Identify faces (VIP database), recognize places (visual zones), and remember visitors across visits — then greet them personally and drive the LED mask on recognition. Perception + memory only; no robot motion. Dashboard on :8013.

This package is self-contained — it vendors the Sanad engine under vendor/ and builds FROM python:3.10-slim-bookworm, so a clone of this folder builds and runs with no sibling folders and no shared base image. Recognition is 100% Gemini-side / in-context (primer images) — there is no local ML model and no CUDA needed. The image ships keyless: the customer pastes their own Gemini API key in the dashboard on first open.

Install (per-robot, first run)

The workstation is canonical. You rsync the folder to the robot, then build and run Docker on the robot.

1. Copy the package onto the robot

From the workstation (dev robot = 10.255.254.86):

rsync -az --exclude __pycache__ --exclude data/faces --exclude data/zones \
  Project/G1/Packages/Sanad_Package_3 unitree@<robot>:~/sanad_deploy/

Everything the container needs is inside the folder (vendor/Sanad, vendor/sanad_pkg, vendor/mask) — no monorepo checkout on the robot.

2. License

Verification is a signed Ed25519 sanad.lic (fully offline — the public key is baked into the image). The folder ships a demo license (license/sanad.lic.example, robot_id G1-SN-DEMO-0001, unbound, expires 2030-01-01) that entitles P1 + P2 + P3, so the package builds and runs as-is for evaluation. A production robot needs a signed per-robot license — see Licensing below (P3 has no NEW_ROBOT_SETUP.md; the fleet-level ../README.md has the vendor signing flow too).

3. Keyless — add your own Gemini key

No Gemini key is baked into the image. On first open of the dashboard, paste your key in the Gemini API key card (or POST /api/p3/api-key). It is persisted to data/motions/config.json and hot-swapped into the live session.

4. Camera — the #1 gotcha (read this before `up`)

Recognition needs the camera, but the /dev/video* device mounts in docker-compose.yml are commented out by default — because Docker hard-fails up if you bind a device node that is absent. Before enabling recognition, edit docker-compose.yml and uncomment the V4L node your camera actually exposes:

A plain USB webcam is usually /dev/video0.
A RealSense colour node is NOT video0 — a RealSense exposes ~6 nodes; pick the colour one (or add several) or set SANAD_CAMERA_USB_INDEX to the right OpenCV index.

Capture is plain OpenCV (opencv-python-headless, cv2.VideoCapture) — no pyrealsense2. The container is granted group_add: video so it can open the node. Faces/zones/memories persist under the bind-mounted ./data.

Run with Docker (quick start)

On the robot, from this folder (Sanad_Package_3/) — nothing else needed:

cp .env.example .env            # optional: license / audio / camera / language
docker compose up -d --build    # build (vendored engine) + run
#   Jetson Docker without buildx:  DOCKER_BUILDKIT=0 docker compose up -d --build

network_mode: host is mandatory (G1 DDS discovery on eth0) and is already set in the compose file. Then open http://<robot-ip>:8013 and:

Gemini API key card → paste your key (ships keyless).
Recognition tab → enroll faces (camera capture or upload), name them, flag VIP; capture places (zones). This builds the primer DB.
Mask tab (optional) → confirm the LED mask connects for expressions on recognition.
Settings tab → speaker profile (chest vs USB/BT), volume, persona/language.

If the camera devices are still commented out, the container boots fine but recognition has no video source — uncomment the right V4L node (step 4 of Install) and docker compose up -d again.

Manage it

docker compose logs -f          # live logs
docker compose down             # stop
./test_p3.sh <robot-ip>:8013    # smoke test (expect 13/13 PASS + memory roundtrip)

Auto-start on boot: sudo systemctl enable docker — compose already runs P3 restart: unless-stopped, so it returns after a reboot. (For plugged/BT audio to survive a reboot, also run the one-time loginctl enable-linger unitree — see Configuration.)

No Docker? (dev mode) run P3 in the robot's gemini_sdk conda env against the vendored engine in ./vendor:

cd ~/sanad_deploy/Sanad_Package_3
./p3ctl.sh start      # launch on :8013 (runs against ./vendor)
./p3ctl.sh status     # process + /api/health
./p3ctl.sh logs 80    # tail the P3 log
./p3ctl.sh restart
./p3ctl.sh stop

The conda env needs google-genai, opencv-python-headless, and (for the LED mask) bleak==0.22.3 + Pillow.

What happens on up (from entrypoint.sh): (1) license gate — python3 -m sanad_pkg.license_check P3; if the robot is not entitled the container exits cleanly (code 0) so the restart policy will not crash-loop; (2) resolve config with precedence env var > license feature > config/p3_config.json; (3) a preflight that prints clear diagnostics (python / google-genai / pyaudio / bleak / Pillow / mask lib / Unitree SDK / audio profile); (4) exec app_p3.py.

What it ships

app_p3.py — the launcher: bootstraps the Project.Sanad namespace, builds the perception subsystems (camera, face gallery, zone gallery, recognition state) + comms core (brain/audio/voice/live_sub) + mask, constructs the NEW package-local VisitorMemory store, injects a P3-scoped Project.Sanad.main shim, and mounts only the P3 routers + the filtered SPA (non-P3 tabs hidden).
routes_p3.py — P3 convenience routes (/api/p3/*: api-key, persona, say, settings, logs) that also restart the live Gemini session so a new key/persona applies immediately.
routes_memory.py — the NEW visitor-memory CRUD router (/api/memory/*).
visitor_memory.py — the persistent visitor-profile store (attributes, notes, tags, last-seen, linked face_id; feeds personalized-greeting primers).
vendor/Sanad + vendor/sanad_pkg + vendor/mask — the vendored Sanad engine, license/bus lib, and Shining-Mask BLE lib. Refresh with ./sync_vendor.sh.
Dockerfile / requirements.txt — SELF-CONTAINED build (FROM python:3.10-slim-bookworm), bakes the vendored engine + pubkey; no sanad-base.
docker-compose.yml — standalone build + run (context: ., image sanad-p3:latest, container sanad-p3, service p3).
entrypoint.sh — license gate → config resolve → preflight → launch.
config/ — p3_config.json (defaults: port, audio, tab set) + mask_config.json.
license/ — pubkey.ed25519 (public verify key) + sanad.lic.example (demo).
sync_vendor.sh — refresh vendor/ from a full monorepo checkout.
test_p3.sh — 13-check smoke test + a memory create→list→delete roundtrip.
p3ctl.sh — no-Docker dev-mode control (start|stop|restart|status|logs).
strip_key.py — build step that guarantees the image ships keyless.
data/ — bind-mounted persistence (faces / zones / memories / recordings).

Configuration (env vars)

Copy .env.example → .env (compose reads it automatically). The most-used knobs:

Var	Default	What it does
`SANAD_LICENSE_FILE`	`./license/sanad.lic.example`	Signed license mounted read-only at `/etc/sanad/sanad.lic`. Point at your real per-robot `sanad.lic`.
`SANAD_LICENSE_BIND`	`0`	`1` enforces machine-fingerprint binding (also uncomment the `/etc/machine-id` mount in `docker-compose.yml`).
`SANAD_CAMERA_USB_INDEX`	(empty)	Pin the OpenCV colour-camera index (a RealSense colour node is not `video0`). Alternative to uncommenting a specific `/dev/video*` bind.
`SANAD_AUDIO_PROFILE`	`builtin`	`builtin` = G1 chest over DDS; `plugged` = USB (Anker) / Bluetooth (JBL) via host PulseAudio.
`SANAD_DDS_INTERFACE`	`eth0`	NIC used for G1 DDS discovery.
`SANAD_LANGUAGE`	(empty)	Empty = multilingual auto-detect; set `ar`/`en` to pin one language.
`SANAD_MASK_ADDRESS`	(empty)	Pin the LED mask BLE MAC; empty = auto-discover by name prefix.
`SANAD_MEMORIES_DIR`	`/app/Sanad/data/memories`	Where visitor profiles are stored (persisted via the `./data` bind).
`SANAD_PULSE_DIR` / `PULSE_SERVER` / `PULSE_COOKIE`	`/run/user/1000/pulse…`	Host PulseAudio socket + auth cookie the root container needs to set plugged/BT volume. Chest audio needs none of this.
`WITH_UNITREE_SDK`	`1`	Build arg: `1` bundles CycloneDDS (pinned `0.10.2`, built full) + `unitree_sdk2_python` so chest audio works out of the box; `0` = leaner USB-only image.
`BASE_OS_IMAGE`	`python:3.10-slim-bookworm`	Build arg: override only for a GPU build.
`SANAD_IMAGE`	`sanad-p3:latest`	Image name/tag (e.g. a registry path for pull-and-run).

Audio note (like SanadV3): the volume slider drives all speaker types. The unified control POST /api/audio/g1-speaker/volume sets the G1 chest (DDS SetVolume) and the active PulseAudio sink (plugged/BT). For the plugged/BT half, the root container needs the host PulseAudio socket + cookie — already mounted by compose. One-time host setup for a stable boot-time socket: loginctl enable-linger unitree.

Dashboard & features (http://<robot>:8013)

The dashboard is the SanadV3 SPA with only the P3 tabs shown: operations · voice · recognition · mask · recordings · settings (motion / controller / navigation / livemap / mapeditor / temp / terminal are hidden — they belong to other packages).

What you can do:

Faces / VIP DB (vision/face_gallery.py) — enroll via camera capture or upload, rename, describe, flag VIP.
Places (vision/zone_gallery.py) — capture and recognize visual zones. (The nav /go action stays disabled here — it belongs to P4.)
Visitor memory (visitor_memory.py, NEW) — persistent profiles with attributes / notes / tags / last-seen / linked face_id, feeding personalized-greeting primers.
Mask — drives the LED "Shining Mask" for expressions on recognition (same in-container BLE stack as P2: bleak==0.22.3, host /var/run/dbus, NET_ADMIN, /dev/bus/usb).

API endpoint groups

Group	Prefix	Purpose
Recognition	`/api/recognition/*`	Face identification + VIP gallery state.
Places	`/api/zones/*`	Visual zone / place recognition.
Visitor memory (NEW)	`/api/memory/*`	CRUD: `GET /` list · `GET /status` · `GET /primer` · `GET /by-face/{id}` · `GET/PUT/DELETE /{id}` · `POST /` create · `POST /{id}/touch`.
Mask	`/api/mask/*`	LED mask status + expressions.
P3 settings	`/api/p3/*`	`api-key`, `persona`, `say`, `settings`, `logs/delete`.
Comms	`/api/voice/` `/api/audio/` `/api/prompt/` `/api/typed-replay/` `/api/records/` `/api/live-subprocess/`	Reused Sanad conversation + audio subset.
Ops	`/api/package` `/api/health` `/api/system/info` `/api/logs/*` `/ws/logs`	Manifest (+ license + features), health, system info, logs.

Licensing

A signed Ed25519 sanad.lic decides which packages a robot may run. pubkey.ed25519 is baked into every image at /etc/sanad/pubkey.ed25519; verification is fully offline. Compose mounts the license read-only: ${SANAD_LICENSE_FILE:-./license/sanad.lic.example}:/etc/sanad/sanad.lic:ro.

The bundled demo (license/sanad.lic.example) entitles P1 + P2 + P3 with features face_rec, places, memory, mask (among others), robot_id G1-SN-DEMO-0001, unbound, expiring 2030-01-01 — enough to build and evaluate P3.

Features that gate P3: face_rec, places, memory, mask.

Sign a real per-robot license (vendor side — keep the private key OFF the robot):

python licensing/sign_license.py gen-keys --out-dir .          # once
# edit claims.json: set packages{P1..P4}, features{face_rec,places,memory,mask,…},
# robot_id, and (optionally) machine_fingerprint
python licensing/sign_license.py sign --key privkey.ed25519 \
       --in claims.json --out sanad.lic

Put sanad.lic on the robot and point SANAD_LICENSE_FILE at it (or replace license/sanad.lic.example). Optional hardware binding: set SANAD_LICENSE_BIND=1 (also uncomment the /etc/machine-id mount). Verify entitlement exactly as the entrypoint does:

SANAD_LICENSE=license/sanad.lic python -m sanad_pkg.license_check P3

Status

Built + validated locally — the package compiles, license_check P3 reports entitled against the demo license, and the compose YAML is valid. P3 is a real, shipped package (not a scaffold).

Remaining gate: the on-robot Docker build + ./test_p3.sh smoke test on the G1 (P1 is already robot-tested; P2/P3/P4 have been validated locally but not yet built + smoke-tested on hardware). The camera V4L node must be uncommented on the target robot before recognition will have video.

README.md

Unitree G1 - Sanad Package 3 — Facial Recognition + Places + Memories