# sanad_api_g1t — copy to .env and fill in. (G1 telemetry; sibling of the G1 map agent.)

# ── fleet server (REQUIRED — YS Lootah gives you these two) ──────────────────
SERVER_URL=https://fleet.example.com
DEVICE_TOKEN=REPLACE_WITH_DEVICE_TOKEN

# ── identity ─────────────────────────────────────────────────────────────────
# Use the SAME sn as the G1 map agent — it's the same physical robot.
SN=g1_7892

# ── DDS (reading robot state — unitree_hg, same family as R1) ────────────────
# G1 DDS link is usually eth0.
DDS_INTERFACE=eth0
DDS_DOMAIN=0
# MAC_INTERFACE=eth0

# ── status / position ────────────────────────────────────────────────────────
# Read the loco FSM for a richer status (READ-ONLY GET RPC, never moves).
# 0 = derive status from battery + joint motion (safe default).
G1_READ_FSM=0
# Position source:
#   odom      (default) — firmware leg-odometry x,y from rt/lf/odommodestate (drifts, resets at boot)
#   rosbridge — map-frame /odom over rosbridge (needs the nav bringup + ROSBRIDGE_URL)
#   none      — omit position
G1_POSITION_SOURCE=odom
ROSBRIDGE_URL=ws://127.0.0.1:9090

# ── fault thresholds ─────────────────────────────────────────────────────────
LOW_SOC=15
MOTOR_TEMP_MAX=85

# ── cadence / transport ──────────────────────────────────────────────────────
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=