sanad_api_g1t — G1 fleet telemetry agent
Streams the Unitree G1's live status to the YS Lootah fleet server. It's the
telemetry sibling of the G1 map agent (../g1) — the G1 runs both, each
its own container/service, both keyed by the same sn (same physical robot).
POST {SERVER_URL}/api/v1/fleet/ingest/telemetry Authorization: Bearer <device_token>
{ "sn":"g1_7892", "mac":"…", "battery":74, "charging":false,
"status":"idle", "position":{"x":…,"y":…}|null, "faults":[], "ts":… }
Every ~2 s; a heartbeat (battery:null, status:offline) when DDS is silent.
Data sources (G1, unitree_hg DDS — same family as R1)
| field | source |
|---|---|
battery, charging |
rt/lf/bmsstate (BmsState_): soc 0–100; charging from current sign |
faults[] |
rt/lowstate (LowState_): motor temps + staleness |
position {x,y} |
rt/lf/odommodestate (SportModeState_) — firmware leg-odometry over DDS, no ROS (odom frame: drifts, resets at boot). Optional map-frame via rosbridge. |
status |
derived (charging/moving/idle/offline); optional loco FSM (G1_READ_FSM=1, ids 200 ready / 4 stand / 2 squat / 702 lie2stand — GET-only) |
mac |
primary NIC |
Safety: read-only — never commands motion.
Run / test
# via the fleet installer (adds a 'g1t' type):
../../fleet_install.sh install g1t <ip> --sn g1_7892
../../fleet_install.sh data g1t <ip>
# bare simulate (no robot):
SERVER_URL=… DEVICE_TOKEN=… SN=g1_7892 python3 sanad_api_g1t.py --simulate -v
Build on the G1 Jetson (arm64); bundles CycloneDDS + the vendored unitree_sdk2py
wheel (vendor/). network_mode: host for DDS. Coexists with the map agent and
with a running Sanad (DDS allows many readers of the same topics).