# Sanad

Voice + motion assistant for the Unitree G1 humanoid. Gemini Live handles
conversation; the arm controller plays built-in SDK poses and recorded
JSONL macros; everything is orchestrated by a FastAPI dashboard.

```
┌────────────────────────────────────────────────────────────────────┐
│  Dashboard (FastAPI) ── http://<robot>:8000                        │
│  ├─ Voice & Audio      Live Gemini, Typed Replay, Wake Phrases     │
│  ├─ Motion & Replay    SDK actions, JSONL replays, teaching mode   │
│  ├─ Camera & Vision    (deprecated, UI kept for compat)            │
│  ├─ Recordings         Skills registry, saved Gemini turns         │
│  └─ Settings & Logs    System info, tail live log                  │
└────────────────────────────────────────────────────────────────────┘
        │
        ├─ voice/sanad_voice.py  (subprocess — Gemini Live audio loop)
        ├─ gemini/client.py      (short-session client for Typed Replay)
        ├─ gemini/subprocess.py  (spawns+supervises sanad_voice.py)
        ├─ motion/arm_controller.py  (G1 arm DDS publisher)
        ├─ voice/audio_io.py     (mic + speaker abstraction — 3 profiles)
        └─ core/brain.py         (skill dispatcher, event bus)
```


## Quick start (on the robot)

```bash
conda activate gemini_sdk
cd ~/Sanad
python3 main.py
```

Then open `http://<robot-ip>:8000` in a browser.


## Directory layout

| Path | Contents |
|---|---|
| `main.py` | Entry point — boots all subsystems + dashboard. |
| `config.py` | Runtime constants derived from `config/*_config.json`. |
| `config/` | Per-subsystem JSON config: `core`, `voice`, `gemini`, `motion`, `dashboard`, `local`. |
| `core/` | Brain, skill registry, event bus, config loader, logger. |
| `gemini/` | Gemini Live — `client.py` (one-shot), `script.py` (live brain), `subprocess.py` (supervisor). |
| `voice/` | `sanad_voice.py` (subprocess entry), `audio_io.py` (mic/speaker), `audio_manager.py`, `local_tts.py`, `live_voice_loop.py`, `typed_replay.py`, `wake_phrase_manager.py`, `text_utils.py`, `model_script.py` (brain template). |
| `local/` | Offline pipeline skeleton — Silero VAD, Whisper, Qwen (via Ollama), CosyVoice2. Opt-in via `SANAD_VOICE_BRAIN=local`. |
| `motion/` | `arm_controller.py` (main), `sanad_arm_controller.py`, `macro_player.py`, `macro_recorder.py`, `teaching.py`. |
| `dashboard/` | FastAPI routes (`dashboard/routes/*.py`) + static UI (`dashboard/static/index.html`). |
| `scripts/` | Persona files — `sanad_script.txt` (voice persona), `sanad_rule.txt`, `sanad_arm.txt` (voice→arm phrases). |
| `data/` | Runtime state — `audio/` (typed-replay WAVs), `motions/` (arm JSONL files), `recordings/` (live-captured turns), `motions/config.json` (dashboard-editable settings). |
| `model/` | Place for local SpeechT5 / CosyVoice2 weights when using offline pipeline. |
| `logs/` | Per-module rotating logs. |


## Runtime selection (env vars)

| Var | Values | Default | Effect |
|---|---|---|---|
| `SANAD_AUDIO_PROFILE` | `builtin`, `anker`, `hollyland_builtin` | `builtin` | Which mic + speaker pair `audio_io.py` mounts. `builtin` = G1 UDP mic + G1 chest speaker via DDS. |
| `SANAD_VOICE_BRAIN` | `gemini`, `local`, `model` | `gemini` | Which brain the subprocess loads (see `voice/sanad_voice.py:_build_brain`). |
| `SANAD_DDS_INTERFACE` | network iface | `eth0` | DDS network for G1 low-level comms. |
| `SANAD_GEMINI_API_KEY` | string | reads config | Override the API key in `data/motions/config.json`. |
| `SANAD_LIVE_SCRIPT` | path | auto | Override the subprocess entry script path. |
| `SANAD_RECORD` | `0` or `1` | `1` | Record every Gemini turn to `data/recordings/`. |
| `SANAD_AEC_ENABLE` | `0` or `1` | `1` | Enable WebRTC AEC3 (if the Python binding is installed). |


## Dashboard features

### Operations
Quick-fire SDK + JSONL arm actions (chip buttons), gestural speaking toggle.

### Voice & Audio
- **Live Voice Commands** — arm trigger from user transcripts (wake-phrase → arm action). Master gate + Deferred-trigger toggle.
- **Live Gemini Process** — start/stop the voice conversation subprocess, tail its log.
- **Typed Replay** — Gemini reads typed text aloud (wrapped with a "repeat verbatim" prompt).
- **Gemini API Key** — hot-swap the key without restart.
- **Wake Phrase Manager** — add/remove phrase → action bindings.

### Motion & Replay
- **Motion Control** — list SDK (built-in) + JSONL (recorded) actions, select + play. Cancel smoothly returns to `arm_home.jsonl`.
- **Replay Manager** — upload `.jsonl` files, test-play with speed, Teaching Mode (kinesthetic record).
- **Macro Recorder** — Record new audio+motion pair, OR pick any WAV + any motion (SDK or JSONL) and Play them in parallel.

### Recordings
Skill Registry (predefined audio+motion skills from `skills.json`) + Saved Records (Gemini turn recordings).


## Architecture notes

- **Subprocess isolation**: `voice/sanad_voice.py` runs as a child of `main.py` via `gemini/subprocess.py`. If the voice loop crashes, the dashboard + arm stay up.
- **Brain contract**: see `voice/model_script.py` — any new model (OpenAI Realtime, Claude Voice, local offline) implements `__init__(audio_io, recorder, voice, system_prompt)`, `async run()`, `stop()`. Drop a file in `voice/` or a new `<brand>/` folder, add a branch to `voice/sanad_voice.py:_build_brain()`.
- **Supervisor contract**: each brain ships a sibling supervisor (e.g., `gemini/subprocess.py`) that spawns `sanad_voice.py` with its `SANAD_VOICE_BRAIN` env var and parses the brain's log markers. Template: `voice/model_subprocess.py`.
- **Audio routing**: the G1's platform-sound PulseAudio sink is NOT wired to a physical speaker. All dashboard-triggered playback (`play_wav`, typed-replay audio, record playback) routes through DDS `AudioClient.PlayStream` via `audio_manager._play_pcm_via_g1`. The PyAudio path is kept as a desktop/dev fallback only.
- **Arm replay**: `motion/arm_controller.py:_replay_file_inner()` is a verbatim port of `G1_Lootah/Manual_Recorder/g1_replay_v4_stable.py:Run()` — ramp-in → settle hold → playback → smooth return → disable SDK. Cancel breaks the play loop; `_return_home()` runs unconditionally afterwards for a jerk-free return.


## Dynamic paths

Every path is derived at runtime — no hard-coded `/home/zedx/…` anywhere.
Resolution order for `BASE_DIR` in `config.py`:

1. `SANAD_PROJECT_ROOT` env var (if set).
2. `PROJECT_BASE + PROJECT_NAME` from a `.env` file in `Sanad/` or its parent.
3. `Path(__file__).resolve().parent` — auto-detected.

The project runs unchanged from either layout:
- dev: `<anywhere>/Project/Sanad/`
- deployed: `/home/unitree/Sanad/`


## Deployment (workstation → robot)

```bash
rsync -av --delete \
  --exclude=__pycache__ --exclude=logs --exclude=model --exclude=.git \
  /path/to/Sanad/ \
  unitree@192.168.123.164:/home/unitree/Sanad/
```

Then on the robot: `Ctrl+C` the running `main.py` and re-run.


## Troubleshooting

| Symptom | Fix |
|---|---|
| `No LowState received in 2s — refusing to replay` | `main.py` was re-executed as both `__main__` and `Project.Sanad.main`, creating two arm instances. Fix lives in the `sys.modules` alias at `main.py:~50`. Restart. |
| `G1ArmActionClient not available — skipping` for SDK actions | Same duplicate-init issue as above. |
| `No module named 'Project'` in subprocess | Bootstrap preamble in `voice/sanad_voice.py:~30` synthesises the `Project.Sanad` namespace when run as `__main__`. |
| Arm jumps at start of JSONL replay | `SETTLE_HOLD_SEC` (in `config/motion_config.json > arm_controller`) too low — try `0.7` or `1.0`. |
| Record playback silent | `audio_mgr.play_wav` only routes to G1 DDS if the Unitree SDK is importable; on desktop it falls back to the PulseAudio sink. |
| Live Voice Commands transcript stuck | Deferred trigger was queued but `trigger_enabled` toggle was off. Toggle on — or the pending-trigger poll now fires it automatically once enabled. |
| Gemini "no audio" on Typed Replay | Non-deterministic; the retry chain in `voice/typed_replay.py:generate_audio` tries three prompt variants. For reliable TTS, use the offline `local_tts` SpeechT5 path. |
| Dashboard `Not Found` 404s for `/api/vision/*` | Vision module was deleted; HTML still has stale fetches for a few endpoints. Cosmetic — `dashboard/static/index.html` init block already skips most. |


## License / attribution

Internal project for YS Lootah Technology. Reuses/ports patterns from:
- `G1_Lootah/Manual_Recorder/g1_replay_v4_stable.py` (arm replay math)
- `SanadVoice/gemini_interact` (arm-phrase dispatch, skill registry)
- `SanadVoice/gemini_voice_v2` (local SpeechT5 TTS)
- Unitree `unitree_sdk2py` (G1 low-level SDK, LocoClient, G1ArmActionClient)