v2.9.2 — Rest: the sleep mode this robot does not have

Rest — the sleep mode this robot does not have

Switched on, a Sirius heats continuously: lying down, its fourteen servos are still working — 307 ‰ of commanded load, and the robot's rear hot to the touch, because it is the shoulders that carry. lie_default_idle is not a resting position, it is an actively held pose, front legs in the air.

A new card in Robot life lays the robot down and cuts the torque on all fourteen motors. The load drops to 5 ‰ and gravity decides the posture.

Three precautions are wired into it:

• waking is proven before sleeping — maximum torque is sent back first, and nothing is cut if the service does not answer;
• the robot is always laid down first — cutting the torque while standing makes it collapse;
• the autonomy is silenced first, and given back on waking. Without that, every idle animation sends maximum torque back and the whole thing loops down/up/down.

The robot stays stiff to the touch: at zero torque the windings are shorted, which brakes without spending anything. Switched off, the legs hang loose — that is how we found out.

The tools open on top of the interface

Six pages were served without a single link leading to them: they existed, they were translated, and you had to know their address. A Tools button now opens each of them in a frame laid over the interface, with a close button and a "Full page" link — nothing navigates away.

This was the third time a page shipped with no entry point. A check now forbids it: verif_coherence.py compares the helper's page routes against whatever cites them and refuses the release if one is unreachable. It was tested on a rigged kit before being trusted.

The 18-LED organ actually works

It shipped broken, in two ways that said nothing: the microphone stream was stored in a read-only property — the exception was swallowed, and the microphone mode had never started — and the analysis loop ran on requestAnimationFrame, which does not run when the tab is in the background.

The page now says when its channel fails to open, distinguishes "no sound heard" from "sound heard, output dark", and starts with settings that light something up on a laptop microphone. Full chain verified on the robot: the 12 head LEDs and 6 body LEDs are addressable one by one.

A sound meter, and what it measured

A servo that whines is a servo being powered — and on a machine with no current sensor, that whine is the only instantaneous indicator of consumption there is. A new page turns it into a measurement: spectrum above 2 kHz, reference silence, and the prominence of a line rather than its level.

It also produced a clean negative. Below 8 kHz — the ceiling of the robot's own 16 kHz recorder — no sustained line appears when the torque comes back. The whine lives above that, which is consistent with adults not hearing it and young ears finding it unpleasant.

Documentation

Two new publications, in French and English, on rest and heat — including what we failed to measure and why.

A major correction to the README on how to read the IMU: do not read roll and pitch from the quaternion. With no magnetometer, yaw drifts freely and that drift enters the Euler decomposition — the same action replayed twenty minutes later returned the same amplitude and the same gain with a direction rotated by 208°. Read tilt from the accelerometer, and only at rest.

Two new README sections: action files can be written, not just played; and there is no sleep mode, nor any way to watch your motors.

---

Full details in tool/README.md (What's new in v2.9.2), tool/LISEZMOI.md and docs/.

Studio 360 for Sirius is independent work by explorations360. The robot's official application is Hengbot's, and this project does not come from them.

Studio 360 pour Sirius — v2.9.1 (onglet Yeux rétabli)

Français

Version de rattrapage. La substance est dans la v2.9.0 — capteur de distance coupé par le firmware 2.5.5, Déambulation suspendue, contrôle du visage par GIF/Lottie. La 2.9.1 la rend simplement accessible.

• Onglet « Yeux » rétabli dans la navigation. Il manquait dans le tableau de navigation du paquet d'interface : la page et sa traduction existaient, mais aucun lien n'y menait.
• Section « Visage — animations » remise dans le flux de la page. Elle était placée après le pied de page, donc reléguée sous le trait de fin.
• Paquet d'interface renommé (index-Cpu8T6k7.js → index-6CAPpX4J.js). Le nom porte une empreinte de contenu : sans ce renommage, les navigateurs auraient continué à servir l'ancien paquet, mis en cache pour un an par contrat.

Rappel de ce qu'apporte la 2.9.0

• Le télémètre est éteint par le firmware 2.5.5 à chaque démarrage (mode=OFF). Le matériel va bien ; il n'a pas été trouvé de moyen de le rallumer. Vérifié sur la machine, preuve par comparaison binaire avec la sauvegarde OTA du firmware précédent.
• L'onglet Déambulation interroge le robot au chargement, affiche un bandeau daté et se désactive tout seul. Suspendue, pas supprimée : elle remarcherait telle quelle si le capteur revenait.
• Le visage est pilotable : l'écran (240 × 284) joue un GIF ou un Lottie arbitraire par les services ROS play_gif / play_lottie. Essai réussi le 01/09/2026. Écran seulement — aucun moteur, aucun son. Demande une clé SSH sans mot de passe.
• Nouvelles routes de l'assistant local : GET /api/tof, GET /api/visage/animations, POST /api/visage/jouer, POST /api/visage/stop.

Piège à connaître

POST /api/v1/behavior/pause appelé sans le champ paused met le robot en pause : une clé inconnue est ignorée et la valeur par défaut est true. Nous nous sommes fait prendre.

---

English

Catch-up release. The substance is in v2.9.0 — distance sensor switched off by firmware 2.5.5, Walk tab suspended, face control via GIF/Lottie. 2.9.1 merely makes it reachable.

• "Eyes" tab restored in the navigation. It was missing from the UI bundle's nav array: the page and its label existed, but nothing linked to it.
• "Face — animations" section moved back into the page flow. It sat after the footer, below the closing rule.
• UI bundle renamed (index-Cpu8T6k7.js → index-6CAPpX4J.js). The filename carries a content fingerprint; without the rename, browsers would have kept serving the old bundle, cached for a year by contract.

What v2.9.0 brought

• The ToF rangefinder is switched off by firmware 2.5.5 at every boot (mode=OFF). The hardware is fine; no way to turn it back on was found. Verified on the machine, proven by binary comparison against the previous firmware's OTA backup kept on the robot.
• The Walk tab probes the robot on load, shows a dated banner and disables itself. Suspended, not removed — it would work again as-is if the sensor came back.
• The face is controllable: the 240 × 284 screen plays an arbitrary GIF or Lottie through the play_gif / play_lottie ROS services. Successful test on 2026-09-01. Screen only — no motors, no sound. Requires a passwordless SSH key.
• New helper routes: GET /api/tof, GET /api/visage/animations, POST /api/visage/jouer, POST /api/visage/stop.

Trap worth knowing

POST /api/v1/behavior/pause called without a valid paused field pauses the robot: an unknown key is ignored and the default is true. We got caught by it.

---

Studio360_pour_Sirius_v2.9.1.zip — 276 344 octets · SHA-256
0418d613ca996f4db4c620922a6bd5c8db0172308e0e3408cf9c1ea4dfe108a2

Projet indépendant d'explorations360, sans lien ni affiliation avec Hengbot. Outil pour développeurs, sans authentification : à n'utiliser que sur un réseau de confiance.

Studio 360 pour Sirius — v2.9.0 (visage animé, capteur de distance)

Studio 360 pour Sirius — v2.9.0

Projet indépendant d'explorations360, non affilié à Hengbot.

Version issue d'une campagne de mesure sur le robot les 31 août et 1er septembre 2026, firmware 2.5.5. Deux corrections importantes, deux ajouts vérifiés.

Le capteur de distance est désactivé par le firmware — la Déambulation est suspendue

Sur firmware 2.5.5, le pilote bas niveau coupe l'évitement ToF à chaque démarrage (setAvoidOff, mode=OFF) : la route réseau répond, mais les seize canaux sont invalides, registres bruts compris. La comparaison avec la sauvegarde OTA du firmware précédent, conservée sur le robot, montre que cette fonction n'existait pas avant — elle a été introduite par la mise à jour. Ce firmware n'offre aucun moyen de la rallumer.

L'onglet Déambulation interroge désormais le robot au chargement et affiche un bandeau daté quand le capteur est muet ; le bouton « Démarrer » se désactive. La fonction n'est pas périmée : elle remarcherait telle quelle si le capteur revenait. Rien n'a été retiré du kit.

Les yeux : une porte qui marche

Le résultat négatif publié en v2.8.4 portait sur le canal UDP et reste vrai. Mais l'écran joue un GIF ou un Lottie arbitraire par les services ROS play_gif et play_lottie, avec chemin absolu, position, taille, boucle infinie et masquage du calque des yeux. Essai réussi le 01/09/2026.

Nouvelle section « Visage — animations » dans l'onglet Yeux : elle liste les animations présentes sur le robot, en joue une, et rend l'écran. Écran du robot : 240 × 284. Passe par SSH, comme le suivi de la main.

Nouvelles routes du helper

GET /api/tof (grille et verdict de disponibilité), GET /api/visage/animations, POST /api/visage/jouer, POST /api/visage/stop.

Un piège à connaître

POST /api/v1/behavior/pause sans champ paused valide met le robot en pause : une clé inconnue est ignorée et la valeur par défaut est true.

Confirmation

Les 12 LED de tête + 6 de dos que ce kit adresse depuis la v2.8.5 sont confirmées par la documentation interne du constructeur, alors que son éditeur public n'en pilote que 2 + 6.

Documentation ajoutée : docs/VERIF_MACHINE_20260901_tof_coupe.md, docs/CONTROLE_VISAGE_20260901.md, docs/FORMAT_ACTION_AVI_20260901.md, docs/VERIF_MACHINE_20260901_api_v1.md.

Fichier : Studio360_pour_Sirius_v2.9.0.zip — 275 133 octets
SHA-256 : b6a368ff4cc62f44da55c413e858a46536a13de1c8bb2662bfc850998d83c906

---

Studio 360 for Sirius — v2.9.0

Independent project by explorations360, not affiliated with Hengbot.

This release comes out of a measurement campaign on the robot on 31 August and 1 September 2026, firmware 2.5.5. Two important corrections, two verified additions.

The distance sensor is disabled by the firmware — Wandering is suspended

On firmware 2.5.5 the low-level driver turns ToF avoidance off at every boot (setAvoidOff, mode=OFF): the network route answers, but all sixteen channels are invalid, raw registers included. Comparing against the previous firmware's OTA backup, kept on the robot, shows that this function did not exist before — it was introduced by the update. This firmware offers no way to turn it back on.

The Wandering tab now queries the robot on load and shows a dated banner when the sensor is mute; the "Start" button is disabled. The feature is not obsolete: it would work again as-is if the sensor came back. Nothing was removed from the kit.

The eyes: a door that works

The negative result published in v2.8.4 concerned the UDP channel and still holds. But the screen will play an arbitrary GIF or Lottie through the ROS services play_gif and play_lottie, with an absolute path, position, size, infinite loop and eye-layer hiding. Successful test on 2026-09-01.

A new "Visage — animations" section in the Eyes tab lists the animations present on the robot, plays one, and hands the screen back. Robot screen: 240 × 284. Goes through SSH, like hand tracking.

New helper routes

GET /api/tof (grid and availability verdict), GET /api/visage/animations, POST /api/visage/jouer, POST /api/visage/stop.

A trap worth knowing

POST /api/v1/behavior/pause without a valid paused field pauses the robot: an unknown key is ignored and the default is true.

Confirmation

The 12 head LEDs + 6 back LEDs this kit has addressed since v2.8.5 are confirmed by the manufacturer's internal documentation, while its public editor drives only 2 + 6.

⚠️ Safety

A developer tool with no safety rails and no authentication: it drives a real robot that walks, stands up and can fall over. Provided as is, with no warranty. The face animation feature touches the screen only — no motors, no sound.

File: Studio360_pour_Sirius_v2.9.0.zip — 275,133 bytes
SHA-256: b6a368ff4cc62f44da55c413e858a46536a13de1c8bb2662bfc850998d83c906

Studio 360 pour Sirius - v2.8.7 (hand tracking)

Studio 360 pour Sirius — v2.8.7

Projet indépendant d'explorations360, non affilié à Hengbot.

Nouveautés

• Suivi de la main — natif. Le robot suit la main avec sa propre cinématique (fluide, à bord, sans latence). Deux interrupteurs bilingues dans l'onglet Vision — Suivi du visage / Suivi de la main — sous le maître Détection. La main est prioritaire ; quand elle disparaît, repli automatique sur le visage.
• Comment. Le nœud natif face_tracker gère visage ET main (commande follow_hand sur /face_tracker/control). Le kit pilote ce mode via un petit nœud ROS persistant tenu à bord par une connexion SSH — bascules instantanées, rien installé en permanence sur le robot. Détails : docs/SUIVI_MAIN_NATIF.md.
• Prérequis : une clé SSH sans mot de passe du PC vers le robot (voir tool/README_suivi_cible.md). Un script en ligne de commande suivi_cible.ps1 est fourni.
• Correction de texte. L'ancien avertissement erroné « commande non éprouvée, le nœud face_tracker ne tourne pas » est retiré partout : ce nœud tourne et fonctionne (vérifié sur firmware 2.5.5).

Fichier : Studio360_pour_Sirius_v2.8.7.zip — 271 040 octets
SHA-256 : e71b42f83b6199118192b4606460a2f04ed7276ebd53ac3174e92f0de8d395c6

---

Studio 360 for Sirius — v2.8.7

Independent project by explorations360, not affiliated with Hengbot.

What's new

• Hand tracking — native. The robot follows your hand with its own kinematics (smooth, on-board, no latency). Two bilingual switches in the Vision tab — Face tracking / Hand tracking — under the Detection master. Hand takes priority; when it disappears, it falls back to the face automatically.
• How. The native face_tracker node handles face AND hand (the follow_hand command on /face_tracker/control). The kit drives this mode through a small persistent ROS node held on-board over a single SSH connection — instant switching, nothing permanently installed on the robot. Details: docs/SUIVI_MAIN_NATIF.md.
• Requires a password-less SSH key from the PC to the robot (see tool/README_suivi_cible.md). A command-line script suivi_cible.ps1 is included.
• Text fix. The old, wrong warning "untested command, the face_tracker node is not running" has been removed everywhere: that node runs and works (verified on firmware 2.5.5).

File: Studio360_pour_Sirius_v2.8.7.zip — 271,040 bytes
SHA-256: e71b42f83b6199118192b4606460a2f04ed7276ebd53ac3174e92f0de8d395c6

Studio 360 pour Sirius — v2.8.6

Studio 360 pour Sirius — v2.8.6

• Température CPU / système enfin affichée — la pastille de la barre du haut
  montrait les sondes moteurs, muettes sur ce firmware (« — ») ; elle affiche
  désormais la température réelle du processeur (~57 °C), lue en direct sur le
  WebSocket du robot. L'onglet Système, qui la déclarait à tort « non disponible »,
  la fournit aussi. (Correction de fond : le robot publie bien cette valeur.)
• Suivi de visage confirmé, indépendant de la Détection.
• Compatibilité firmware 2.5.5 vérifiée — après mise à jour du robot en 2.5.5,
  pilotage, LED (UDP 8768), API et commandes réseau intacts : aucune régression.
• Journal de version du firmware enrichi de six bêtas (2.5.1 → 2.5.5, + 2.4.10).

SHA-256 de l'archive : a771ab89b3c2f437436c510750d657ffcaaae7b3fc64bdce46a33417e09060d4

Projet indépendant d'explorations360, sans lien ni affiliation avec Hengbot.

Studio 360 pour Sirius - v2.8.5

Kit de développement indépendant pour le robot-chien Hengbot Sirius.
Projet d'explorations360 — sans lien, ni affiliation, ni soutien de Hengbot.

Nouveautés

• LED — pilotage mini-LED par mini-LED. Chaque oreille = 6 mini-LED en
  cercle (1 = midi, sens horaire), pilotables une par une comme les 6 LED du
  dos ; mode « Identifier » qui allume une diode à la fois. Les 4 voyants des
  jonctions/queue ne sont pas colorables : ce sont les témoins de batterie
  (confirmé sur le manuel officiel). Le helper passe de 2 à 12 canaux de tête.
• Plan Humeur corrigé : valence / éveil / satiété lus sur l'échelle 0–100 du
  robot ; le curseur reflète enfin l'état réel au lieu de rester bloqué en haut.
• Vie du robot réorganisée (Volume et Écran remontés ; Interactions et
  Dialogue IA regroupés au-dessus de la charge moteurs).
• Interface principale : bouton Reset dans la barre du haut, et bouton
  Recovery (« Relever ») corrigé — il déclenche la vraie mécanique de
  relevage après chute (/api/recovery), distincte de la remise debout.
• Déambulation : bandeau de prérequis en tête de page (le service embarqué
  doit être lancé), et anticipation du vide renforcée (nœud v16) — arrêt
  immédiat dès qu'un vide est suspecté, et détection d'un bord franc sur une
  seule zone pour rattraper les approches en diagonale.
• Doc & langue : README anglais ajouté à côté du LISEZMOI ; doc d'API mise à
  jour (cartographie LED, distinction Reset/Recovery).

⚠️ Sécurité

Outil pour développeurs, sans garde-fou ni authentification : il pilote un vrai
robot qui marche, se lève et peut tomber. L'anticipation du vide réduit le
risque au bord d'une table mais ne le supprime pas — reste à portée de main.
Fourni tel quel, sans garantie.

Téléchargement

Studio360_pour_Sirius_v2.8.5.zip
SHA-256 : f8b81ee12bc5f35bbf5a7eb42b988b7402e4e636714cebde84739033f8f8fe76

Independent developer kit for the Hengbot Sirius robot dog.
An explorations360 project — not affiliated with, endorsed by, or supported by Hengbot.

What's new

• LEDs — per-LED control. Each ear = 6 mini-LEDs laid out as a clock dial
  (1 = twelve o'clock, clockwise), driven one by one like the 6 back LEDs; an
  "Identify" mode lights a single diode at a time. The 4 tail/junction lights are
  not colour-addressable — they are the battery gauge (confirmed in the official
  manual). The helper now drives 12 head channels instead of 2.
• Mood plane fixed: valence / arousal / satiety are read on the robot's
  0–100 scale, so the marker reflects the real state instead of sticking to the
  top-right corner.
• Robot life reorganised (Audio volume and Head screen moved up; Recent
  interactions and AI dialogue grouped above the motor load).
• Main interface: a Reset button in the top bar, and the Recovery
  button fixed — it now triggers the robot's real get-up-after-a-fall routine
  (/api/recovery), distinct from simply standing back up.
• Wandering: a prerequisite banner at the top of the page (the on-board
  service must be running), and stronger drop anticipation (node v16) — it
  stops advancing the instant a drop is suspected, and a single fully-lost floor
  zone now triggers, to catch diagonal approaches.
• Docs & language: an English README added next to the French one; the API
  reference updated (LED mapping, Reset vs Recovery).

⚠️ Safety

A developer tool with no safety rails and no authentication: it drives a real
robot that walks, stands up and can fall over. The drop anticipation reduces
the risk at the edge of a table but does not remove it — stay within arm's reach.
Provided as is, with no warranty.

Download

Studio360_pour_Sirius_v2.8.5.zip
SHA-256: f8b81ee12bc5f35bbf5a7eb42b988b7402e4e636714cebde84739033f8f8fe76

Studio 360 for Sirius - v2.8.4

An independent developer kit for the Hengbot Sirius. An explorations360 project, not affiliated with, endorsed by, or supported by Hengbot.

This release folds the tools built over the past weeks into a single interface, and closes, with proof, the question of whether the robot's eyes can be driven.

The new tools are tabs now, not separate pages

The interface has seven tabs, in this order: Dashboard · System · Robot life · Actions · Sequences · Control · Roaming.

Robot life gathers what the machine says about itself and the settings that concern it: its mood as its own emotion engine computes it, audio volume, the LEDs (two on the head, six on the body, with per-group colour choice), the head screen, battery, network, the load on all fourteen motors, incoming touch interactions, the logs, and the dialogue memory.

Sequences is a behaviour editor: you chain animations, random-draw groups (a "rest" group plays one of its animations at random), pauses and autonomous wander blocks, then run the cycle, once or looped. Sequences are saved on the PC, with JSON export and import.

Roaming is rebuilt in three columns, what it sees, what it measures, what it does, and gains step-by-step walking and a Wake / Stand button.

Three things verified on the machine
Volume, it's the ROS parameter audio_volume on the wmix_audio_player_node, set via USER_SET_NODE_PARAMETER. This firmware does not support reading it back; only setting it works, and the interface says so.
LEDs, the two head LEDs and six body LEDs are only reachable through the UDP 8768 channel, the only known route.
Head screen, driven by the ROS services play_lottie, play_gif and show_toast.
A negative result, but a proven one: the eyes cannot be driven

The UDP server does understand the keys eye_iris / eye_upper / eye_lower and republishes them on the /lvgl_layer topic — but ros2 topic info reports "Subscription count: 0": nothing consumes that topic on this firmware. The eye layer is handled inside lvgl_gui_node, out of reach. The question is closed, with its evidence, to spare the next person the day they'd have spent on it.

Fixes
The left-hand bias during obstacle avoidance is gone (the roaming node moves to v15).
Backing up on a detected drop-off is now bounded: the robot no longer reverses blind.
The head "Recenter" button now actually commands the robot.
⚠️ Read before using

This kit is for people who can code and know what they are doing. It drives a real robot — motors, a machine that walks, stands up and can fall over — has no authentication and no safety rails, and exposes commands obtained by reverse-engineering that the manufacturer does not document.

Provided as is, with no support and no warranty of any kind. You alone are responsible for your robot, its surroundings and any damage. Run it on flat, clear ground and stay within arm's reach.

Download

The kit is the file Studio360_pour_Sirius_v2.8.4.zip attached to this release — an archive to unzip, no installer. Verify its checksum after downloading:

SHA-256 : ad7fd292a470436cbc204f016a540f96c40285fa6aaa074dfc504993741c11fe
Size : 249,949 bytes (244 KB)