Marcus/Doc/MARCUS_API.md

# Marcus — Full API & Developer Reference

**Project:** Marcus | YS Lootah Technology | Jetson Orin NX + G1 EDU
**Robot persona:** Sanad (wake word + self-intro; project code stays under `Marcus/`)
**Entry points:** `run_marcus.py` (terminal) / `Server/marcus_server.py` (WebSocket)
**Updated:** 2026-04-21

> **What changed since the early draft (April 4):** The project was restructured
> from two monolithic scripts (`marcus_llava.py` + `marcus_yolo.py`) into a
> layered architecture. See `Doc/architecture.md` for the current file tree,
> `Doc/environment.md` for the verified Jetson software stack, `Doc/pipeline.md`
> for end-to-end dataflow, and **`Doc/functions.md` for the authoritative
> function inventory** (always generated from AST — treat it as the source of
> truth for signatures). This reference describes the semantics (usage, JSON
> schemas, examples); cross-check `functions.md` for exact signatures. Recent
> deltas called out inline below.

### Recent API deltas (2026-04-21)

| Change | Location | Note |
|---|---|---|
| GPU is mandatory for YOLO | `Config/config_Vision.json`, `Vision/marcus_yolo.py` | `yolo_device` defaults to `"cuda"` and is enforced; `_resolve_device()` raises `RuntimeError` on missing CUDA. `yolo_half=true` runs FP16 on Orin (capability 8.7). |
| Ollama model | `Config/config_Brain.json` | Default `ollama_model` is `qwen2.5vl:3b` (not `llava:7b`). |
| Ollama compute-graph caps | `Config/config_Brain.json` | `num_batch=128`, `num_ctx=2048` — required on 16 GB Orin NX to prevent the llama runner OOM. Propagated by `API/llava_api.py` and `Vision/marcus_imgsearch.py` to every `ollama.chat` call. |
| `num_predict_main` lowered | `Config/config_Brain.json` | 200 → 120 (shaves ~400–600 ms per open-ended command; JSON still parses). |
| ZMQ bind moved out of import | `API/zmq_api.py` | `init_zmq()` must be called from the main process before any `send_vel/send_cmd`. `init_brain()` does this. Children spawned via `multiprocessing` no longer collide on port 5556. |
| Camera-retry poll | `Brain/marcus_brain.py::_handle_llava` | Replaced `time.sleep(1.0)` with 10×50 ms polls. |
| Conditional scan sleeps | `Navigation/goal_nav.py`, `Autonomous/marcus_autonomous.py` | Removed unconditional per-step naps when real work (YOLO hit, LLaVA call, forward move) already consumed wall time. |
| Image-search step delay | `Vision/marcus_imgsearch.py` | `STEP_DELAY` 0.4 s → 0.15 s. |
| Built-in G1 microphone | `Voice/builtin_mic.py` (new), `API/audio_api.py`, `Config/config_Voice.json` | Mic now reads from UDP multicast `239.168.123.161:5555` (G1 on-board array mic) instead of the Hollyland USB. Config key `mic.backend` defaults to `"builtin_udp"`; set to `"pactl_parec"` to fall back to the old path. |
| Built-in G1 TTS | `Voice/builtin_tts.py` (new), `API/audio_api.py` | `AudioAPI.speak(text)` now calls `client.TtsMaker(text, speaker_id)` directly. No MP3/WAV plumbing, no internet, no edge-tts/Piper. English only — `speak()` refuses non-ASCII to avoid the G1's silent Arabic→Chinese fallback. |
| Voice stack finalised | `Voice/marcus_voice.py`, `Voice/wake_detector.py` | Custom energy wake detector (pure numpy) + Whisper verify + faster-whisper command STT + fuzzy-match to canonical commands. Vosk experiment reverted; Gemini Live reverted. Single local STT engine. |
| Subsystem flags | `Config/config_Brain.json::subsystems.{lidar, voice, imgsearch, autonomous}` | `init_brain()` skips any subsystem with `false`. Defaults: lidar+voice+autonomous ON, imgsearch OFF. |
| Robot persona → Sanad | Multiple | Wake words `["sanad","sannad","sanat","sunnat"]`; all prompts say "You are Sanad"; banner reads `SANAD AI BRAIN — READY`; hardcoded self-intro says "I am Sanad". Project/file/module names unchanged. |
| Logger rename | `Core/log_backend.py` (was `Core/Logger.py`) | Case-only collision with `Core/logger.py` removed — repo now clones cleanly on macOS/Windows. Public API unchanged: `from Core.logger import log`. |
| Log rotation everywhere | `Core/log_backend.py`, `API/audio_api.py`, `Voice/marcus_voice.py` | All `FileHandler`s swapped for `RotatingFileHandler` (5 MB × 3 backups, tunable via `MARCUS_LOG_MAX_BYTES` / `MARCUS_LOG_BACKUP_COUNT`). Prevents unbounded log growth on the Jetson. `default_logs_dir` pinned to lowercase `logs/`. |
| English-only policy | `Brain/marcus_brain.py`, `Config/marcus_prompts.yaml`, `Config/config_Voice.json` | Arabic talk-pattern and greeting regexes removed; 5.8 KB of Arabic prompt examples stripped from `marcus_prompts.yaml`; Arabic wake words removed from config. `AudioAPI.speak(text, lang='en')` — only `'en'` accepted; non-ASCII is rejected. |
| Dead-code + orphan sweep | `Legacy/marcus_nav.py`, `Config/config_Memory.json` | Deleted. Config count 13 → 12 JSON + 1 YAML. |
| Orphan config keys wired up | `Vision/marcus_imgsearch.py`, `Voice/builtin_mic.py`, `API/camera_api.py`, `Navigation/marcus_odometry.py` | `config_ImageSearch.json` (4 keys), `config_Voice.mic_udp.read_timeout_sec`, `config_Camera.{timeout_ms, stale_threshold_s, reconnect_delay_s}`, `config_Odometry.json` (10 keys) are all read by code now. **0 orphan keys across 156 total.** |
| Subprocess leak fix | `API/audio_api.py::_record_parec` | `Popen` now wrapped in try/finally; orphan `parec` processes can't survive Ctrl-C/exceptions. Last-resort `proc.kill()` catches only `OSError`. |

---

## Table of Contents

1. [Configuration Variables](#1-configuration-variables)
2. [ZMQ — Holosoma Communication](#2-zmq--holosoma-communication)
3. [Camera Functions](#3-camera-functions)
4. [YOLO Vision Module](#4-yolo-vision-module)
5. [LLaVA AI Functions](#5-llava-ai-functions)
6. [Arm SDK](#6-arm-sdk)
7. [Movement Functions](#7-movement-functions)
8. [Prompt Engineering](#8-prompt-engineering)
9. [Goal Navigation](#9-goal-navigation)
10. [Autonomous Patrol](#10-autonomous-patrol)
11. [Main Loop](#11-main-loop)
12. [JSON Schema Reference](#12-json-schema-reference)
13. [Environment & Paths](#13-environment--paths)
14. [Quick Reference Card](#14-quick-reference-card)
15. [Voice API (mic + TTS + STT)](#15-voice-api-mic--tts--stt)

---

## 1. Configuration Variables

All configuration is now **JSON-driven** and lives under `Config/`. Each module
loads its config at startup via `Core.config_loader.load_config(name)`.

**`Config/config_ZMQ.json`** (Holosoma bridge)

| Key | Default | Description |
|---|---|---|
| `zmq_host` | `"127.0.0.1"` | Holosoma ZMQ host |
| `zmq_port` | `5556` | Holosoma ZMQ port |
| `stop_iterations` | `20` | `gradual_stop()` message count |
| `stop_delay` | `0.05` | seconds between stop messages |
| `step_pause` | `0.3` | pause between consecutive action steps |

**`Config/config_Brain.json`** (Ollama VL model)

| Key | Default | Description |
|---|---|---|
| `ollama_model` | `"qwen2.5vl:3b"` | Ollama model tag |
| `max_history` | `6` | conversation turns retained |
| `num_batch` | `128` | llama.cpp batch — **cap, required for Jetson** |
| `num_ctx` | `2048` | llama.cpp KV context length — **cap, required for Jetson** |
| `num_predict_main` | `120` | max tokens for the main command path |
| `num_predict_goal` | `80` | goal-navigation call |
| `num_predict_patrol` | `100` | autonomous patrol call |
| `num_predict_talk` | `80` | talk-only path |
| `num_predict_verify` | `10` | YOLO condition verifier (`yes`/`no`) |

**`Config/config_Vision.json`** (YOLO)

| Key | Default | Description |
|---|---|---|
| `yolo_model_path` | `"Models/yolov8m.pt"` | weights file (auto-fetched if missing) |
| `yolo_confidence` | `0.45` | detection confidence threshold |
| `yolo_iou` | `0.45` | NMS IOU threshold |
| `yolo_device` | `"cuda"` | **GPU required** — `"cpu"` raises `RuntimeError` |
| `yolo_half` | `true` | FP16 inference (Ampere tensor cores) |
| `yolo_img_size` | `320` | inference image size |
| `tracked_classes` | 19 COCO classes | filter for relevant detections |

**`Config/config_Camera.json`**: `424x240 @ 15 fps`, `JPEG quality 70`.
**`Config/config_Voice.json`**: see section 6 below.
**`Config/config_Network.json`**: Jetson eth0/wlan0 IPs, WebSocket port.

---

## 2. ZMQ — Holosoma Communication

### Setup

The bind is no longer an import-time side effect. It runs inside `init_zmq()`, called once by `init_brain()` from the main process. Children (e.g. the LiDAR SLAM worker spawned via `multiprocessing.spawn`) can re-import `API.zmq_api` without rebinding.

```python
# API/zmq_api.py — bind happens here, not at module import
def init_zmq() -> zmq.Socket:
    global ctx, sock
    if sock is not None:
        return sock              # idempotent
    ctx  = zmq.Context()
    sock = ctx.socket(zmq.PUB)
    sock.bind(f"tcp://{ZMQ_HOST}:{ZMQ_PORT}")
    time.sleep(0.5)              # let SUBs attach
    return sock
```

### `send_vel(vx, vy, vyaw)`

Send velocity command to Holosoma. Raises `RuntimeError` if `init_zmq()` wasn't called.

```python
def send_vel(vx: float = 0.0, vy: float = 0.0, vyaw: float = 0.0):
    _ensure_sock().send_string(json.dumps({"vel": {"vx": vx, "vy": vy, "vyaw": vyaw}}))
```

| Parameter | Unit | Safe range | Effect |
|-----------|------|-----------|--------|
| `vx` | m/s | -0.2 to 0.4 | Forward (+) / Backward (-) |
| `vy` | m/s | -0.2 to 0.2 | Lateral |
| `vyaw` | rad/s | -0.3 to 0.3 | Turn left (+) / right (-) |

```python
send_vel(vx=0.3)        # walk forward
send_vel(vx=-0.2)       # walk backward
send_vel(vyaw=0.3)      # turn left
send_vel(vyaw=-0.3)     # turn right
send_vel(0, 0, 0)       # zero velocity (use gradual_stop() instead)
```

### `gradual_stop()`

Smooth deceleration to zero over ~1 second.

```python
def gradual_stop():
    for _ in range(STOP_ITERATIONS):   # 20 iterations
        send_vel(0.0, 0.0, 0.0)
        time.sleep(STOP_DELAY)         # 0.05s each = 1s total
```

**Always use this instead of a single zero-velocity message.** ZMQ PUB/SUB can drop messages — 20 guarantees delivery.

### `send_cmd(cmd)`

```python
def send_cmd(cmd: str):
    sock.send_string(json.dumps({"cmd": cmd}))
```

| Command | Effect |
|---------|--------|
| `"start"` | Activate policy |
| `"walk"` | Switch to walking mode |
| `"stand"` | Return to standing |
| `"stop"` | Deactivate (only after gradual_stop) |

**Startup sequence:**
```python
send_cmd("start"); time.sleep(0.5)
send_cmd("walk");  time.sleep(0.5)
# Now ready for velocity commands
```

---

## 3. Camera Functions

### Architecture

Two consumers share one camera feed:
- `latest_frame_b64[0]` — base64 JPEG for LLaVA
- `_raw_frame[0]` — raw BGR numpy array for YOLO

Both protected by separate locks (`camera_lock`, `_raw_lock`).

### `camera_loop()`

Background thread — auto-reconnects on USB drops.

```python
def camera_loop():
    while camera_alive[0]:
        pipeline = rs.pipeline()
        cfg.enable_stream(rs.stream.color, 424, 240, rs.format.bgr8, 15)
        pipeline.start(cfg)
        while camera_alive[0]:
            frames = pipeline.wait_for_frames(timeout_ms=3000)
            frame  = np.asanyarray(...)
            with _raw_lock:
                _raw_frame[0] = frame.copy()           # → YOLO
            with camera_lock:
                latest_frame_b64[0] = encode_jpeg(frame)  # → LLaVA
```

### `get_frame()`

Returns latest base64 JPEG for LLaVA.

```python
def get_frame():
    with camera_lock:
        return latest_frame_b64[0]   # None if not ready
```

**Camera specs:**

| Property | Value |
|----------|-------|
| Device | RealSense D435I (serial: 243622073459) |
| Capture | 424×240 @ 15fps |
| Format | BGR8 |
| Encoding | JPEG quality 70, base64 UTF-8 |
| Why 424×240 | Reduces USB bandwidth drops during Ollama GPU inference |

---

## 4. YOLO Vision Module

### Import (in marcus_llava.py)

```python
from marcus_yolo import (
    start_yolo,
    yolo_sees, yolo_count, yolo_closest,
    yolo_summary, yolo_ppe_violations,
    yolo_person_too_close, yolo_all_classes, yolo_fps,
)

# Start YOLO sharing the camera frame
YOLO_AVAILABLE = start_yolo(raw_frame_ref=_raw_frame, frame_lock=_raw_lock)
```

### `start_yolo(raw_frame_ref, frame_lock)`

Loads YOLO model and starts inference background thread.

```python
def start_yolo(raw_frame_ref=None, frame_lock=None) -> bool:
```

Returns `True` on success, `False` if model fails to load.

### `yolo_sees(class_name, min_confidence)`

```python
yolo_sees("person")          # True if person detected
yolo_sees("chair", 0.6)      # True with stricter confidence
```

Returns `bool`. Instant — no LLaVA call.

### `yolo_count(class_name)`

```python
n = yolo_count("person")     # 0, 1, 2...
```

### `yolo_closest(class_name)`

Returns the `Detection` object with the largest bounding box (closest to robot).

```python
p = yolo_closest("person")
if p:
    print(p.position)          # "left" / "center" / "right"
    print(p.distance_estimate) # "very close" / "close" / "medium" / "far"
    print(p.confidence)        # 0.0 to 1.0
    print(p.size_ratio)        # fraction of frame area
```

### `yolo_summary()`

```python
yolo_summary()
# → "1 person (center, close) | 2 chairs (right, medium) | 1 laptop (left, far)"
```

### `yolo_ppe_violations()`

```python
violations = yolo_ppe_violations()
# → ["no helmet (left)", "no vest (center)"]
# Requires custom PPE model — returns [] with yolov8m.pt
```

### `yolo_person_too_close(threshold)`

```python
if yolo_person_too_close(threshold=0.25):
    gradual_stop()   # person covers >25% of frame
```

### `yolo_all_classes()`

```python
classes = yolo_all_classes()
# → {"person", "chair", "laptop"}
```

### `yolo_fps()`

```python
print(f"{yolo_fps():.1f}fps")   # e.g. 4.4fps on CPU
```

### Detection class properties

| Property | Type | Description |
|----------|------|-------------|
| `class_name` | str | e.g. "person" |
| `confidence` | float | 0.0 to 1.0 |
| `position` | str | "left" / "center" / "right" |
| `distance_estimate` | str | "very close" / "close" / "medium" / "far" |
| `size_ratio` | float | bbox area / frame area |
| `cx`, `cy` | int | bbox center coordinates |
| `x1, y1, x2, y2` | int | bounding box corners |

---

## 5. LLaVA AI Functions

### `ask(command, img_b64)`

Main command processor.

```python
def ask(command: str, img_b64) -> dict:
```

| Parameter | Description |
|-----------|-------------|
| `command` | Natural language command |
| `img_b64` | Base64 JPEG camera frame |

Returns dict with `actions`, `arm`, `speak`, `abort`.

**Options:**
```python
options={"temperature": 0.0, "num_predict": 200}
```

**Response time:** 4-8s (14s first call warmup)

### `ask_goal(goal, img_b64)`

Used in goal navigation loop.

```python
def ask_goal(goal: str, img_b64) -> dict:
```

Returns: `reached` (bool), `next_move` (str), `duration` (float), `speak` (str)

### `ask_patrol(img_b64)`

Used in autonomous patrol.

Returns: `observation` (str), `alert` (str|None), `next_move` (str), `duration` (float)

### `_call_llava(prompt, img_b64, num_predict)`

Internal helper — sends to Ollama API.

```python
r = ollama.chat(
    model="llava:7b",
    messages=[{"role": "user", "content": prompt, "images": [img_b64]}],
    options={"temperature": 0.0, "num_predict": 200}
)
```

### `_parse_json(raw)`

Extracts JSON from LLaVA response. Strips markdown fences automatically.

```python
raw = '```json\n{"move": "left"}\n```'
d   = _parse_json(raw)   # → {"move": "left"}
```

---

## 6. Arm SDK

**Class:** `G1ArmActionClient` (from `unitree_sdk2py.g1.arm.g1_arm_action_client`)
**Method:** `ExecuteAction(action_id: int) -> int` (returns 0 on success)

### `do_arm(action)`

```python
def do_arm(action):   # action: str name or int ID
```

### Action ID Map

| Friendly name | Action ID | Description |
|---------------|-----------|-------------|
| `wave` | 26 | High wave |
| `raise_right` | 23 | Right hand up |
| `raise_left` | 15 | Both hands up |
| `both_up` | 15 | Both hands up |
| `clap` | 17 | Clap hands |
| `high_five` | 18 | High five |
| `hug` | 19 | Hug pose |
| `heart` | 20 | Heart shape |
| `right_heart` | 21 | Right hand heart |
| `reject` | 22 | Reject gesture |
| `shake_hand` | 27 | Shake hand |
| `face_wave` | 25 | Wave at face level |
| `lower` | 99 | Release to default |

### Notes

- Runs in background thread — does not block movement
- Error 7404 = robot was moving during arm command — always `gradual_stop()` first
- `ALL_ARM_NAMES` set intercepts arm words that LLaVA puts in `actions` list

---

## 7. Movement Functions

### `execute_action(move, duration)`

Executes a single movement step.

```python
def execute_action(move: str, duration: float):
```

- Intercepts arm names → routes to `do_arm()`
- Calls `gradual_stop()` after each step
- Waits `STEP_PAUSE` (0.3s) between steps

### `_merge_actions(actions)`

Merges consecutive same-direction steps into one smooth movement.

```python
# LLaVA returns:
[{"move":"right","duration":1.0}, {"move":"right","duration":1.0},
 {"move":"right","duration":1.0}, {"move":"right","duration":1.0},
 {"move":"right","duration":1.0}]

# _merge_actions produces:
[{"move":"right","duration":5.0}]  # one smooth 5-second rotation
```

### `execute(d)`

Runs full LLaVA decision.

```python
def execute(d: dict):
    # 1. Check abort
    # 2. _merge_actions() — smooth consecutive steps
    # 3. execute_action() for each step in order
    # 4. do_arm() in background thread
```

### `_move_step(move, duration)`

Lightweight step for goal/patrol loops — no full `gradual_stop()` between checks.

```python
def _move_step(move: str, duration: float):
    # send velocity for duration seconds
    # single zero-vel + 0.1s pause — then immediately check YOLO again
```

### MOVE_MAP

```python
MOVE_MAP = {
    "forward":  ( 0.3,  0.0,  0.0),   # vx m/s
    "backward": (-0.2,  0.0,  0.0),
    "left":     ( 0.0,  0.0,  0.3),   # vyaw rad/s
    "right":    ( 0.0,  0.0, -0.3),
}
```

---

## 8. Prompt Engineering

### MAIN_PROMPT

Controls LLaVA's response format for all standard commands.

Key rules embedded in prompt:
- `actions` is a list — one entry per step
- `arm` is never a move value
- `"90 degrees"` = 5.0s duration
- `"1 step"` = 1.0s duration

**To add arm examples or change behavior — edit MAIN_PROMPT examples section.**

### GOAL_PROMPT

Used inside `navigate_to_goal()` as LLaVA fallback.
Forces `{"reached": bool, "next_move": str, "duration": float, "speak": str}`.

### PATROL_PROMPT

Used inside `patrol()` for scene assessment.
Forces `{"observation": str, "alert": str|null, "next_move": str, "duration": float}`.

---

## 9. Goal Navigation

### `navigate_to_goal(goal, max_steps)`

```python
def navigate_to_goal(goal: str, max_steps: int = 40):
```

**Flow:**
1. Extract YOLO target from goal text (`_goal_yolo_target()`)
2. Move left 0.4s (lightweight step)
3. After `MIN_STEPS_BEFORE_CHECK` (3) steps — check YOLO every step
4. If `yolo_sees(target)` → `gradual_stop()` → print result → return
5. Falls back to LLaVA if class not in YOLO set

**Why minimum steps?** Prevents false stop from stale camera frame when robot hasn't moved yet.

### YOLO class aliases in goals

```python
_GOAL_ALIASES = {
    "guy": "person", "man": "person", "woman": "person",
    "human": "person", "people": "person", "someone": "person",
    "table": "dining table", "sofa": "couch",
}
```

### Examples

```python
navigate_to_goal("stop when you see a person")
navigate_to_goal("keep turning left until you see a guy")
navigate_to_goal("find a chair and stop in front of it")
navigate_to_goal("stop when you are close to the laptop")
navigate_to_goal("stop at the end of the corridor")   # LLaVA fallback
```

---

## 10. Autonomous Patrol

### `patrol(duration_minutes, alert_callback)`

```python
def patrol(duration_minutes: float = 5.0, alert_callback=None):
```

**Each patrol step:**
1. YOLO PPE violations check (instant)
2. `yolo_person_too_close()` safety check — pauses if True
3. LLaVA scene assessment → navigation decision
4. `_move_step()` to next position

**Custom alert handler:**
```python
def my_alert(text: str):
    print(f"SECURITY: {text}")
    # send notification, sound alarm, etc.

patrol(duration_minutes=10.0, alert_callback=my_alert)
```

---

## 11. Main Loop

```python
while True:
    cmd = input("Command: ").strip()

    if cmd.lower() in ("q", "quit", "exit"):
        break

    # YOLO query — never sent to LLaVA
    if any(w in cmd.lower() for w in ("yolo", "are you using yolo", "vision")):
        print(f"  YOLO: {yolo_summary()} | {yolo_fps():.1f}fps")
        continue

    # Goal navigation
    if cmd.lower().startswith("goal:"):
        navigate_to_goal(cmd[5:].strip())
        continue

    # Patrol
    if cmd.lower() == "patrol":
        patrol(duration_minutes=...)
        continue

    # Standard LLaVA command
    img = get_frame()
    d   = ask(cmd, img)
    execute(d)
```

---

## 12. JSON Schema Reference

### Standard command response

```json
{
  "actions": [
    {"move": "forward|backward|left|right|stop", "duration": 2.0},
    {"move": "right", "duration": 2.0}
  ],
  "arm": "wave|raise_right|raise_left|clap|high_five|hug|heart|shake_hand|face_wave|null",
  "speak": "What Marcus says out loud",
  "abort": null
}
```

### Goal navigation response

```json
{
  "reached": false,
  "next_move": "left",
  "duration": 0.5,
  "speak": "I see boxes but no person yet"
}
```

### Patrol assessment response

```json
{
  "observation": "I see a person working at a desk",
  "alert": null,
  "next_move": "forward",
  "duration": 1.0
}
```

### Field definitions

| Field | Type | Values |
|-------|------|--------|
| `move` | str\|null | "forward", "backward", "left", "right", "stop", null |
| `duration` | float | seconds (max 5.0 per step) |
| `arm` | str\|null | action name or null |
| `speak` | str | one sentence |
| `abort` | str\|null | reason string or null |
| `reached` | bool | true only if goal visually confirmed |

---

## 13. Environment & Paths

### Conda environments

| Env | Python | Location | Purpose |
|-----|--------|----------|---------|
| `marcus` | 3.8 | `/home/unitree/miniconda3/envs/marcus` | Marcus brain + YOLO |
| `hsinference` | 3.10 | `~/.holosoma_deps/miniconda3/envs/hsinference` | Holosoma policy |

**Always use full path:**
```bash
/home/unitree/miniconda3/envs/marcus/bin/python3 ~/Models_marcus/marcus_llava.py
```

### Key file paths

| File | Path |
|------|------|
| Marcus brain | `~/Models_marcus/marcus_llava.py` |
| YOLO module | `~/Models_marcus/marcus_yolo.py` |
| YOLO model | `~/Models_marcus/Model/yolov8m.pt` |
| Loco model | `~/holosoma/.../models/loco/g1_29dof/fastsac_g1_29dof.onnx` |
| LLaVA weights | `~/.ollama/models/` |
| Arm SDK | `~/unitree_sdk2_python/` |

### Python imports

```python
import ollama          # LLaVA via Ollama
import zmq             # Holosoma communication
import json, time, base64, threading, sys, io
import numpy as np
import pyrealsense2 as rs
from PIL import Image
from marcus_yolo import start_yolo, yolo_sees, yolo_summary  # YOLO
from unitree_sdk2py.g1.arm.g1_arm_action_client import G1ArmActionClient  # Arm
```

---

## 14. Quick Reference Card

```
STARTUP:
  Tab 1 (hsinference env): Holosoma locomotion policy
          python3 run_policy.py inference:g1-29dof-loco \
            --task.velocity-input zmq --task.state-input zmq --task.interface eth0

  Tab 2:  ollama serve > /tmp/ollama.log 2>&1 &
          sleep 3

  Tab 3 (marcus env):  conda activate marcus && cd ~/Marcus && python3 run_marcus.py
          (YOLO + voice + LiDAR all start automatically per subsystems flags)

WAKE WORD: "Sanad"

COMMANDS:
  walk forward · turn right · turn left · move back
  turn right 90 degrees · turn left 3 steps
  what do you see · inspect the office
  wave · raise your right arm · clap · high five
  goal: stop when you see a person
  goal: keep turning left until you see a guy
  patrol
  are you using yolo
  q

VELOCITIES:
  forward  vx=+0.3 m/s    backward vx=-0.2 m/s
  left     vyaw=+0.3       right    vyaw=-0.3

KEY FUNCTIONS:
  send_vel(vx, vy, vyaw)    gradual_stop()       send_cmd(str)
  get_frame() → b64         ask(cmd, img) → dict  execute(dict)
  yolo_sees("person")       yolo_summary()        yolo_closest("person")
  navigate_to_goal(goal)    patrol(minutes)        do_arm("wave")

ARM IDs:
  wave=26  raise_right=23  raise_left=15  clap=17
  high_five=18  hug=19  heart=20  reject=22  shake_hand=27

SAFETY:
  gradual_stop() — always — never cut velocity abruptly
  Never send_cmd("stop") while moving
  camera_alive[0] = False — stops camera thread on exit
  Error 7404 — robot was moving during arm command — stop first
```

---

## 15. Voice API (mic + TTS + wake + STT)

Current pipeline: G1 mic → custom energy wake detector → Whisper verify → TtsMaker "Yes" → record → faster-whisper transcribe → fuzzy-match canonical command → brain. Replaces all prior experiments (Gemini Live WebSocket, Vosk grammar, edge-tts / Piper).

### Mic — `Voice.builtin_mic.BuiltinMic`

Captures the G1's on-board array microphone over UDP multicast. No USB mic required. 16 kHz mono int16 PCM natively; no resampling needed.

```python
from Voice.builtin_mic import BuiltinMic
mic = BuiltinMic(group="239.168.123.161", port=5555, buf_max=64_000)
mic.start()
try:
    pcm = mic.read_chunk(1024)       # 512 samples, ~32 ms, int16 mono
    # or
    pcm = mic.read_seconds(3.0)
finally:
    mic.stop()
```

Config under `config_Voice.json::mic_udp`.

### TTS — `Voice.builtin_tts.BuiltinTTS`

Wrapper around `unitree_sdk2py.g1.audio.g1_audio_client.AudioClient.TtsMaker`. English only — refuses non-ASCII input.

```python
from Voice.builtin_tts import BuiltinTTS
tts = BuiltinTTS(audio_client, default_speaker_id=0)
tts.speak("Hello, I am Sanad", block=True)    # synth + play on G1 body speaker
```

Used by `AudioAPI.speak(text)` internally; application code should call `audio_api.speak(...)` rather than BuiltinTTS directly.

### Wake detection — `Voice.wake_detector.WakeDetector`

Pure-numpy energy state machine with adaptive noise floor. Classifies any 0.35-1.5 s speech burst as a candidate wake, captures the audio for post-hoc verification.

```python
from Voice.wake_detector import WakeDetector, WakeConfig
cfg = WakeConfig(
    sample_rate=16_000,
    speech_threshold=400.0,           # min RMS floor — above noise
    min_word_duration_s=0.35,         # filter out coughs (<0.35s)
    max_word_duration_s=1.50,         # filter out sentences
    post_silence_s=0.30,              # how long silence marks word end
    cooldown_s=1.50,                  # min gap between fires
    chunk_ms=50,                      # RMS analysis window
    adaptive_window_n=50,             # rolling mean of idle RMS
    adaptive_mult=3.0,                # effective = max(floor, baseline×mult)
)
det = WakeDetector(cfg)
while True:
    pcm = mic.read_chunk(1024)
    if det.process(pcm):
        burst = det.get_last_burst()  # audio that triggered wake
        break
```

Config under `config_Voice.json::stt.{speech_threshold, min_word_duration, …}`.

### Voice orchestrator — `Voice.marcus_voice.VoiceModule`

Drives the full pipeline: wake detector → Whisper verify → record → transcribe → fuzzy-match → dispatch. Three operating modes (`wake_and_command`, `always_on`, `always_on_gated`) selectable via `stt.mode`.

```python
from API.audio_api import AudioAPI
from Voice.marcus_voice import VoiceModule

def on_command(text, lang):
    print(f"heard: {text}")

audio = AudioAPI()
voice = VoiceModule(audio, on_command=on_command)
voice.start()   # background thread
# ... later ...
voice.stop()
```

Vocabulary (`wake_words`, `command_vocab`, `garbage_patterns`) is loaded from `config_Voice.json::stt.*` at `VoiceModule.__init__`. All thresholds, Whisper params, and mode selection live in the same config — no Python edits required to tune. See `Doc/controlling.md` → "Voice" for the tuning-knobs cheat sheet.

The brain's `_init_voice()` wires `on_command` to `process_command(text)` → `audio_api.speak(reply)`.

### AudioAPI — `API.audio_api.AudioAPI`

Orchestration layer. Owns the `AudioClient`, manages mute/unmute, exposes a clean `speak` + `record` API.

```python
from API.audio_api import AudioAPI
audio = AudioAPI()
audio.speak("Hello")                 # English only; non-ASCII returns early
pcm = audio.record(seconds=5)         # int16 mono 16 kHz — uses BuiltinMic
audio.play_pcm(pcm)                   # raw PCM playback via Unitree RPC
```

Config: `config_Voice.json::tts.backend = "builtin_ttsmaker"`, `mic.backend = "builtin_udp"` (or `"pactl_parec"` to fall back to Hollyland).

---

*Marcus — YS Lootah Technology | Kassam | April 2026*