[ 1 ] ), parseFloat( result[ 2 ] ), parseFloat( result[ 3 ] ) );
+							normals.push( normal.x, normal.y, normal.z );
+							vertexCountPerFace ++;
+							endVertex ++;
+
+						} // every face have to own ONE valid normal
+
+
+						if ( normalCountPerFace !== 1 ) {
+
+							console.error( 'THREE.STLLoader: Something isn\'t right with the normal of face number ' + faceCounter );
+
+						} // each face have to own THREE valid vertices
+
+
+						if ( vertexCountPerFace !== 3 ) {
+
+							console.error( 'THREE.STLLoader: Something isn\'t right with the vertices of face number ' + faceCounter );
+
+						}
+
+						faceCounter ++;
+
+					}
+
+					const start = startVertex;
+					const count = endVertex - startVertex;
+					geometry.addGroup( start, count, groupCount );
+					groupCount ++;
+
+				}
+
+				geometry.setAttribute( 'position', new THREE.Float32BufferAttribute( vertices, 3 ) );
+				geometry.setAttribute( 'normal', new THREE.Float32BufferAttribute( normals, 3 ) );
+				return geometry;
+
+			}
+
+			function ensureString( buffer ) {
+
+				if ( typeof buffer !== 'string' ) {
+
+					return THREE.LoaderUtils.decodeText( new Uint8Array( buffer ) );
+
+				}
+
+				return buffer;
+
+			}
+
+			function ensureBinary( buffer ) {
+
+				if ( typeof buffer === 'string' ) {
+
+					const array_buffer = new Uint8Array( buffer.length );
+
+					for ( let i = 0; i < buffer.length; i ++ ) {
+
+						array_buffer[ i ] = buffer.charCodeAt( i ) & 0xff; // implicitly assumes little-endian
+
+					}
+
+					return array_buffer.buffer || array_buffer;
+
+				} else {
+
+					return buffer;
+
+				}
+
+			} // start
+
+
+			const binData = ensureBinary( data );
+			return isBinary( binData ) ? parseBinary( binData ) : parseASCII( ensureString( data ) );
+
+		}
+
+	}
+
+	THREE.STLLoader = STLLoader;
+
+} )();

dashboard/temp_motor_map.py

@@ -0,0 +1,90 @@
+"""G1 29-DoF motor → name / mesh mapping for the 3D temperature dashboard.
+
+Ported verbatim from Marcus/Features/TempMonitor/config_g1.py so the copied
+three.js front-end (static/temp3d/index.html) binds temperature colours to the
+correct STL meshes. `build_payload()` turns the arm controller's raw lowstate
+snapshot into the exact 'motor_update' payload shape that front-end expects.
+"""
+
+from __future__ import annotations
+
+from typing import Any, Optional
+
+# Motor ID → human name (29 motors = 29 DOF)
+MOTOR_NAMES: dict[int, str] = {
+    0: "Left Hip Pitch", 1: "Left Hip Roll", 2: "Left Hip Yaw", 3: "Left Knee",
+    4: "Left Ankle Pitch", 5: "Left Ankle Roll",
+    6: "Right Hip Pitch", 7: "Right Hip Roll", 8: "Right Hip Yaw", 9: "Right Knee",
+    10: "Right Ankle Pitch", 11: "Right Ankle Roll",
+    12: "Waist Yaw", 13: "Waist Roll", 14: "Waist Pitch",
+    15: "Left Shoulder Pitch", 16: "Left Shoulder Roll", 17: "Left Shoulder Yaw",
+    18: "Left Elbow", 19: "Left Wrist Roll", 20: "Left Wrist Pitch", 21: "Left Wrist Yaw",
+    22: "Right Shoulder Pitch", 23: "Right Shoulder Roll", 24: "Right Shoulder Yaw",
+    25: "Right Elbow", 26: "Right Wrist Roll", 27: "Right Wrist Pitch", 28: "Right Wrist Yaw",
+}
+
+# Motor ID → URDF link / STL mesh name
+MOTOR_TO_MESH: dict[int, str] = {
+    0: "left_hip_pitch_link", 1: "left_hip_roll_link", 2: "left_hip_yaw_link",
+    3: "left_knee_link", 4: "left_ankle_pitch_link", 5: "left_ankle_roll_link",
+    6: "right_hip_pitch_link", 7: "right_hip_roll_link", 8: "right_hip_yaw_link",
+    9: "right_knee_link", 10: "right_ankle_pitch_link", 11: "right_ankle_roll_link",
+    12: "waist_yaw_link", 13: "waist_roll_link", 14: "torso_link",
+    15: "left_shoulder_pitch_link", 16: "left_shoulder_roll_link", 17: "left_shoulder_yaw_link",
+    18: "left_elbow_link", 19: "left_wrist_roll_link", 20: "left_wrist_pitch_link",
+    21: "left_wrist_yaw_link",
+    22: "right_shoulder_pitch_link", 23: "right_shoulder_roll_link", 24: "right_shoulder_yaw_link",
+    25: "right_elbow_link", 26: "right_wrist_roll_link", 27: "right_wrist_pitch_link",
+    28: "right_wrist_yaw_link",
+}
+
+# Temperature thresholds (°C) — the three.js gradient maps MIN→MAX (blue→red).
+TEMP_MIN = 30
+TEMP_MAX = 120
+TEMP_WARM_THRESHOLD = 45
+TEMP_HOT_THRESHOLD = 60
+
+
+def _coerce(v: Optional[int]) -> float:
+    """Temperatures default to 0 when the firmware didn't report one, so the
+    front-end's Math.max / .toFixed never sees null/NaN."""
+    return float(v) if v is not None else 0.0
+
+
+def build_payload(temps: list[dict[str, Any]],
+                  positions: list[float],
+                  timestamp: float) -> dict[str, Any]:
+    """Build the Marcus-compatible 'motor_update' payload.
+
+    `temps`     — arm.get_motor_temps(): [{motor_id, surface, winding}]
+    `positions` — arm.get_current_q(): joint angles indexed by motor id
+    """
+    temperatures: list[dict[str, Any]] = []
+    for t in temps or []:
+        i = t.get("motor_id")
+        surface = t.get("surface")
+        winding = t.get("winding")
+        if surface is not None and winding is not None:
+            avg = (_coerce(surface) + _coerce(winding)) / 2.0
+        else:
+            avg = _coerce(surface if surface is not None else winding)
+        entry: dict[str, Any] = {
+            "motor_id": i,
+            "motor_name": MOTOR_NAMES.get(i, f"Motor {i}"),
+            "mesh_name": MOTOR_TO_MESH.get(i, ""),
+            "surface": _coerce(surface),
+            "winding": _coerce(winding),
+            "temp1": _coerce(surface),
+            "temp2": _coerce(winding),
+            "avg": avg,
+        }
+        if positions and isinstance(i, int) and i < len(positions):
+            entry["position"] = float(positions[i])
+        temperatures.append(entry)
+
+    pos_list: list[dict[str, Any]] = [
+        {"motor_id": i, "position": float(q), "link_name": MOTOR_TO_MESH.get(i)}
+        for i, q in enumerate(positions or [])
+    ]
+    return {"temperatures": temperatures, "positions": pos_list,
+            "timestamp": timestamp}

dashboard/websockets/motor_temps.py

@@ -0,0 +1,81 @@
+"""WebSocket endpoint streaming G1 motor temperatures to the 3D dashboard (N1).
+
+Polls the arm controller's throttled rt/lowstate snapshot (arm.get_motor_temps
+/ arm.get_current_q — NO second DDS subscriber, no second ChannelFactoryInitialize)
+and pushes a Marcus-compatible 'motor_update' payload to each connected client.
+
+Front-end: dashboard/static/temp3d/index.html (ported three.js view), which
+opens this socket via a tiny shim in place of socket.io.
+"""
+
+from __future__ import annotations
+
+import asyncio
+import threading
+import time
+
+from fastapi import APIRouter, WebSocket, WebSocketDisconnect
+
+from Project.Sanad.core.logger import get_logger
+from Project.Sanad.dashboard.temp_motor_map import build_payload
+
+log = get_logger("motor_temps_ws")
+
+router = APIRouter()
+
+MAX_WATCHERS = 20
+PUSH_HZ = 8.0          # ~8 fps is plenty for a temperature heatmap
+
+_count = 0
+_count_lock = threading.Lock()
+
+
+def _get_arm():
+    """Lazy import — avoids a circular import on dashboard load."""
+    try:
+        from Project.Sanad.main import arm  # type: ignore
+        return arm
+    except Exception:
+        return None
+
+
+@router.websocket("/ws/motor-temps")
+async def motor_temps_ws(ws: WebSocket):
+    await ws.accept()
+
+    global _count
+    with _count_lock:
+        if _count >= MAX_WATCHERS:
+            await ws.close(code=1013, reason="Too many temperature watchers")
+            return
+        _count += 1
+
+    period = 1.0 / PUSH_HZ
+    try:
+        while True:
+            arm = _get_arm()
+            temps: list = []
+            positions: list = []
+            if arm is not None:
+                try:
+                    temps = arm.get_motor_temps()
+                except Exception:
+                    temps = []
+                try:
+                    positions = arm.get_current_q()
+                except Exception:
+                    positions = []
+            payload = build_payload(temps, positions, time.time())
+            await ws.send_json(payload)
+            await asyncio.sleep(period)
+    except WebSocketDisconnect:
+        pass
+    except Exception:
+        # Any other error (client gone mid-send, serialise issue) closes cleanly.
+        try:
+            await ws.close()
+        except Exception:
+            pass
+    finally:
+        with _count_lock:
+            _count -= 1

dashboard/websockets/terminal.py

@@ -0,0 +1,323 @@
+"""WebSocket → PTY bridge for the dashboard's Terminal tab.
+
+Spawns a shell (bash by default) inside a pseudo-terminal on the robot and
+relays stdin/stdout to a browser xterm.js instance over WebSocket. From the
+operator's seat this is functionally identical to an in-browser
+`ssh unitree@<robot>` — except no SSH handshake is needed because the
+dashboard process already runs as unitree on the robot. The Terminal tab
+connects to ws://<dashboard>/ws/terminal and you land in unitree's shell
+directly.
+
+PROTOCOL — text frames only. Control vs. keystrokes are disambiguated by
+the leading byte:
+  client → server:
+    "\\x1f" + json-encoded control object  (init / resize)
+      e.g. "\\x1f{\\"type\\":\\"init\\",\\"cols\\":80,\\"rows\\":24}"
+    <any other text>                       keystrokes — written to PTY
+  server → client:
+    <text>                                 PTY stdout/stderr chunks
+
+The \\x1f prefix (ASCII Unit Separator) is the disambiguator. If we just
+JSON-sniffed every message, a user pasting `{"type":"resize",...}` into
+their shell would silently resize the PTY instead of pasting the text.
+
+SECURITY NOTE: anyone who can reach the dashboard URL gets shell access
+as the unitree user. The dashboard already exposes equally-powerful
+endpoints (E-STOP, motion replay, audio mute, etc.) so this isn't a new
+threat class — but it IS a single-bullet kill switch for the robot. Bind
+the dashboard to a trusted network only.
+"""
+
+from __future__ import annotations
+
+import asyncio
+import fcntl
+import json
+import os
+import pty
+import select
+import shutil
+import signal
+import struct
+import termios
+import threading
+
+from fastapi import APIRouter, WebSocket, WebSocketDisconnect
+
+from Project.Sanad.core.logger import get_logger
+
+log = get_logger("terminal_ws")
+
+router = APIRouter()
+
+# Magic prefix that distinguishes control messages from raw keystrokes.
+# ASCII 0x1F (Unit Separator) — not produced by normal keyboard input,
+# so user-pasted JSON can never spoof a control frame.
+_CTRL_PREFIX = "\x1f"
+
+# Concurrent-session cap so a runaway tab can't spawn 50 bashes on the robot.
+_MAX_SESSIONS = 4
+_active: set[int] = set()
+_active_lock = threading.Lock()
+
+# Bounded queue depth between the PTY reader thread and the WS sender.
+# A chatty shell command (e.g. `yes`, `cat /dev/urandom`) at gigabytes/sec
+# would otherwise pile up unbounded asyncio tasks + string refs. Past the
+# cap we drop chunks and surface a single drop notice — ANSI may corrupt
+# briefly but the session stays alive.
+_SEND_QUEUE_MAX = 64
+
+
+def _resolve_shell() -> list[str]:
+    """Pick a sensible shell. SHELL env first, then /bin/bash, then sh."""
+    sh = os.environ.get("SHELL", "")
+    if sh and shutil.which(sh):
+        return [sh, "-i"]
+    if shutil.which("/bin/bash"):
+        return ["/bin/bash", "-i"]
+    return ["/bin/sh", "-i"]
+
+
+def _set_pty_size(fd: int, cols: int, rows: int) -> None:
+    """Inform the PTY of its new window size so curses-style apps (htop,
+    less, vim) lay out correctly."""
+    try:
+        # TIOCSWINSZ payload: rows, cols, xpixel, ypixel (xpixel/ypixel
+        # unused, kept 0).
+        fcntl.ioctl(fd, termios.TIOCSWINSZ,
+                    struct.pack("HHHH", rows, cols, 0, 0))
+    except Exception as exc:
+        log.debug("TIOCSWINSZ failed (cols=%s rows=%s): %s", cols, rows, exc)
+
+
+async def _reap_child(pid: int) -> None:
+    """SIGHUP → wait briefly → SIGKILL → wait briefly → giveup.
+
+    Earlier version SIGKILLed unconditionally because the WNOHANG check
+    happened immediately after SIGHUP (which never returns true that fast).
+    Now we poll for up to ~1.5s after SIGHUP before escalating.
+    """
+    async def _wait_exit(timeout_s: float, interval_s: float = 0.1) -> bool:
+        end = asyncio.get_running_loop().time() + timeout_s
+        while asyncio.get_running_loop().time() < end:
+            try:
+                done_pid, _ = os.waitpid(pid, os.WNOHANG)
+            except ChildProcessError:
+                return True   # already reaped
+            except OSError:
+                return False
+            if done_pid:
+                return True
+            await asyncio.sleep(interval_s)
+        return False
+
+    # 1. Polite request
+    try:
+        os.kill(pid, signal.SIGHUP)
+    except ProcessLookupError:
+        return
+    except OSError as exc:
+        log.debug("SIGHUP pid=%d: %s", pid, exc)
+        return
+
+    if await _wait_exit(1.5):
+        return
+
+    # 2. Force
+    try:
+        os.kill(pid, signal.SIGKILL)
+    except ProcessLookupError:
+        return
+    except OSError as exc:
+        log.debug("SIGKILL pid=%d: %s", pid, exc)
+        return
+
+    if not await _wait_exit(1.0):
+        log.warning("terminal child pid=%d failed to exit after SIGKILL", pid)
+
+
+@router.websocket("/ws/terminal")
+async def terminal_ws(ws: WebSocket) -> None:
+    """Bridge a browser xterm.js to a shell PTY on the robot."""
+    await ws.accept()
+
+    # Concurrent-session guard.
+    with _active_lock:
+        if len(_active) >= _MAX_SESSIONS:
+            await ws.send_text(
+                f"\r\n[terminal] Refused — already have {_MAX_SESSIONS} "
+                f"open sessions. Close another tab and reconnect.\r\n"
+            )
+            await ws.close(code=1008)
+            return
+
+    # Fork + exec the shell. Parent gets the master fd; child becomes the
+    # shell with stdin/stdout/stderr wired to the slave end.
+    cmd = _resolve_shell()
+    try:
+        pid, fd = pty.fork()
+    except OSError as exc:
+        log.error("pty.fork failed: %s", exc)
+        await ws.send_text(f"\r\n[terminal] pty.fork failed: {exc}\r\n")
+        await ws.close(code=1011)
+        return
+
+    if pid == 0:
+        # CHILD — set env so the shell is interactive and looks right.
+        os.environ.setdefault("TERM", "xterm-256color")
+        os.environ.setdefault("LANG", os.environ.get("LANG", "en_US.UTF-8"))
+        try:
+            os.execvp(cmd[0], cmd)
+        except OSError as exc:
+            # exec failed — printing to fd 2 reaches the parent via the
+            # PTY so the browser sees the error before we _exit.
+            os.write(2, f"[terminal] exec failed: {exc}\n".encode())
+            os._exit(127)
+        return  # unreachable in child
+
+    # PARENT
+    with _active_lock:
+        _active.add(pid)
+    log.info("terminal session started pid=%d cmd=%s", pid, cmd[0])
+
+    loop = asyncio.get_running_loop()
+    closed = asyncio.Event()
+    # Bounded queue + dedicated sender task = backpressure. If the queue
+    # fills up we drop the chunk and bump _dropped so we can surface a
+    # short notice in the stream.
+    send_q: asyncio.Queue[str] = asyncio.Queue(maxsize=_SEND_QUEUE_MAX)
+    dropped = 0
+
+    def _reader_thread() -> None:
+        """Drain PTY master fd → queue. Runs in a daemon thread because
+        select.select on a pipe blocks; asyncio has no portable
+        equivalent for arbitrary fds on Windows (and we want one code
+        path)."""
+        nonlocal dropped
+        try:
+            while not closed.is_set():
+                try:
+                    r, _, _ = select.select([fd], [], [], 0.1)
+                except (OSError, ValueError):
+                    break
+                if not r:
+                    continue
+                try:
+                    data = os.read(fd, 4096)
+                except OSError:
+                    break
+                if not data:  # EOF — child exited / PTY closed
+                    break
+                try:
+                    text = data.decode("utf-8", errors="replace")
+                except Exception:
+                    continue
+                # put_nowait raises on full — we drop and count.
+                try:
+                    loop.call_soon_threadsafe(_enqueue, text)
+                except RuntimeError:
+                    # loop closed — bail
+                    break
+        finally:
+            loop.call_soon_threadsafe(closed.set)
+
+    def _enqueue(text: str) -> None:
+        nonlocal dropped
+        try:
+            send_q.put_nowait(text)
+        except asyncio.QueueFull:
+            dropped += 1
+
+    async def _sender_task() -> None:
+        """Drains send_q → WebSocket. Single producer, single consumer
+        means no extra locking needed. Backoff on send failure and let
+        the closed flag end the session."""
+        nonlocal dropped
+        while not closed.is_set():
+            try:
+                text = await asyncio.wait_for(send_q.get(), timeout=0.5)
+            except asyncio.TimeoutError:
+                continue
+            try:
+                await ws.send_text(text)
+            except Exception as exc:
+                log.info("terminal ws.send failed (likely client gone): %s", exc)
+                closed.set()
+                return
+            # If we dropped chunks since the last successful send, tell
+            # the user once so the ANSI corruption isn't mysterious.
+            if dropped:
+                d = dropped
+                dropped = 0
+                try:
+                    await ws.send_text(
+                        f"\r\n\x1b[2m[term: dropped {d} chunk(s) — slow client]"
+                        f"\x1b[0m\r\n",
+                    )
+                except Exception:
+                    closed.set()
+                    return
+
+    reader = threading.Thread(target=_reader_thread, daemon=True,
+                              name=f"terminal-rx-{pid}")
+    reader.start()
+    sender = asyncio.create_task(_sender_task())
+
+    # Initial sizing — xterm.js will send a {type:"init",...} control
+    # frame right after onopen with the actual window size.
+    _set_pty_size(fd, 80, 24)
+
+    try:
+        while not closed.is_set():
+            try:
+                msg = await asyncio.wait_for(ws.receive_text(), timeout=0.5)
+            except asyncio.TimeoutError:
+                continue
+            except WebSocketDisconnect:
+                break
+
+            if not msg:
+                continue
+
+            # Control frame? Must start with the magic prefix. User-typed
+            # / pasted text can never spoof this — \x1f isn't producible
+            # by normal keyboard input.
+            if msg[:1] == _CTRL_PREFIX:
+                try:
+                    ctrl = json.loads(msg[1:])
+                except (json.JSONDecodeError, ValueError):
+                    ctrl = None
+                if isinstance(ctrl, dict) and ctrl.get("type") in ("init", "resize"):
+                    cols = int(ctrl.get("cols") or 80)
+                    rows = int(ctrl.get("rows") or 24)
+                    _set_pty_size(fd, cols, rows)
+                # Either way, control frames are NEVER forwarded to PTY.
+                continue
+
+            # Plain keystrokes — write to PTY master.
+            try:
+                os.write(fd, msg.encode("utf-8", errors="replace"))
+            except OSError as exc:
+                log.info("terminal pty write failed (child likely exited): %s", exc)
+                break
+    finally:
+        closed.set()
+        try:
+            sender.cancel()
+        except Exception:
+            pass
+        try:
+            await _reap_child(pid)
+        except Exception as exc:
+            log.debug("reap_child pid=%d: %s", pid, exc)
+        try:
+            os.close(fd)
+        except OSError:
+            pass
+        with _active_lock:
+            _active.discard(pid)
+        log.info("terminal session ended pid=%d", pid)
+        try:
+            await ws.close()
+        except Exception:
+            pass

data/.recognition_state.json

@@ -0,0 +1,10 @@
+{
+  "vision_enabled": false,
+  "face_rec_enabled": false,
+  "gallery_version": 0,
+  "zone_rec_enabled": false,
+  "zones_version": 0,
+  "nav_target_zone_id": 0,
+  "nav_target_place_id": 0,
+  "movement_enabled": false
+}