12 lines
2.2 KiB
Plaintext
12 lines
2.2 KiB
Plaintext
N2 — Gemini-phrase movement via direct LocoClient · effort L (highest risk)
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This is the Marcus phrase-confirmation pattern, but driven by direct LocoClient on the robot (no Holosoma/ZMQ, no laptop). The full chain:
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Gemini speaks a confirmation phrase → parent reads it → matches → LocoClient.Move().
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Where LocoClient lives → the parent process, next to the arm. main.py:425 already calls ChannelFactoryInitialize once for the arm; the new LocoController reuses that same DDS participant (no second init). Port init_loco/move_cmd/stop_only from G1_Lootah/Controller/g1_mode_controller.py, plus a non-interactive FSM-200 bring-up adapted from hanger_boot_sequence.py (strip its own ChannelFactoryInitialize and the blocking input()).
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The dispatch loop (voice/movement_loop.py) mirrors voice/live_voice_loop.py but polls the new bot_transcript, gated on a movement_enabled flag (default OFF). The matcher (voice/bot_dispatch.py) ports Marcus's _dispatch_gemini_bot: strip [STATE-]/quoted/question clauses → normalize numbers + Arabic→English → parametric-regex scan → longest-needle bot-phrase scan → dedup/cooldown. Vocabulary comes from a ported instruction.json.
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Canonical → velocity (Marcus's MOVE_MAP ports 1:1 since LocoClient.Move uses the same m/s, rad/s units): forward→Move(0.3,0,0), backward→Move(-0.2,0,0), turn-left→Move(0,0,0.3), turn-right→Move(0,0,-0.3), stop→StopMove().
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Toggle in the Voice & Audio tab (#tab-voice): add movement_enabled to recognition_state.py, a dashboard/routes/movement.py route (clone the face-rec toggle), and a switch in the UI.
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Announce on toggle: _announce_movement_state in script.py (clone _announce_facerec_state) — robot says "movement enabled" / "movement disabled."
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Persona rules: append Marcus-style rules to Sanad's prompt (wake-word + action required; clarification questions must not contain motion verbs) so Gemini reliably emits the confirmation phrases.
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🛑 Safety is mandatory, not optional: Move(continous_move=True) walks until StopMove. Needs a FIFO worker with stop-priority, a per-motion watchdog that forces StopMove after a max duration, velocity caps + deadband, and StopMove on both disable-toggle and shutdown. Sanad has no obstacle/abort stack today. |