287 lines
10 KiB
Markdown
287 lines
10 KiB
Markdown
# Marcus — Control & Startup Guide
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**Robot persona:** Sanad (wake word + self-intro; project code lives under `Marcus/`)
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**Updated**: 2026-04-21
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---
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## Quick Start
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### Prerequisites (Jetson Orin NX, JetPack 5.1.1)
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```bash
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# Terminal 1 — Start Holosoma (locomotion policy, in hsinference env)
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source ~/.holosoma_deps/miniconda3/bin/activate hsinference
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cd ~/holosoma
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~/.holosoma_deps/miniconda3/envs/hsinference/bin/python3 \
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src/holosoma_inference/holosoma_inference/run_policy.py \
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inference:g1-29dof-loco \
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--task.model-path src/holosoma_inference/holosoma_inference/models/loco/g1_29dof/fastsac_g1_29dof.onnx \
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--task.velocity-input zmq \
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--task.state-input zmq \
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--task.interface eth0
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# Terminal 2 — Ollama server (leave running)
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ollama serve > /tmp/ollama.log 2>&1 &
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sleep 3
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ollama list # confirm qwen2.5vl:3b present
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```
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### Option A — Terminal Mode (on Jetson)
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```bash
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# Terminal 3 — Start Marcus Brain
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conda activate marcus
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cd ~/Marcus
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python3 run_marcus.py
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```
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Direct keyboard control + voice input (say **"Sanad"** to wake). Expected banner on boot:
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```
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================================================
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SANAD AI BRAIN — READY
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================================================
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model : qwen2.5vl:3b
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yolo : True
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odometry : True
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memory : True
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lidar : True
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voice : True
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camera : 424x240@15
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```
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### Option B — Server + Client (remote)
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```bash
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# Terminal 3 (Jetson) — Start Server
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conda activate marcus
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cd ~/Marcus
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python3 -m Server.marcus_server
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# Terminal 4 (Workstation) — Connect Client
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cd ~/Robotics_workspace/yslootahtech/Project/Marcus
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python3 -m Client.marcus_cli
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```
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Client prompts for connection:
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```
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Connection options:
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1) eth0 — 192.168.123.164:8765
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2) wlan0 — 10.255.254.86:8765
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3) custom
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Choose [1/2/3] or IP:
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```
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Or skip prompt: `python3 -m Client.marcus_cli --ip 192.168.123.164 --port 8765`
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---
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## Voice
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- **Wake word:** "Sanad" (variants "sannad", "sanat", "sunnat" — see `config_Voice.json::stt.wake_words_en`)
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- **Mic:** G1 on-board array mic, captured via UDP multicast `239.168.123.161:5555` (16 kHz mono, 16-bit PCM). No USB mic needed.
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- **STT:** Whisper `tiny` (wake detection) + Whisper `small` (command transcription) — both run locally.
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- **TTS:** Unitree `client.TtsMaker()` → G1 body speaker. English only.
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- **Barge-in:** say something while Marcus is speaking and the mic buffer flushes on the next command.
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Interaction flow: say "Sanad" → hear *"Listening"* → speak your command → see transcript on console → Marcus answers through the speaker.
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To disable voice entirely, set `subsystems.voice: false` in `config_Brain.json` — Marcus will boot text-only ~2 s faster.
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---
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## Command Reference
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### Movement
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| Command | Action |
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|---------|--------|
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| `turn left` / `turn right` | Rotate (2s default) |
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| `walk forward` / `move back` | Walk (2s default) |
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| `walk 1 meter` | Precise odometry walk |
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| `walk backward 2 meters` | Precise backward walk |
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| `turn right 90 degrees` | Precise odometry turn |
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| `turn right then walk forward` | Multi-step compound |
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| `come to me` / `come here` | Forward 2s (instant, no AI) |
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| `stop` | Gradual stop |
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### Vision
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| Command | Action |
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|---------|--------|
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| `what do you see` | Qwen2.5-VL describes camera view |
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| `describe the room` | Qwen2.5-VL scene description |
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| `is anyone here` | Qwen2.5-VL person check |
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| `yolo` | Show YOLO detection status |
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### Goal Navigation
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| Command | Action |
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|---------|--------|
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| `goal/ stop when you see a person` | YOLO fast search + stop |
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| `goal/ find a laptop` | YOLO + Qwen-VL search |
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| `goal/ stop when you see a guy holding a phone` | YOLO + Qwen-VL compound verification |
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| `find a person` | Auto-detected as goal (no prefix needed) |
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| `look for a bottle` | Auto-detected as goal |
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### Place Memory
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| Command | Action |
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|---------|--------|
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| `remember this as door` | Save current position |
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| `go to door` | Navigate to saved place |
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| `places` | List all saved places |
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| `forget door` | Delete place |
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| `rename door to entrance` | Rename place |
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| `where am I` | Show odometry position |
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| `go home` | Return to start position |
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### Patrol
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| Command | Action |
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|---------|--------|
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| `patrol` | Autonomous patrol (prompts for duration) |
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| `patrol: door → desk → exit` | Named waypoint patrol |
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### Image Search (requires `subsystems.imgsearch: true`)
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| Command | Action |
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|---------|--------|
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| `search/ /path/to/photo.jpg` | Find target from reference image |
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| `search/ /path/to/photo.jpg person in blue shirt` | Image + hint |
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| `search/ person in blue shirt` | Text-only search |
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### Session Memory
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| Command | Action |
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|---------|--------|
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| `last command` | Show last typed command |
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| `do that again` | Repeat last command |
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| `undo` | Reverse last movement |
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| `last session` | Previous session summary |
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| `session summary` | Current session stats |
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### Autonomous Mode
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| Command | Action |
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|---------|--------|
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| `auto on` | Start autonomous exploration |
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| `auto off` | Stop |
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| `auto status` | Current step / observations |
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| `auto save` | Snapshot observations to disk |
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### System
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| Command | Action |
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|---------|--------|
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| `help` | Command reference |
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| `example` | Usage examples |
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| `lidar` / `lidar status` | SLAM engine pose + health |
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| `q` / `quit` | Shutdown |
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### Client-Only Commands (CLI)
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| Command | Action |
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|---------|--------|
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| `status` | Ping server + LiDAR status |
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| `camera` | Get camera configuration |
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| `profile low/medium/high/full` | Switch camera profile |
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| `capture` | Take a photo |
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---
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## Subsystem flags (`Config/config_Brain.json`)
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Control what initializes at boot. Defaults:
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```jsonc
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"subsystems": {
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"lidar": true,
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"voice": true,
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"imgsearch": false,
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"autonomous": true
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}
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```
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Set any to `false` to skip that subsystem's init. Boot time drops roughly:
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- `voice: false` → ~2 s faster (no Whisper model load)
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- `lidar: false` → ~1 s faster (no SLAM subprocess spawn)
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- `imgsearch: false` → already the default; re-enable only when you need `search/ …`
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- `autonomous: false` → minor, but removes the AutonomousMode init
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---
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## Network Configuration
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| Interface | IP | Use |
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|-----------|-----|------|
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| `eth0` | 192.168.123.164 | Robot internal network (Jetson ↔ G1 ↔ LiDAR) |
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| `wlan0` | 10.255.254.86 | Office WiFi (Jetson ↔ Workstation) |
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| Service | Port | Protocol |
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|---------|------|----------|
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| Marcus WebSocket | 8765 | ws:// |
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| ZMQ velocity (→ Holosoma) | 5556 | tcp:// (PUB/SUB) |
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| Ollama API | 11434 | HTTP (localhost only) |
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| G1 audio multicast (mic) | 5555 | UDP multicast 239.168.123.161 |
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| Livox Mid-360 (LiDAR) | 192.168.123.120 | UDP (Livox SDK) |
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Most values configurable in `Config/config_Network.json` and `config_Voice.json::mic_udp`.
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---
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## Troubleshooting
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| Issue | Cause | Fix |
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|-------|-------|-----|
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| Banner shows `SANAD AI BRAIN — READY` but nothing moves | Holosoma not running | Start Holosoma (Terminal 1) first |
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| `RuntimeError: CUDA not available` on boot | Wrong torch build on Jetson | See `Doc/environment.md` section 9.2 — reinstall the NVIDIA Jetson torch wheel |
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| `llama runner process has terminated: %!w(<nil>)` | Ollama compute graph OOM | Already capped at `num_batch=128 / num_ctx=2048`. Check `free -h`; kill stale Ollama runners: `pkill -f "ollama runner"` |
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| Traceback mentioning `multiprocessing/spawn.py` + ZMQ port 5556 | Old import-time ZMQ bind regressed | Pull latest `API/zmq_api.py` — must call `init_zmq()` from the parent only |
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| `[Camera] No frame for 10s` during warmup | Ollama blocking the main thread, or USB bandwidth | Warmup is ~10–15 s on first Qwen load; subsequent commands are fast |
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| Wake word never fires | Whisper hearing something else | Check `logs/voice.log` — if it transcribes as "sunnat"/"sannat", add your variant to `config_Voice.json::stt.wake_words_en` |
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| Mic silent | G1 audio service not publishing | Run `python3 Voice/builtin_mic.py` standalone — must print "OK — mic is capturing audio" |
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| `[LiDAR] No data yet (will keep trying)` | SLAM worker still spawning (normal) or Livox network | First ~5 s normal. If persists, `ping 192.168.123.120` |
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| Client can't connect | Wrong IP or server not running | Verify `ollama serve &` and `python3 -m Server.marcus_server` are both up |
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---
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## File Locations
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| What | Path |
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|------|------|
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| Brain code | `~/Marcus/Brain/` |
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| Server | `~/Marcus/Server/marcus_server.py` |
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| Voice | `~/Marcus/Voice/{builtin_mic,builtin_tts,marcus_voice}.py` |
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| Config | `~/Marcus/Config/` |
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| Prompts | `~/Marcus/Config/marcus_prompts.yaml` |
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| YOLO model | `~/Marcus/Models/yolov8m.pt` |
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| Session data | `~/Marcus/Data/Brain/Sessions/` |
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| Places | `~/Marcus/Data/History/Places/places.json` |
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| Logs | `~/Marcus/logs/` |
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See `Doc/architecture.md` for full project structure and file-by-file documentation.
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See `Doc/environment.md` for the verified Jetson software stack.
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See `Doc/pipeline.md` for the end-to-end data flow.
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See `Doc/functions.md` for the full function inventory (AST-generated).
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---
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## Language policy
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**English only.** Arabic was removed from the codebase on 2026-04-21:
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- `Config/config_Voice.json::stt.wake_words_en` — only English variants (`sanad`, `sannad`, `sanat`, `sunnat`)
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- `Config/marcus_prompts.yaml` — no Arabic examples left in any of the 7 prompts
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- `API/audio_api.py::speak(text)` — rejects non-ASCII (the G1 TtsMaker silently maps Arabic to Chinese, which nobody wants)
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- `Brain/marcus_brain.py` — greeting and talk-pattern regexes match English only
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If you need Arabic back, the cleanest paths are either Piper TTS (offline) or edge-tts (online) — see `git log` for the removed implementations.
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---
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## Logs
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All `.log` files in `logs/` rotate at **5 MB × 3 backups** by default. To change:
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```bash
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export MARCUS_LOG_MAX_BYTES=10000000 # 10 MB per file
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export MARCUS_LOG_BACKUP_COUNT=5 # keep 5 rotations
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export MARCUS_LOG_DIR=/var/log/marcus # move logs off SD card
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```
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Per-module log files:
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- `brain.log`, `camera.log`, `lidar.log`, `zmq.log`, `server.log`, `main.log` — via `Core.logger.log()`
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- `voice.log` — via stdlib `logging` in `audio_api.py` + `marcus_voice.py`
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- Session JSON: `Data/Brain/Sessions/session_NNN_YYYY-MM-DD/{commands,detections,alerts,places}.json`
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