Robot Window (Operator)
=======================

.. figure:: ../../image/window_robot_window.png
   :alt: robot_window
   :width: 900

   Robot operator window.

Overview
--------

In the screenshot above, the left column provides high-level control actions
and status indicators, while the right column renders a live 3D view of the
robot in Rayrai. The bottom of the control column contains joystick selection
and logs.

Layout
------

* **Top-left controls**: power and motor buttons with connection status and
  battery voltage.
* **Motion commands**: set home, joint test, stand up, and sit down actions.
* **Controller loading**: blind/vision locomotion buttons and auto mode toggle.
* **Command source**: manual or autonomy joystick selection with a dropdown
  source list and listen indicator.
* **Joystick scale**: sliders for forward and yaw rate range limits.
* **Log panel**: real-time GUI log output.
* **Visualization**: Rayrai view with optional actuator and sensor overlays,
  plus warnings for hot actuators or motor faults.

Controls and Indicators
-----------------------

* **Power/motor buttons** call ``turn_on``, ``turn_off``, ``init_motor``, and
  ``stop_motor`` services with safety confirmations when needed.
* **Controller buttons** call ``load_controller`` for
  ``blind_locomotion`` or ``vision_locomotion``.
* **Auto mode toggle** calls ``load_plugin`` for ``path_planning`` when the
  required controller is loaded.
* **Listen controls** route joystick commands using ``set_listen`` and display
  the active source.
* **Visualizer settings** (gear icon) toggle actuator and sensor overlays.

Data Sources and Services
-------------------------

* Status is driven by ``robot_state``, ``module_list``, and ``joy_range``.
* Log output is sourced from ``gui_message``.
* ``describe_robot`` provides metadata for the window title and status.
* ``set_joy_range`` updates the joystick scaling sliders.

Notes
-----

* Temperature warnings use ``actuator_hot_criteria`` from GUI parameters.
* The visualization overlay highlights actuator and sensor states; disable
  overlays if you need a clearer camera view.