# 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                        │
│  ├─ Operations         Quick-fire arm actions                      │
│  ├─ Voice & Audio      Live Gemini, Typed Replay, Wake Phrases     │
│  ├─ Motion & Replay    SDK actions, JSONL replays, teaching mode   │
│  ├─ Recognition        Camera vision + face gallery (Gemini-side)  │
│  ├─ Recordings         Skills registry, saved Gemini turns         │
│  └─ Settings & Logs    System info, tail live log                  │
└────────────────────────────────────────────────────────────────────┘
        │
        ├─ voice/sanad_voice.py  (subprocess — Gemini Live audio loop)
        ├─ gemini/script.py      (Gemini Live brain — audio + video + state)
        ├─ gemini/client.py      (short-session client for Typed Replay)
        ├─ gemini/subprocess.py  (spawns+supervises sanad_voice.py;
        │                         pushes camera frames + motion state
        │                         to the child over its stdin)
        ├─ vision/camera.py      (RealSense/USB capture daemon)
        ├─ vision/face_gallery.py (data/faces/ CRUD for the primer turn)
        ├─ motion/arm_controller.py  (G1 arm DDS publisher)
        ├─ voice/audio_io.py     (mic + speaker abstraction — 3 profiles)
        └─ core/brain.py         (skill dispatcher, event bus)
```

### Camera + face recognition data flow

```
CameraDaemon (parent, in-memory JPEG+b64 cache)
  ├─→ dashboard /api/recognition/frame.jpg   ── snapshot_jpeg()
  └─→ GeminiSubprocess._frame_forwarder      ── get_frame_b64()
                                                 │ "frame:<b64>\n" over stdin
ArmController ─emit→ event bus ─→ main.py ─→ live_sub.send_state()
                                                 │ "state:<json>\n" over stdin
                                                 ▼
                          gemini/script.py  _stdin_watcher thread
                            ├─ frame: → _LATEST_FRAME → _send_frame_loop →
                            │             session.send_realtime_input(video=Blob)
                            └─ state: → _STATE_PENDING → _send_state_loop →
                                          session.send_realtime_input(text=…)
```


## 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: audio + video + motion-state), `subprocess.py` (supervisor + stdin frame/state push). |
| `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). |
| `vision/` | `camera.py` (RealSense/USB capture daemon, auto-reconnect), `face_gallery.py` (`data/faces/` CRUD), `recognition_state.py` (toggle state file I/O). |
| `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_v2` (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), `faces/face_{id}/` (enrolled face galleries), `.recognition_state.json` (vision/face-rec toggle state), `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). |
| `SANAD_VISION_ENABLE` | `0` or `1` | `0` | Boot default for camera vision. **Runtime truth is the Recognition-tab toggle** → `data/.recognition_state.json`, hot-applied without a restart. |
| `SANAD_FACE_RECOGNITION_ENABLE` | `0` or `1` | `0` | Boot default for Gemini-side face recognition. Also a hot toggle. |
| `SANAD_VISION_SEND_HZ` | float | `2` | Frames/sec the Gemini child relays to Live. |
| `SANAD_CAMERA_WIDTH` / `_HEIGHT` / `_FPS` | int | `424` / `240` / `15` | Capture profile. Also settable per-deploy in `config/core_config.json > camera`. |
| `SANAD_FACES_MAX_SAMPLES` | int | `3` | Max photos per person fed into the gallery primer turn (token budget). |

> All `SANAD_VISION_*` / `SANAD_CAMERA_*` / `SANAD_FACE_*` vars are **boot
> defaults** forwarded to the Gemini child via `LIVE_TUNE`. Once running,
> the Recognition tab's toggles are the live source of truth — they write
> `data/.recognition_state.json`, which the child polls at 1 Hz.


## 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.

### Recognition
Camera vision + Gemini-side face recognition. Both are **off by default**;
each is a **hot toggle** — flipping it takes effect on the running Gemini
session within ~1 s, no restart.

- **Camera Vision** — when on, the `CameraDaemon` captures from a RealSense
  (preferred) or USB camera and the supervisor streams JPEG frames to
  Gemini Live so it can answer "what do you see?". Live preview panel.
- **Face Recognition** — manage `data/faces/face_{id}/` galleries: enroll
  from the live camera or upload photos, rename, download (per-photo or
  ZIP), delete. On a session start (and on any gallery change) the child
  sends a **primer turn** carrying every enrolled face + a Khaleeji
  greeting instruction — Gemini itself does the matching in-context, so
  there's **no local face-recognition model**. Recognition needs vision on.
- **Sync Gallery** — force-resend the primer to the live session.

The camera daemon auto-reconnects on USB unplug / stalled frames and warns
if a RealSense negotiated USB 2.0 (Marcus-ported resilience).

### 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.
- **Camera frame transport (stdin push)**: the `CameraDaemon` lives in the parent and caches frames in memory. `GeminiSubprocess` runs a `_frame_forwarder` thread that base64-encodes the latest frame and writes `frame:<b64>\n` to the child's stdin (~2 fps). The child's `_stdin_watcher` thread decodes into `_LATEST_FRAME`; `_send_frame_loop` relays it to Gemini Live with a staleness guard. This is the Marcus pattern — chosen over a file drop so the parent owns the camera once and the dashboard preview reads the same in-memory cache.
- **Motion-state channel**: `arm_controller._execute()` emits `motion.action_started` / `_done` / `_error` on the event bus. `main.py` forwards each to `live_sub.send_state()`, which writes `state:<json>\n` to the child's stdin. The child injects `[STATE-START] wave_hand`, `[STATE-DONE] wave_hand (2.3s)`, etc. into Gemini Live as silent text context (`send_realtime_input(text=…)`) so it can honestly answer "what are you doing?".
- **Face recognition is Gemini-side**: no dlib/insightface/onnxruntime. `vision/face_gallery.py` is pure file IO over `data/faces/face_{id}/` (`face_N.jpg|png` samples + optional `meta.json` with a `name`). At session start (and on any gallery change) `gemini/script.py:_send_gallery_primer()` builds one multimodal `send_client_content` turn — every enrolled face's photos + a greeting instruction — and Gemini matches incoming frames against it in-context.


## Camera vision on Jetson

The Recognition tab needs `pyrealsense2` to talk to the Intel RealSense.
**Do not `pip install pyrealsense2` on JetPack 5** — the PyPI wheel is built
against glibc 2.32+ (Ubuntu 22.04) and fails to load on JetPack 5's glibc
2.31 with `ImportError: ... version 'GLIBC_2.32' not found`.

The native runtime is already there (`apt`-installed `librealsense2`). Build
just the Python binding from source against it, into the `gemini_sdk` env:

```bash
rs-enumerate-devices            # confirm the D435I shows up at OS level first

source ~/miniconda3/etc/profile.d/conda.sh && conda activate gemini_sdk
pip uninstall -y pyrealsense2   # remove the broken wheel if present
sudo apt install -y cmake build-essential git python3-dev libusb-1.0-0-dev pkg-config libssl-dev

cd /tmp && rm -rf librealsense
git clone --depth=1 --branch v2.56.5 https://github.com/IntelRealSense/librealsense.git
cd librealsense && mkdir -p build && cd build
cmake .. -DBUILD_PYTHON_BINDINGS=ON -DPYTHON_EXECUTABLE=$(which python3) \
         -DBUILD_EXAMPLES=OFF -DBUILD_GRAPHICAL_EXAMPLES=OFF \
         -DBUILD_UNIT_TESTS=OFF -DCHECK_FOR_UPDATES=OFF -DCMAKE_BUILD_TYPE=Release
make -j$(nproc) pyrealsense2
SITE=$(python3 -c "import sysconfig; print(sysconfig.get_paths()['purelib'])")
mkdir -p "$SITE/pyrealsense2"
cp wrappers/python/pyrealsense2*.so "$SITE/pyrealsense2/"
cp ../wrappers/python/pyrealsense2/__init__.py "$SITE/pyrealsense2/" 2>/dev/null || true

python3 -c 'import pyrealsense2 as rs; print([d.get_info(rs.camera_info.name) for d in rs.context().query_devices()])'
```

Match the `--branch` tag to the installed runtime (`dpkg -l | grep librealsense2`).
If the build isn't worth it, `CameraDaemon` falls back to `cv2.VideoCapture(0)`
automatically — fine for a plain USB webcam, but note a RealSense exposes its
*depth* stream at `/dev/video0`, not RGB, so a real USB cam is the cleaner
fallback. On x86_64 / Ubuntu 22.04+ desktops, `pip install pyrealsense2` just works.


## 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. |
| Recognition tab: "Camera could not start (no backend)" | No camera backend acquired. Check `rs-enumerate-devices` (RealSense at OS level) and `python3 -c 'import pyrealsense2'` in the `gemini_sdk` env. The glibc `ImportError` means the pip wheel is incompatible — see "Camera vision on Jetson" above. |
| Camera badge stuck on "reconnecting…" | `CameraDaemon` lost the device and is retrying with exponential backoff. Re-seat the USB 3 cable; check `logs/camera.log` for the USB-2.0 warning. |
| Gemini doesn't greet an enrolled face | Face Recognition toggle on? Vision on? (Face rec needs frames.) Check `logs/gemini_brain.log` for `face gallery primed: N person(s)`. Hit "Sync Gallery" to force a re-prime. |
| Gemini unaware of motion state | The `motion.action_*` → `send_state` chain only runs when Live Gemini is up. Check `logs/gemini_subprocess.log` and `logs/gemini_brain.log` for `STATE injected:` lines. |


## 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)
- `Project/Marcus` — camera→Gemini stdin-push transport, motion-state
  injection, camera daemon resilience (auto-reconnect, USB-2.0 warning),
  and the `API/camera_api.py` cache shape (`get_frame_b64` / `get_fresh_frame`).
- Unitree `unitree_sdk2py` (G1 low-level SDK, LocoClient, G1ArmActionClient)