Update 2026-07-10 14:10:16

PIPELINE.md

@@ -92,10 +92,18 @@ POST /api/v1/fleet/ingest/telemetry
 Authorization: Bearer <device_token>
 Content-Type: application/json
 
-{ "sn": "r1_82",
+{ "sn": "E39N4000Q6D7E70F",              // the robot's REAL Unitree serial
   "mac": "4c:bb:47:51:25:9a",
-  "battery": 80,
+  "brand": "unitree",
+  "type": "humanoid",                     // humanoid | dog
+  "model": "r1",                          // r1 | g1 | go2
+  "battery": 62,
   "charging": false,
+  "battery_detail": { "voltage_v": 34.5, "current_a": -3.08,
+                      "temp_c": 42, "soh": 99, "cycles": 10 },
+  "motor_temp": { "max": 49.0, "avg": 37.8, "min": 32.0 },  // null = not receiving
+  "storage": { "total_gb": 98.2, "free_gb": 58.5, "used_percent": 36.2,
+               "data_kb": 770.0 },        // data_kb only when STORAGE_DATA_PATH set
   "status": "idle",
   "position": { "x": 12.4, "y": 3.1 },   // or null when no localization source
   "faults": [],

agents/g1t/.env.example

@@ -33,3 +33,11 @@ MOTOR_TEMP_MAX=85
 POLL_INTERVAL=2
 VERIFY_TLS=1
 HTTP_TIMEOUT=10
+
+# ── robot identity card (shown on the dashboard) ─────────────────────────────
+ROBOT_BRAND=unitree
+ROBOT_TYPE=humanoid
+ROBOT_MODEL=g1
+# Optional: Sanad data dir whose size is reported in storage (as /host/<path>
+# when the installer's read-only /:/host mount is used). Empty = omit.
+STORAGE_DATA_PATH=

agents/g1t/sanad_api_g1t.py

@@ -47,6 +47,7 @@ import argparse
 import json
 import logging
 import os
+import shutil
 import sys
 import threading
 import time
@@ -85,6 +86,12 @@ class Config:
     server_url: str
     device_token: str
     sn: str
+    name: str
+    brand: str
+    robot_type: str
+    model: str
+    storage_path: str
+    data_path: str
     dds_interface: str
     dds_domain: int
     mac_interface: str
@@ -109,6 +116,12 @@ class Config:
         return cls(
             server_url=server, device_token=token,
             sn=_env("SN", "g1_0000"),
+            name=_env("ROBOT_NAME", "") or _env("SN", "g1_0000"),
+            brand=_env("ROBOT_BRAND", "unitree"),
+            robot_type=_env("ROBOT_TYPE", "humanoid"),
+            model=_env("ROBOT_MODEL", "g1"),
+            storage_path=_env("STORAGE_PATH", ""),
+            data_path=_env("STORAGE_DATA_PATH", ""),
             dds_interface=iface, dds_domain=int(_env("DDS_DOMAIN", "0")),
             mac_interface=_env("MAC_INTERFACE", iface),
             read_fsm=_env_bool("G1_READ_FSM", False),
@@ -141,6 +154,43 @@ def read_mac(interface: str) -> str:
     return ":".join(f"{(n >> b) & 0xff:02x}" for b in range(40, -1, -8))
 
 
+_data_size_cache: Dict[str, Any] = {"ts": 0.0, "kb": None}
+
+
+def read_storage(cfg: Config) -> Optional[Dict[str, Any]]:
+    """Disk usage of the robot's root fs + optional Sanad data-dir size.
+
+    In docker, bind-mount the host root read-only at /host (the installer does)
+    so this reports the HOST disk, not the container overlay."""
+    root = cfg.storage_path or ("/host" if os.path.isdir("/host") else "/")
+    try:
+        du = shutil.disk_usage(root)
+        out: Dict[str, Any] = {
+            "total_gb": round(du.total / 1e9, 2),
+            "free_gb": round(du.free / 1e9, 2),
+            "used_percent": round(du.used / du.total * 100, 1),
+        }
+    except Exception:
+        return None
+    if cfg.data_path and os.path.isdir(cfg.data_path):
+        now = time.monotonic()
+        if _data_size_cache["kb"] is None or now - _data_size_cache["ts"] > 60:
+            try:
+                total = 0
+                for r, _, files in os.walk(cfg.data_path):
+                    for f in files:
+                        try:
+                            total += os.path.getsize(os.path.join(r, f))
+                        except OSError:
+                            pass
+                _data_size_cache.update(ts=now, kb=round(total / 1024, 1))
+            except Exception:
+                pass
+        if _data_size_cache["kb"] is not None:
+            out["data_kb"] = _data_size_cache["kb"]
+    return out
+
+
 class DDSReader:
     """Subscribes rt/lf/bmsstate + rt/lowstate (+ rt/lf/odommodestate for position).
     Passive reads; the only RPC ever issued is GET_FSM_ID."""
@@ -216,8 +266,40 @@ class DDSReader:
         try:
             soc = int(getattr(msg, "soc", 0) or 0)
             cur_mA = int(getattr(msg, "current", 0) or 0)
+            # Pack voltage: prefer bmsvoltage[0] (mV); else sum of cell voltages.
+            volt_mv = 0
+            bv = getattr(msg, "bmsvoltage", None)
+            try:
+                if bv is not None and len(bv) and int(bv[0]):
+                    volt_mv = int(bv[0])
+            except Exception:
+                volt_mv = 0
+            if not volt_mv:
+                cv = getattr(msg, "cell_vol", None)
+                if cv is not None:
+                    try:
+                        volt_mv = int(sum(int(x) for x in cv if x))
+                    except Exception:
+                        volt_mv = 0
+            # Max plausible pack temperature (int16 °C).
+            temp_c = None
+            tt = getattr(msg, "temperature", None)
+            if tt is not None:
+                try:
+                    vals = [int(x) for x in tt if -40 <= int(x) <= 150]
+                    if vals:
+                        temp_c = max(vals)
+                except Exception:
+                    temp_c = None
             with self._lock:
-                self._bms = {"soc": max(0, min(100, soc)), "current_a": round(cur_mA / 1000.0, 2)}
+                self._bms = {
+                    "soc": max(0, min(100, soc)),
+                    "current_a": round(cur_mA / 1000.0, 2),
+                    "voltage_v": round(volt_mv / 1000.0, 1) if volt_mv else None,
+                    "temp_c": temp_c,
+                    "soh": int(getattr(msg, "soh", 0) or 0),
+                    "cycles": int(getattr(msg, "cycle", 0) or 0),
+                }
                 self._bms_ts = time.monotonic()
         except Exception:
             pass
@@ -231,7 +313,8 @@ class DDSReader:
                 if t is not None:
                     try:
                         vals = [float(x) for x in t] if hasattr(t, "__iter__") else [float(t)]
-                        temps.extend(v for v in vals if -40 <= v <= 200)
+                        # 0 = slot not reporting (unpopulated motor), not a real temp
+                        temps.extend(v for v in vals if 0 < v <= 200)
                     except Exception:
                         pass
                 dq = getattr(m, "dq", None)
@@ -352,7 +435,8 @@ def build_telemetry(cfg: Config, mac: str, reader: Optional[DDSReader],
                     pos: Optional[RosbridgePosition],
                     sim: Optional[Dict[str, Any]] = None) -> Dict[str, Any]:
     if sim is not None:
-        snap = {"bms": {"soc": sim["battery"], "current_a": 0.5 if sim["charging"] else -0.3},
+        snap = {"bms": {"soc": sim["battery"], "current_a": 0.5 if sim["charging"] else -0.3,
+                        "voltage_v": 47.5, "temp_c": 36, "soh": 100, "cycles": 45},
                 "low_age": 0.1, "temps": [sim.get("temp", 45)], "max_dq": sim.get("max_dq", 0.0),
                 "xy": sim.get("position")}
         fsm = sim.get("fsm")
@@ -366,13 +450,34 @@ def build_telemetry(cfg: Config, mac: str, reader: Optional[DDSReader],
     status = derive_status(cfg, snap, fsm)
     faults = derive_faults(cfg, snap)
 
+    # Battery detail (voltage / current / pack temp / health / cycles).
+    battery_detail = None
+    if bms:
+        battery_detail = {"voltage_v": bms.get("voltage_v"), "current_a": bms.get("current_a"),
+                          "temp_c": bms.get("temp_c"), "soh": bms.get("soh"),
+                          "cycles": bms.get("cycles")}
+
+    # Motor temperature stats; null = temps not receiving.
+    temps = snap.get("temps") or []
+    motor_temp = ({"max": round(max(temps), 1), "avg": round(sum(temps) / len(temps), 1),
+                   "min": round(min(temps), 1)} if temps else None)
+
     position = snap.get("xy")
     if position is None and pos is not None:
         position = pos.get()
 
     return {
-        "sn": cfg.sn, "mac": mac,
+        "sn": cfg.sn,
-        "battery": battery, "charging": charging, "status": status,
+        "name": cfg.name,            # friendly display name (e.g. g1_58)
+        "mac": mac,
+        "brand": cfg.brand,
+        "type": cfg.robot_type,      # humanoid | dog
+        "model": cfg.model,          # r1 | g1 | go2
+        "battery": battery, "charging": charging,
+        "battery_detail": battery_detail,
+        "motor_temp": motor_temp,    # null = not receiving
+        "storage": read_storage(cfg),
+        "status": status,
         "position": position, "faults": faults, "ts": int(time.time()),
     }
 

agents/go2/.env.example

@@ -27,3 +27,11 @@ MOTOR_TEMP_MAX=85
 POLL_INTERVAL=2
 VERIFY_TLS=1
 HTTP_TIMEOUT=10
+
+# ── robot identity card (shown on the dashboard) ─────────────────────────────
+ROBOT_BRAND=unitree
+ROBOT_TYPE=dog
+ROBOT_MODEL=go2
+# Optional: Sanad data dir whose size is reported in storage (as /host/<path>
+# when the installer's read-only /:/host mount is used). Empty = omit.
+STORAGE_DATA_PATH=

agents/go2/sanad_api_go2.py

@@ -40,6 +40,7 @@ import argparse
 import json
 import logging
 import os
+import shutil
 import sys
 import threading
 import time
@@ -78,6 +79,12 @@ class Config:
     server_url: str
     device_token: str
     sn: str
+    name: str
+    brand: str
+    robot_type: str
+    model: str
+    storage_path: str
+    data_path: str
     dds_interface: str
     dds_domain: int
     mac_interface: str
@@ -101,6 +108,12 @@ class Config:
         return cls(
             server_url=server, device_token=token,
             sn=_env("SN", "go2_0000"),
+            name=_env("ROBOT_NAME", "") or _env("SN", "go2_0000"),
+            brand=_env("ROBOT_BRAND", "unitree"),
+            robot_type=_env("ROBOT_TYPE", "dog"),
+            model=_env("ROBOT_MODEL", "go2"),
+            storage_path=_env("STORAGE_PATH", ""),
+            data_path=_env("STORAGE_DATA_PATH", ""),
             dds_interface=iface, dds_domain=int(_env("DDS_DOMAIN", "0")),
             mac_interface=_env("MAC_INTERFACE", iface),
             position_source=_env("GO2_POSITION_SOURCE", "none").lower(),
@@ -132,6 +145,43 @@ def read_mac(interface: str) -> str:
     return ":".join(f"{(n >> b) & 0xff:02x}" for b in range(40, -1, -8))
 
 
+_data_size_cache: Dict[str, Any] = {"ts": 0.0, "kb": None}
+
+
+def read_storage(cfg: Config) -> Optional[Dict[str, Any]]:
+    """Disk usage of the robot's root fs + optional Sanad data-dir size.
+
+    In docker, bind-mount the host root read-only at /host (the installer does)
+    so this reports the HOST disk, not the container overlay."""
+    root = cfg.storage_path or ("/host" if os.path.isdir("/host") else "/")
+    try:
+        du = shutil.disk_usage(root)
+        out: Dict[str, Any] = {
+            "total_gb": round(du.total / 1e9, 2),
+            "free_gb": round(du.free / 1e9, 2),
+            "used_percent": round(du.used / du.total * 100, 1),
+        }
+    except Exception:
+        return None
+    if cfg.data_path and os.path.isdir(cfg.data_path):
+        now = time.monotonic()
+        if _data_size_cache["kb"] is None or now - _data_size_cache["ts"] > 60:
+            try:
+                total = 0
+                for r, _, files in os.walk(cfg.data_path):
+                    for f in files:
+                        try:
+                            total += os.path.getsize(os.path.join(r, f))
+                        except OSError:
+                            pass
+                _data_size_cache.update(ts=now, kb=round(total / 1024, 1))
+            except Exception:
+                pass
+        if _data_size_cache["kb"] is not None:
+            out["data_kb"] = _data_size_cache["kb"]
+    return out
+
+
 class DDSReader:
     """Subscribes rt/lowstate (unitree_go LowState_) and (optionally) sportmodestate.
     Battery comes from the nested LowState_.bms_state. Passive reads only."""
@@ -181,8 +231,36 @@ class DDSReader:
             if bms is not None:
                 soc = int(getattr(bms, "soc", 0) or 0)
                 cur = int(getattr(bms, "current", 0) or 0)   # mA
+                # Go2: pack voltage is LowState_.power_v (V); pack temp from the
+                # BMS NTC sensors (bq_ntc / mcu_ntc, °C). All defensive getattrs.
+                volt_v = None
+                try:
+                    pv = getattr(msg, "power_v", None)
+                    if pv:
+                        volt_v = round(float(pv), 1)
+                except Exception:
+                    volt_v = None
+                temp_c = None
+                try:
+                    ntc_vals = []
+                    for attr in ("bq_ntc", "mcu_ntc"):
+                        nt = getattr(bms, attr, None)
+                        if nt is not None:
+                            vals = [int(x) for x in nt] if hasattr(nt, "__iter__") else [int(nt)]
+                            ntc_vals.extend(v for v in vals if -40 <= v <= 150)
+                    if ntc_vals:
+                        temp_c = max(ntc_vals)
+                except Exception:
+                    temp_c = None
                 with self._lock:
-                    self._bms = {"soc": max(0, min(100, soc)), "current_a": round(cur / 1000.0, 2)}
+                    self._bms = {
+                        "soc": max(0, min(100, soc)),
+                        "current_a": round(cur / 1000.0, 2),
+                        "voltage_v": volt_v,
+                        "temp_c": temp_c,
+                        "soh": int(getattr(bms, "soh", 0) or 0),
+                        "cycles": int(getattr(bms, "cycle", 0) or 0),
+                    }
             temps: List[float] = []
             max_dq = 0.0
             for m in (getattr(msg, "motor_state", None) or []):
@@ -190,7 +268,8 @@ class DDSReader:
                 if t is not None:
                     try:
                         vals = [float(x) for x in t] if hasattr(t, "__iter__") else [float(t)]
-                        temps.extend(v for v in vals if -40 <= v <= 200)
+                        # 0 = slot not reporting (unpopulated motor), not a real temp
+                        temps.extend(v for v in vals if 0 < v <= 200)
                     except Exception:
                         pass
                 dq = getattr(m, "dq", None)
@@ -296,7 +375,8 @@ def build_telemetry(cfg: Config, mac: str, reader: Optional[DDSReader],
                     pos: Optional[RosbridgePosition],
                     sim: Optional[Dict[str, Any]] = None) -> Dict[str, Any]:
     if sim is not None:
-        snap = {"bms": {"soc": sim["battery"], "current_a": 0.5 if sim["charging"] else -0.3},
+        snap = {"bms": {"soc": sim["battery"], "current_a": 0.5 if sim["charging"] else -0.3,
+                        "voltage_v": 28.6, "temp_c": 36, "soh": 100, "cycles": 45},
                 "low_age": 0.1, "temps": [sim.get("temp", 45)], "max_dq": sim.get("max_dq", 0.0),
                 "xy": sim.get("position")}
     else:
@@ -308,13 +388,34 @@ def build_telemetry(cfg: Config, mac: str, reader: Optional[DDSReader],
     status = derive_status(cfg, snap)
     faults = derive_faults(cfg, snap)
 
+    # Battery detail (voltage / current / pack temp / health / cycles).
+    battery_detail = None
+    if bms:
+        battery_detail = {"voltage_v": bms.get("voltage_v"), "current_a": bms.get("current_a"),
+                          "temp_c": bms.get("temp_c"), "soh": bms.get("soh"),
+                          "cycles": bms.get("cycles")}
+
+    # Motor temperature stats; null = temps not receiving.
+    temps = snap.get("temps") or []
+    motor_temp = ({"max": round(max(temps), 1), "avg": round(sum(temps) / len(temps), 1),
+                   "min": round(min(temps), 1)} if temps else None)
+
     position = snap.get("xy")
     if position is None and pos is not None:
         position = pos.get()
 
     return {
-        "sn": cfg.sn, "mac": mac,
+        "sn": cfg.sn,
-        "battery": battery, "charging": charging, "status": status,
+        "name": cfg.name,            # friendly display name (e.g. go2_XX)
+        "mac": mac,
+        "brand": cfg.brand,
+        "type": cfg.robot_type,      # humanoid | dog
+        "model": cfg.model,          # r1 | g1 | go2
+        "battery": battery, "charging": charging,
+        "battery_detail": battery_detail,
+        "motor_temp": motor_temp,    # null = not receiving
+        "storage": read_storage(cfg),
+        "status": status,
         "position": position, "faults": faults, "ts": int(time.time()),
     }
 

agents/r1/.env.example

@@ -33,3 +33,11 @@ MOTOR_TEMP_MAX=85
 POLL_INTERVAL=2
 VERIFY_TLS=1
 HTTP_TIMEOUT=10
+
+# ── robot identity card (shown on the dashboard) ─────────────────────────────
+ROBOT_BRAND=unitree
+ROBOT_TYPE=humanoid
+ROBOT_MODEL=r1
+# Optional: Sanad data dir whose size is reported in storage (as /host/<path>
+# when the installer's read-only /:/host mount is used). Empty = omit.
+STORAGE_DATA_PATH=

agents/r1/sanad_api_r1.py

@@ -59,6 +59,7 @@ import json
 import logging
 import math
 import os
+import shutil
 import socket
 import sys
 import threading
@@ -104,6 +105,12 @@ class Config:
     server_url: str
     device_token: str
     sn: str
+    name: str
+    brand: str
+    robot_type: str
+    model: str
+    storage_path: str
+    data_path: str
     dds_interface: str
     dds_domain: int
     mac_interface: str
@@ -129,6 +136,12 @@ class Config:
             server_url=server,
             device_token=token,
             sn=_env("SN", "r1_0000"),
+            name=_env("ROBOT_NAME", "") or _env("SN", "r1_0000"),
+            brand=_env("ROBOT_BRAND", "unitree"),
+            robot_type=_env("ROBOT_TYPE", "humanoid"),
+            model=_env("ROBOT_MODEL", "r1"),
+            storage_path=_env("STORAGE_PATH", ""),
+            data_path=_env("STORAGE_DATA_PATH", ""),
             dds_interface=iface,
             dds_domain=int(_env("DDS_DOMAIN", "0")),
             mac_interface=_env("MAC_INTERFACE", iface),
@@ -169,6 +182,47 @@ def read_mac(interface: str) -> str:
     return ":".join(f"{(n >> b) & 0xff:02x}" for b in range(40, -1, -8))
 
 
+# --------------------------------------------------------------------------- #
+# storage (host disk usage; mount / at /host:ro in docker)
+# --------------------------------------------------------------------------- #
+_data_size_cache: Dict[str, Any] = {"ts": 0.0, "kb": None}
+
+
+def read_storage(cfg: Config) -> Optional[Dict[str, Any]]:
+    """Disk usage of the robot's root fs + optional Sanad data-dir size.
+
+    In docker, bind-mount the host root read-only at /host (the installer does)
+    so this reports the HOST disk, not the container overlay."""
+    root = cfg.storage_path or ("/host" if os.path.isdir("/host") else "/")
+    try:
+        du = shutil.disk_usage(root)
+        out: Dict[str, Any] = {
+            "total_gb": round(du.total / 1e9, 2),
+            "free_gb": round(du.free / 1e9, 2),
+            "used_percent": round(du.used / du.total * 100, 1),
+        }
+    except Exception:
+        return None
+    # data-dir size is a directory walk — cache it (refresh every 60 s)
+    if cfg.data_path and os.path.isdir(cfg.data_path):
+        now = time.monotonic()
+        if _data_size_cache["kb"] is None or now - _data_size_cache["ts"] > 60:
+            try:
+                total = 0
+                for r, _, files in os.walk(cfg.data_path):
+                    for f in files:
+                        try:
+                            total += os.path.getsize(os.path.join(r, f))
+                        except OSError:
+                            pass
+                _data_size_cache.update(ts=now, kb=round(total / 1024, 1))
+            except Exception:
+                pass
+        if _data_size_cache["kb"] is not None:
+            out["data_kb"] = _data_size_cache["kb"]
+    return out
+
+
 # --------------------------------------------------------------------------- #
 # DDS reader (optional — degrades if unitree_sdk2py is absent)
 # --------------------------------------------------------------------------- #
@@ -242,11 +296,38 @@ class DDSReader:
         try:
             soc = int(getattr(msg, "soc", 0) or 0)
             cur_mA = int(getattr(msg, "current", 0) or 0)
+            # Pack voltage: prefer bmsvoltage[0] (mV); else sum of cell voltages.
+            volt_mv = 0
+            bv = getattr(msg, "bmsvoltage", None)
+            try:
+                if bv is not None and len(bv) and int(bv[0]):
+                    volt_mv = int(bv[0])
+            except Exception:
+                volt_mv = 0
+            if not volt_mv:
+                cv = getattr(msg, "cell_vol", None)
+                if cv is not None:
+                    try:
+                        volt_mv = int(sum(int(x) for x in cv if x))
+                    except Exception:
+                        volt_mv = 0
+            # Max plausible pack temperature (int16 °C).
+            temp_c = None
+            tt = getattr(msg, "temperature", None)
+            if tt is not None:
+                try:
+                    vals = [int(x) for x in tt if -40 <= int(x) <= 150]
+                    if vals:
+                        temp_c = max(vals)
+                except Exception:
+                    temp_c = None
             batt = {
                 "soc": max(0, min(100, soc)),
                 "current_a": round(cur_mA / 1000.0, 2),
+                "voltage_v": round(volt_mv / 1000.0, 1) if volt_mv else None,
+                "temp_c": temp_c,
                 "soh": int(getattr(msg, "soh", 0) or 0),
-                "cycle": int(getattr(msg, "cycle", 0) or 0),
+                "cycles": int(getattr(msg, "cycle", 0) or 0),
             }
             with self._lock:
                 self._bms = batt
@@ -265,7 +346,8 @@ class DDSReader:
                     try:
                         # temperature may be a scalar or a small array (surface/winding)
                         vals = [float(x) for x in t] if hasattr(t, "__iter__") else [float(t)]
-                        temps.extend(v for v in vals if -40 <= v <= 200)
+                        # 0 = slot not reporting (unpopulated motor), not a real temp
+                        temps.extend(v for v in vals if 0 < v <= 200)
                     except Exception:
                         pass
                 dq = getattr(m, "dq", None)
@@ -392,7 +474,8 @@ def build_telemetry(cfg: Config, mac: str, reader: Optional[DDSReader],
                     pos: Optional[RosbridgePosition],
                     sim: Optional[Dict[str, Any]] = None) -> Dict[str, Any]:
     if sim is not None:
-        snap = {"bms": {"soc": sim["battery"], "current_a": 0.5 if sim["charging"] else -0.3},
+        snap = {"bms": {"soc": sim["battery"], "current_a": 0.5 if sim["charging"] else -0.3,
+                        "voltage_v": 47.5, "temp_c": 36, "soh": 100, "cycles": 45},
                 "bms_age": 0.1, "low_age": 0.1, "temps": [sim.get("temp", 45)], "max_dq": sim.get("max_dq", 0.0)}
         fsm = sim.get("fsm")
     else:
@@ -405,6 +488,18 @@ def build_telemetry(cfg: Config, mac: str, reader: Optional[DDSReader],
     status = derive_status(cfg, snap, fsm)
     faults = derive_faults(cfg, snap)
 
+    # Battery detail (voltage / current / pack temp / health / cycles).
+    battery_detail = None
+    if bms:
+        battery_detail = {"voltage_v": bms.get("voltage_v"), "current_a": bms.get("current_a"),
+                          "temp_c": bms.get("temp_c"), "soh": bms.get("soh"),
+                          "cycles": bms.get("cycles")}
+
+    # Motor temperature stats; null = temps not receiving.
+    temps = snap.get("temps") or []
+    motor_temp = ({"max": round(max(temps), 1), "avg": round(sum(temps) / len(temps), 1),
+                   "min": round(min(temps), 1)} if temps else None)
+
     position = None
     if sim is not None:
         position = sim.get("position")
@@ -413,9 +508,16 @@ def build_telemetry(cfg: Config, mac: str, reader: Optional[DDSReader],
 
     payload: Dict[str, Any] = {
         "sn": cfg.sn,
+        "name": cfg.name,            # friendly display name (e.g. r1_82)
         "mac": mac,
+        "brand": cfg.brand,
+        "type": cfg.robot_type,      # humanoid | dog
+        "model": cfg.model,          # r1 | g1 | go2
         "battery": battery,          # null = couldn't read (heartbeat)
         "charging": charging,
+        "battery_detail": battery_detail,
+        "motor_temp": motor_temp,    # null = not receiving
+        "storage": read_storage(cfg),
         "status": status,
         "position": position,        # null when no localization source
         "faults": faults,

fleet_install.sh

@@ -46,16 +46,24 @@ run_args(){
       -v /home/$USER_/$(rdir_of "$1")/web_data:/data/web_data:ro \
       -v /home/$USER_/$(rdir_of "$1")/state:/data/state"
   else
-    echo "$base"
+    # telemetry agents: host root read-only at /host → real disk-usage stats
+    echo "$base -v /:/host:ro"
   fi
 }
 
+# Resolve the SERVER_URL + VERIFY_TLS for a deploy: a full --server-url (real
+# HTTPS fleet server, TLS verified) wins; otherwise http://<detected-ip>:<port>
+# (the local test server, TLS off).
+server_url(){ [ -n "$SERVER_URL_OVERRIDE" ] && echo "$SERVER_URL_OVERRIDE" || echo "http://$1:$PORT"; }
+verify_tls(){ [ -n "$VERIFY_TLS_OPT" ] && echo "$VERIFY_TLS_OPT" || { [ -n "$SERVER_URL_OVERRIDE" ] && echo 1 || echo 0; }; }
+
 # ---- write the robot-side .env ----
 push_env(){
-  local t="$1" sip="$2" rdir; rdir="$(rdir_of "$t")"
+  local t="$1" sip="$2" rdir surl vtls; rdir="$(rdir_of "$t")"
+  surl="$(server_url "$sip")"; vtls="$(verify_tls)"
   if [ "$t" = g1 ]; then
     rmt_in "cat > ~/$rdir/.env" <<EOF
-SERVER_URL=http://$sip:$PORT
+SERVER_URL=$surl
 DEVICE_TOKEN=$TOKEN
 SN=$SN
 ROBOT=sanad
@@ -63,18 +71,35 @@ MAPS_DIR=/data/maps
 DATA_DIR=/data/web_data
 STATE_DIR=/data/state
 MAP_UPLOAD_MODE=multipart
-VERIFY_TLS=0
+VERIFY_TLS=$vtls
 POLL_INTERVAL=30
 EOF
   else
     local iface=eth0; [ "$t" = r1 ] && iface=eth10
+    # identity: brand fixed; type/model from the agent kind; friendly display
+    # name defaults to <model>_<ip-last-octet> (e.g. r1_82, g1_58)
+    local btype=humanoid model="$t"
+    [ "$t" = g1t ] && model=g1
+    [ "$t" = go2 ] && btype=dog
+    local rname="${NAME:-${model}_${IP##*.}}"
+    # optional Sanad data dir (its size is shown on the dashboard) — probe
+    # the known per-robot locations; path is as seen through /host (ro mount)
+    local dpath=""
+    for c in "/home/$USER_/SanadR1/data" "/home/$USER_/sanad_deploy/Sanad_Package_4/data"; do
+      if rmt "test -d $c" 2>/dev/null; then dpath="/host$c"; break; fi
+    done
     rmt_in "cat > ~/$rdir/.env" <<EOF
-SERVER_URL=http://$sip:$PORT
+SERVER_URL=$surl
 DEVICE_TOKEN=$TOKEN
 SN=$SN
+ROBOT_NAME=$rname
+ROBOT_BRAND=unitree
+ROBOT_TYPE=$btype
+ROBOT_MODEL=$model
+STORAGE_DATA_PATH=$dpath
 DDS_INTERFACE=$iface
 DDS_DOMAIN=0
-VERIFY_TLS=0
+VERIFY_TLS=$vtls
 POLL_INTERVAL=2
 EOF
   fi
@@ -85,9 +110,11 @@ installed(){  # 0 = installed (unit file OR container present)
 }
 
 do_install(){
-  local t="$1" img rdir unit sip; img="$(img_of "$t")"; rdir="$(rdir_of "$t")"; unit="$(unit_of "$t")"
+  local t="$1" img rdir unit sip=""; img="$(img_of "$t")"; rdir="$(rdir_of "$t")"; unit="$(unit_of "$t")"
-  sip="$(detect_server_ip)"; [ -n "$sip" ] || die "cannot detect server IP toward $IP (use --server-ip)"
+  if [ -z "$SERVER_URL_OVERRIDE" ]; then
-  echo "== INSTALL $t ($SN) on $IP  →  fleet server http://$sip:$PORT =="
+    sip="$(detect_server_ip)"; [ -n "$sip" ] || die "cannot detect server IP toward $IP (use --server-ip or --server-url)"
+  fi
+  echo "== INSTALL $t ($SN) on $IP  ->  fleet server $(server_url "$sip") =="
   echo ">> rsync agent -> $USER_@$IP:~/$rdir/"
   rsync -az --delete --exclude '.env' --exclude '__pycache__' --exclude '*.pyc' \
     --exclude 'data/' --exclude 'state/' \
@@ -195,13 +222,17 @@ PY
 }
 
 # --------------------------- arg parsing --------------------------- #
-CMD=""; ROBOT=""; IP=""; SERVER_IP=""; PORT=8799; TOKEN="test-token"; SN=""; USER_="unitree"; KEEP_SERVER=0
+CMD=""; ROBOT=""; IP=""; SERVER_IP=""; PORT=8799; TOKEN="test-token"; SN=""; NAME=""; USER_="unitree"; KEEP_SERVER=0
+SERVER_URL_OVERRIDE=""; VERIFY_TLS_OPT=""
 POSA=()
 while [ $# -gt 0 ]; do case "$1" in
   --server-ip) SERVER_IP="$2"; shift 2;;
+  --server-url) SERVER_URL_OVERRIDE="$2"; shift 2;;   # full URL (real HTTPS fleet server) → VERIFY_TLS=1
+  --verify-tls) VERIFY_TLS_OPT="$2"; shift 2;;
   --port) PORT="$2"; shift 2;;
   --token) TOKEN="$2"; shift 2;;
   --sn) SN="$2"; shift 2;;
+  --name) NAME="$2"; shift 2;;              # friendly display name (default <model>_<last-octet>)
   --user) USER_="$2"; shift 2;;
   --keep-server) KEEP_SERVER=1; shift;;
   -h|--help) grep -E '^#( |$)' "$0" | sed 's/^# \{0,1\}//'; exit 0;;