SHA256
wired up voice and vision, testing motion
This commit is contained in:
Jaroslav Vizner
+109
-28
@@ -9,9 +9,11 @@ set(CMAKE_CXX_EXTENSIONS OFF)
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option(BUILD_VISION "Build vision components" ON)
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option(BUILD_VOICE "Build R1 voice assistant" ON)
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set(UNITREE_SDK2_DIR
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set(
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UNITREE_SDK2_DIR
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"/home/jvizner/unitree_sdk2"
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CACHE PATH "Path to unitree_sdk2"
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CACHE PATH
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"Path to unitree_sdk2"
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)
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# ============================================================
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@@ -21,7 +23,8 @@ set(UNITREE_SDK2_DIR
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if(BUILD_VISION OR BUILD_VOICE)
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if(NOT EXISTS "${UNITREE_SDK2_DIR}/CMakeLists.txt")
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message(FATAL_ERROR
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message(
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FATAL_ERROR
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"Invalid UNITREE_SDK2_DIR: ${UNITREE_SDK2_DIR}"
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)
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endif()
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@@ -35,29 +38,41 @@ if(BUILD_VISION OR BUILD_VOICE)
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endif()
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# ============================================================
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# Vision
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# Vision / Motion
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# ============================================================
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if(BUILD_VISION)
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find_package(Eigen3 REQUIRED)
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find_package(OpenCV REQUIRED COMPONENTS
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find_package(
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OpenCV REQUIRED
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COMPONENTS
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core
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imgproc
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highgui
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imgcodecs
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calib3d
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)
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find_package(pinocchio REQUIRED)
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find_package(fmt REQUIRED)
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add_library(r1_vision_common INTERFACE)
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# --------------------------------------------------------
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# Shared vision dependencies
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# --------------------------------------------------------
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add_library(
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r1_vision_common
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INTERFACE
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)
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target_include_directories(
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r1_vision_common
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INTERFACE
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"${CMAKE_CURRENT_SOURCE_DIR}/include"
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"${UNITREE_SDK2_DIR}/include"
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${OpenCV_INCLUDE_DIRS}
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)
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target_link_libraries(
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@@ -75,17 +90,47 @@ if(BUILD_VISION)
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UNITREE_SDK2_DIR="${UNITREE_SDK2_DIR}"
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)
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# --------------------------------------------------------
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# Camera frame publisher
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#
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# Named r1_vision_node because Unitree SDK2 already
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# defines its own "vision_node" target.
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# --------------------------------------------------------
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add_executable(
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vision_node
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r1_vision_node
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src/vision_node.cc
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)
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target_link_libraries(
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vision_node
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r1_vision_node
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PRIVATE
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r1_vision_common
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)
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# --------------------------------------------------------
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# Motion controller
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#
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# Reads YOLO detections and controls R1 head.
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# fmt is required by Unitree ArmSdk / spdlog.
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# --------------------------------------------------------
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add_executable(
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r1_motion_node
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src/motion_node.cc
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)
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target_link_libraries(
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r1_motion_node
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PRIVATE
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r1_vision_common
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fmt::fmt
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)
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# --------------------------------------------------------
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# Hand / camera calibration
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# --------------------------------------------------------
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add_executable(
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r1_hand_calibrate
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src/r1_hand_calibrate.cc
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@@ -107,25 +152,18 @@ if(BUILD_VOICE)
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find_package(CURL REQUIRED)
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# --------------------------------------------------------
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# Voice assistant
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# --------------------------------------------------------
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add_executable(
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r1_voice
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src/voice_node.cc
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src/stt.cc
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src/llm.cc
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src/tts.cc
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src/conversation.cc
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)
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add_executable(
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r1_mic_test
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src/r1_mic_test.cc
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)
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target_include_directories(
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r1_mic_test
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PRIVATE
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"${UNITREE_SDK2_DIR}/include"
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src/vision_context.cc
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)
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target_include_directories(
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@@ -142,6 +180,28 @@ target_include_directories(
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CURL::libcurl
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)
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# --------------------------------------------------------
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# Raw microphone test
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# --------------------------------------------------------
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add_executable(
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r1_mic_test
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src/r1_mic_test.cc
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)
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target_include_directories(
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r1_mic_test
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PRIVATE
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"${CMAKE_CURRENT_SOURCE_DIR}/include"
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"${UNITREE_SDK2_DIR}/include"
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)
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target_link_libraries(
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r1_mic_test
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PRIVATE
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unitree_sdk2
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)
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endif()
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# ============================================================
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@@ -151,33 +211,54 @@ endif()
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set(INSTALL_TARGETS "")
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if(BUILD_VISION)
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list(APPEND INSTALL_TARGETS
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vision_node
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list(
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APPEND INSTALL_TARGETS
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r1_vision_node
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r1_motion_node
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r1_hand_calibrate
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)
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endif()
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if(BUILD_VOICE)
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list(APPEND INSTALL_TARGETS
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list(
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APPEND INSTALL_TARGETS
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r1_voice
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r1_mic_test
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)
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endif()
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if(INSTALL_TARGETS)
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install(
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TARGETS ${INSTALL_TARGETS}
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TARGETS
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${INSTALL_TARGETS}
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RUNTIME DESTINATION bin
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)
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endif()
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# ============================================================
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# Install configuration / scripts
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# ============================================================
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if(BUILD_VISION)
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install(
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DIRECTORY config/
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DESTINATION share/r1_vision/config
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DIRECTORY
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config/
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DESTINATION
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share/r1_vision/config
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)
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install(
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PROGRAMS scripts/yolo_detector.py
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DESTINATION share/r1_vision/scripts
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PROGRAMS
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scripts/yolo_detector.py
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DESTINATION
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share/r1_vision/scripts
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)
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endif()
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+10
-2
@@ -18,7 +18,7 @@
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BUILD_EXAMPLES:BOOL=ON
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//Build vision components
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BUILD_VISION:BOOL=OFF
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BUILD_VISION:BOOL=ON
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//Build R1 voice assistant
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BUILD_VOICE:BOOL=ON
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@@ -337,6 +337,9 @@ Eigen3_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/share/eigen3/cmake
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// Undefined, Thread, Leak, 'Address;Undefined', CFI
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GZ_SANITIZER:STRING=
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//No help, variable specified on the command line.
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OpenCV_DIR:UNINITIALIZED=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/opencv4
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//CXX compiler flags for OpenMP parallelization
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OpenMP_CXX_FLAGS:STRING=-fopenmp
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@@ -391,6 +394,9 @@ casadi_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/casadi
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//The directory containing a CMake configuration file for coal.
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coal_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/coal
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//The directory containing a CMake configuration file for fmt.
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fmt_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/lib/cmake/fmt
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//The directory containing a CMake configuration file for gz-cmake.
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gz-cmake_DIR:PATH=/home/jvizner/miniconda3/envs/ai_robot/share/cmake/gz-cmake
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@@ -668,8 +674,10 @@ FIND_PACKAGE_MESSAGE_DETAILS_Boost:INTERNAL=[/home/jvizner/miniconda3/envs/ai_ro
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FIND_PACKAGE_MESSAGE_DETAILS_CURL:INTERNAL=[/home/jvizner/miniconda3/envs/ai_robot/lib/libcurl.so][/home/jvizner/miniconda3/envs/ai_robot/include][c ][v8.21.0()]
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//Details about finding DL
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FIND_PACKAGE_MESSAGE_DETAILS_DL:INTERNAL=[true][v()]
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//Details about finding OpenCV
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FIND_PACKAGE_MESSAGE_DETAILS_OpenCV:INTERNAL=[/home/jvizner/miniconda3/envs/ai_robot][cfound components: core imgproc highgui imgcodecs calib3d ][v4.13.0()]
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//Details about finding OpenMP
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FIND_PACKAGE_MESSAGE_DETAILS_OpenMP:INTERNAL=[TRUE][TRUE][c ][v4.5()]
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FIND_PACKAGE_MESSAGE_DETAILS_OpenMP:INTERNAL=[TRUE][c ][v4.5()]
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//Details about finding OpenMP_C
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FIND_PACKAGE_MESSAGE_DETAILS_OpenMP_C:INTERNAL=[-fopenmp][/home/jvizner/miniconda3/envs/ai_robot/lib/libgomp.so][/home/jvizner/miniconda3/envs/ai_robot/x86_64-conda-linux-gnu/sysroot/usr/lib/libpthread.a][v4.5()]
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//Details about finding OpenMP_CXX
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+124
-124
@@ -15,10 +15,10 @@ The CXX compiler identification is GNU, found in "/home/jvizner/esarobotech/r1/b
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Detecting CXX compiler ABI info compiled with the following output:
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Change Dir: /home/jvizner/esarobotech/r1/build/CMakeFiles/CMakeTmp
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Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_fe7bb/fast && /usr/bin/gmake -f CMakeFiles/cmTC_fe7bb.dir/build.make CMakeFiles/cmTC_fe7bb.dir/build
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Run Build Command(s):/usr/bin/gmake -f Makefile cmTC_42faa/fast && /usr/bin/gmake -f CMakeFiles/cmTC_42faa.dir/build.make CMakeFiles/cmTC_42faa.dir/build
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gmake[1]: Entering directory '/home/jvizner/esarobotech/r1/build/CMakeFiles/CMakeTmp'
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Building CXX object CMakeFiles/cmTC_fe7bb.dir/CMakeCXXCompilerABI.cpp.o
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/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-c++ -fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/jvizner/miniconda3/envs/ai_robot/include -v -o CMakeFiles/cmTC_fe7bb.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.22/Modules/CMakeCXXCompilerABI.cpp
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Building CXX object CMakeFiles/cmTC_42faa.dir/CMakeCXXCompilerABI.cpp.o
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||||
/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-c++ -fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem /home/jvizner/miniconda3/envs/ai_robot/include -v -o CMakeFiles/cmTC_42faa.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.22/Modules/CMakeCXXCompilerABI.cpp
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Reading specs from /home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/specs
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could not find specs file conda.specs
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COLLECT_GCC=/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-c++
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@@ -27,9 +27,9 @@ Configured with: ../configure --prefix=/home/conda/feedstock_root/build_artifact
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Thread model: posix
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Supported LTO compression algorithms: zlib
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gcc version 15.2.0 (conda-forge gcc 15.2.0-7)
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COLLECT_GCC_OPTIONS='-fvisibility-inlines-hidden' '-fmessage-length=0' '-march=nocona' '-mtune=haswell' '-ftree-vectorize' '-fPIC' '-fstack-protector-strong' '-fno-plt' '-O2' '-ffunction-sections' '-pipe' '-isystem' '/home/jvizner/miniconda3/envs/ai_robot/include' '-v' '-o' 'CMakeFiles/cmTC_fe7bb.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-dumpdir' 'CMakeFiles/cmTC_fe7bb.dir/'
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/home/jvizner/miniconda3/envs/ai_robot/bin/../lib/gcc/x86_64-conda-linux-gnu/15.2.0/../../../../x86_64-conda-linux-gnu/bin/as -v --64 -o CMakeFiles/cmTC_42faa.dir/CMakeCXXCompilerABI.cpp.o
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compiled by GNU C version 15.2.0, GMP version 6.2.1, MPFR version 4.1.0, MPC version 1.2.1, isl version isl-0.24-GMP
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@@ -56,10 +56,10 @@ End of search list.
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
|
||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
|
||||
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||||
|
||||
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||||
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||||
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||||
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||||
|
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||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
|
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||||
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||||
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||||
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
|
||||
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||||
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||||
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||||
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||||
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||||
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|
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||||
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|
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
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||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
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||||
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||||
|
||||
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||||
|
||||
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||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
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||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
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||||
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||||
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||||
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||||
|
||||
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||||
|
||||
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|
||||
|
||||
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||||
|
||||
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||||
|
||||
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||||
|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/q_log.h \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsc/dds_opcodes.h \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestLease_.hpp \
|
||||
/home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/RequestPolicy_.hpp \
|
||||
/home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/Response_.hpp \
|
||||
/home/jvizner/unitree_sdk2/include/unitree/robot/internal/internal_idl_decl/ResponseHeader_.hpp \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/TPolicy.hpp \
|
||||
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|
||||
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|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/TQosPolicyCount.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/policy/QosPolicyCountDelegate.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/policy/QosPolicyCount.hpp \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/TGuardConditionImpl.hpp \
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/GuardConditionDelegate.hpp \
|
||||
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|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/TStatusConditionImpl.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/TStatusCondition.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/StatusConditionDelegate.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/WaitSet.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/WaitSet.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/detail/TWaitSetImpl.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/cond/TWaitSet.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/cond/WaitSetDelegate.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/ddscore.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/ddsdomain.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/find.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/DomainParticipant.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/DomainParticipant.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/TDomainParticipantImpl.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/TDomainParticipant.hpp \
|
||||
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|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsrt/random.h \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/dds/ddsi/ddsi_portmapping.h \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/qos/DomainParticipantQos.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/qos/detail/DomainParticipantQos.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/TEntityQosImpl.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/TEntityQos.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/qos/DomainParticipantQosDelegate.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/qos/TopicQos.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/qos/detail/TopicQos.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/qos/TopicQosDelegate.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/PublisherQos.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/pub/qos/detail/PublisherQos.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/pub/qos/PublisherQosDelegate.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/SubscriberQos.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/sub/qos/detail/SubscriberQos.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/qos/SubscriberQosDelegate.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantDelegate.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/detail/WeakReferenceImpl.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/WeakReference.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/ObjectSet.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/WeakReferenceSet.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntitySet.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/Domain.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainWrap.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/domain/DomainParticipantRegistry.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/core/EntityRegistry.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/discovery.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/domain/detail/ddsdomain.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/ddstopic.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TopicDescription.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TopicDescription.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TTopicDescriptionImpl.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TTopicDescription.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/TopicDescriptionDelegate.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/Topic.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/Topic.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/AnyTopic.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/AnyTopic.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TAnyTopicImpl.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TAnyTopic.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/core/conformance.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/AnyTopicDelegate.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TTopic.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/ContentFilteredTopic.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/ContentFilteredTopic.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/Filter.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/Filter.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/detail/TFilterImpl.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/dds/topic/TFilter.hpp \
|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/topic/FilterDelegate.hpp \
|
||||
/home/jvizner/miniconda3/envs/ai_robot/lib/gcc/x86_64-conda-linux-gnu/15.2.0/include/c++/iterator \
|
||||
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|
||||
/home/jvizner/unitree_sdk2/thirdparty/include/ddscxx/org/eclipse/cyclonedds/sub/AnyDataReaderDelegate.hpp \
|
||||
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|
||||
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||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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@@ -139,13 +139,28 @@ CMakeFiles/r1_voice.dir/src/conversation.cc.s: cmake_force
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|
||||
NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_mic_test")
|
||||
file(RPATH_CHANGE
|
||||
FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_mic_test"
|
||||
OLD_RPATH "/home/jvizner/unitree_sdk2/thirdparty/lib/x86_64:"
|
||||
NEW_RPATH "")
|
||||
if(CMAKE_INSTALL_DO_STRIP)
|
||||
execute_process(COMMAND "/home/jvizner/miniconda3/envs/ai_robot/bin/x86_64-conda-linux-gnu-strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/bin/r1_mic_test")
|
||||
endif()
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/r1_vision/config" TYPE DIRECTORY FILES "/home/jvizner/esarobotech/r1/config/")
|
||||
endif()
|
||||
|
||||
if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
|
||||
file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/r1_vision/scripts" TYPE PROGRAM FILES "/home/jvizner/esarobotech/r1/scripts/yolo_detector.py")
|
||||
endif()
|
||||
|
||||
if(CMAKE_INSTALL_COMPONENT)
|
||||
set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
|
||||
else()
|
||||
|
||||
Executable
BIN
Binary file not shown.
Binary file not shown.
Executable
BIN
Binary file not shown.
Executable
BIN
Binary file not shown.
Binary file not shown.
@@ -5,6 +5,7 @@
|
||||
#include "r1_voice/llm.hh"
|
||||
#include "r1_voice/stt.hh"
|
||||
#include "r1_voice/tts.hh"
|
||||
#include "r1_voice/vision_context.hh"
|
||||
|
||||
namespace r1_voice {
|
||||
|
||||
@@ -12,6 +13,7 @@ struct ConversationConfig {
|
||||
SttConfig stt;
|
||||
LlmConfig llm;
|
||||
TtsConfig tts;
|
||||
VisionConfig vision;
|
||||
};
|
||||
|
||||
class Conversation {
|
||||
@@ -32,6 +34,7 @@ private:
|
||||
SpeechToText stt_;
|
||||
LLM llm_;
|
||||
TextToSpeech tts_;
|
||||
VisionContext vision_;
|
||||
};
|
||||
|
||||
} // namespace r1_voice
|
||||
|
||||
@@ -33,7 +33,8 @@ public:
|
||||
explicit LLM(LlmConfig config);
|
||||
|
||||
std::string chat(
|
||||
const std::string& user
|
||||
const std::string& user,
|
||||
const std::string& transient_context = {}
|
||||
);
|
||||
|
||||
private:
|
||||
|
||||
@@ -0,0 +1,37 @@
|
||||
#pragma once
|
||||
|
||||
#include <string>
|
||||
|
||||
namespace r1_voice {
|
||||
|
||||
struct VisionConfig {
|
||||
std::string detections_path =
|
||||
"/dev/shm/r1_detections.json";
|
||||
|
||||
// Reject YOLO output older than this.
|
||||
double max_age_seconds = 2.5;
|
||||
|
||||
double min_confidence = 0.35;
|
||||
};
|
||||
|
||||
class VisionContext {
|
||||
public:
|
||||
explicit VisionContext(
|
||||
VisionConfig config
|
||||
);
|
||||
|
||||
bool isVisionQuestion(
|
||||
const std::string& text
|
||||
) const;
|
||||
|
||||
std::string buildContext() const;
|
||||
|
||||
private:
|
||||
VisionConfig config_;
|
||||
|
||||
static std::string lowerAscii(
|
||||
std::string text
|
||||
);
|
||||
};
|
||||
|
||||
} // namespace r1_voice
|
||||
Executable
+108
@@ -0,0 +1,108 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
PROJECT="$HOME/esarobotech/r1"
|
||||
INTERFACE="${1:-enp3s0}"
|
||||
|
||||
cd "$PROJECT"
|
||||
|
||||
PIDS=()
|
||||
|
||||
cleanup() {
|
||||
echo
|
||||
echo "[R1] Stopping all services..."
|
||||
|
||||
for pid in "${PIDS[@]}"; do
|
||||
if kill -0 "$pid" 2>/dev/null; then
|
||||
kill "$pid" 2>/dev/null || true
|
||||
fi
|
||||
done
|
||||
|
||||
wait 2>/dev/null || true
|
||||
|
||||
echo "[R1] All services stopped."
|
||||
}
|
||||
|
||||
trap cleanup EXIT INT TERM
|
||||
|
||||
echo "======================================"
|
||||
echo " R1 complete stack"
|
||||
echo "======================================"
|
||||
echo "Interface: $INTERFACE"
|
||||
echo
|
||||
|
||||
echo "[R1] Starting camera..."
|
||||
./scripts/start_camera.sh "$INTERFACE" &
|
||||
PIDS+=("$!")
|
||||
|
||||
sleep 1
|
||||
|
||||
echo "[R1] Starting YOLO..."
|
||||
./scripts/start_yolo.sh &
|
||||
PIDS+=("$!")
|
||||
|
||||
sleep 1
|
||||
|
||||
echo "[R1] Starting LLM..."
|
||||
./scripts/start_llm.sh &
|
||||
PIDS+=("$!")
|
||||
|
||||
echo "[R1] Waiting for LLM server..."
|
||||
|
||||
for i in {1..60}; do
|
||||
if curl -fsS \
|
||||
http://127.0.0.1:8080/health \
|
||||
>/dev/null 2>&1; then
|
||||
|
||||
echo "[R1] LLM ready."
|
||||
break
|
||||
fi
|
||||
|
||||
sleep 1
|
||||
|
||||
if [[ "$i" -eq 60 ]]; then
|
||||
echo "[ERROR] LLM failed to become ready."
|
||||
exit 1
|
||||
fi
|
||||
done
|
||||
|
||||
echo "[R1] Waiting for camera frame..."
|
||||
|
||||
for i in {1..20}; do
|
||||
if [[ -s /dev/shm/robot_frame.jpg ]]; then
|
||||
echo "[R1] Camera ready."
|
||||
break
|
||||
fi
|
||||
|
||||
sleep 0.5
|
||||
|
||||
if [[ "$i" -eq 20 ]]; then
|
||||
echo "[WARN] Camera frame not available yet."
|
||||
fi
|
||||
done
|
||||
|
||||
echo "[R1] Starting voice assistant..."
|
||||
./scripts/start_voice.sh "$INTERFACE" &
|
||||
PIDS+=("$!")
|
||||
|
||||
echo "[R1] Starting motion..."
|
||||
./scripts/start_motion.sh "$INTERFACE" &
|
||||
PIDS+=("$!")
|
||||
|
||||
sleep 1
|
||||
|
||||
echo
|
||||
echo "======================================"
|
||||
echo " R1 stack running"
|
||||
echo "======================================"
|
||||
echo "Camera: /dev/shm/robot_frame.jpg"
|
||||
echo "YOLO: /dev/shm/r1_detections.json"
|
||||
echo "LLM: http://127.0.0.1:8080"
|
||||
echo
|
||||
echo "Press Ctrl+C to stop everything."
|
||||
echo
|
||||
|
||||
# Wait until one service exits.
|
||||
wait -n "${PIDS[@]}"
|
||||
|
||||
echo "[R1] A service exited; shutting down the stack."
|
||||
Executable
+11
@@ -0,0 +1,11 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
PROJECT="$HOME/esarobotech/r1"
|
||||
INTERFACE="${1:-enp3s0}"
|
||||
|
||||
cd "$PROJECT"
|
||||
|
||||
echo "[R1] Starting camera on $INTERFACE"
|
||||
|
||||
exec ./build/r1_vision_node "$INTERFACE"
|
||||
Executable
+14
@@ -0,0 +1,14 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
LLAMA="$HOME/esarobotech/llama.cpp"
|
||||
|
||||
cd "$LLAMA"
|
||||
|
||||
echo "[R1] Starting Qwen LLM on port 8080"
|
||||
|
||||
exec ./build/bin/llama-server \
|
||||
-hf Mungert/Qwen3-8B-abliterated-GGUF:Q4_K_M \
|
||||
-c 8192 \
|
||||
--host 127.0.0.1 \
|
||||
--port 8080
|
||||
Executable
+19
@@ -0,0 +1,19 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
PROJECT="$HOME/esarobotech/r1"
|
||||
CONDA="$HOME/miniconda3"
|
||||
|
||||
INTERFACE="${1:-enp3s0}"
|
||||
|
||||
source "$CONDA/etc/profile.d/conda.sh"
|
||||
conda activate ai_robot
|
||||
|
||||
cd "$PROJECT"
|
||||
|
||||
echo "[R1] Starting motion controller"
|
||||
echo "[R1] Mode: person head tracking"
|
||||
echo "[R1] Interface: $INTERFACE"
|
||||
|
||||
exec ./build/r1_motion_node \
|
||||
"$INTERFACE"
|
||||
Executable
+27
@@ -0,0 +1,27 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
PROJECT="$HOME/esarobotech/r1"
|
||||
CONDA="$HOME/miniconda3"
|
||||
|
||||
INTERFACE="${1:-enp3s0}"
|
||||
|
||||
WHISPER="$HOME/esarobotech/whisper.cpp/build/bin/whisper-cli"
|
||||
MODEL="$HOME/esarobotech/whisper.cpp/models/ggml-medium.bin"
|
||||
LLM_URL="http://127.0.0.1:8080/v1/chat/completions"
|
||||
|
||||
source "$CONDA/etc/profile.d/conda.sh"
|
||||
conda activate ai_robot
|
||||
|
||||
cd "$PROJECT"
|
||||
|
||||
echo "[R1] Starting voice assistant"
|
||||
echo "[R1] Interface: $INTERFACE"
|
||||
echo "[R1] Whisper: $MODEL"
|
||||
echo "[R1] LLM: $LLM_URL"
|
||||
|
||||
exec ./build/r1_voice \
|
||||
"$INTERFACE" \
|
||||
"$WHISPER" \
|
||||
"$MODEL" \
|
||||
"$LLM_URL"
|
||||
Executable
+16
@@ -0,0 +1,16 @@
|
||||
#!/usr/bin/env bash
|
||||
set -e
|
||||
|
||||
PROJECT="$HOME/esarobotech/r1"
|
||||
CONDA="$HOME/miniconda3"
|
||||
|
||||
source "$CONDA/etc/profile.d/conda.sh"
|
||||
conda activate ai_robot
|
||||
|
||||
cd "$PROJECT"
|
||||
|
||||
echo "[R1] Starting YOLO detector"
|
||||
echo "[R1] Input: /dev/shm/robot_frame.jpg"
|
||||
echo "[R1] Output: /dev/shm/r1_detections.json"
|
||||
|
||||
exec python scripts/yolo_detector.py
|
||||
@@ -0,0 +1,149 @@
|
||||
#!/usr/bin/env python3
|
||||
|
||||
import json
|
||||
import os
|
||||
import tempfile
|
||||
import time
|
||||
from pathlib import Path
|
||||
|
||||
from ultralytics import YOLO
|
||||
|
||||
|
||||
IMAGE_PATH = Path("/dev/shm/robot_frame.jpg")
|
||||
OUTPUT_PATH = Path("/dev/shm/r1_detections.json")
|
||||
|
||||
MODEL = "yolo26n.pt"
|
||||
|
||||
CONFIDENCE = 0.35
|
||||
IMAGE_SIZE = 640
|
||||
|
||||
|
||||
def atomic_write_json(path: Path, data):
|
||||
with tempfile.NamedTemporaryFile(
|
||||
mode="w",
|
||||
dir=path.parent,
|
||||
delete=False,
|
||||
suffix=".tmp",
|
||||
) as f:
|
||||
json.dump(
|
||||
data,
|
||||
f,
|
||||
ensure_ascii=False,
|
||||
indent=2,
|
||||
)
|
||||
|
||||
tmp = f.name
|
||||
|
||||
os.replace(tmp, path)
|
||||
|
||||
|
||||
def main():
|
||||
print(f"[YOLO] Loading {MODEL}")
|
||||
|
||||
model = YOLO(MODEL)
|
||||
|
||||
print("[YOLO] Ready")
|
||||
print(f"[YOLO] Camera: {IMAGE_PATH}")
|
||||
print(f"[YOLO] Output: {OUTPUT_PATH}")
|
||||
|
||||
last_mtime = None
|
||||
|
||||
while True:
|
||||
try:
|
||||
if not IMAGE_PATH.exists():
|
||||
time.sleep(0.05)
|
||||
continue
|
||||
|
||||
mtime = IMAGE_PATH.stat().st_mtime_ns
|
||||
|
||||
if mtime == last_mtime:
|
||||
time.sleep(0.01)
|
||||
continue
|
||||
|
||||
last_mtime = mtime
|
||||
|
||||
results = model.predict(
|
||||
source=str(IMAGE_PATH),
|
||||
conf=CONFIDENCE,
|
||||
imgsz=IMAGE_SIZE,
|
||||
verbose=False,
|
||||
)
|
||||
|
||||
if not results:
|
||||
continue
|
||||
|
||||
result = results[0]
|
||||
|
||||
height, width = result.orig_shape
|
||||
|
||||
detections = []
|
||||
|
||||
if result.boxes is not None:
|
||||
for box in result.boxes:
|
||||
class_id = int(box.cls[0])
|
||||
confidence = float(box.conf[0])
|
||||
|
||||
x1, y1, x2, y2 = [
|
||||
float(v)
|
||||
for v in box.xyxy[0]
|
||||
]
|
||||
|
||||
cx = (x1 + x2) / 2.0
|
||||
cy = (y1 + y2) / 2.0
|
||||
|
||||
detections.append({
|
||||
"class_id": class_id,
|
||||
"class": result.names[class_id],
|
||||
"confidence": confidence,
|
||||
|
||||
"box": {
|
||||
"x1": x1,
|
||||
"y1": y1,
|
||||
"x2": x2,
|
||||
"y2": y2,
|
||||
},
|
||||
|
||||
"center": {
|
||||
"x": cx,
|
||||
"y": cy,
|
||||
},
|
||||
|
||||
"normalized_center": {
|
||||
"x": cx / width,
|
||||
"y": cy / height,
|
||||
},
|
||||
})
|
||||
|
||||
data = {
|
||||
"timestamp": time.time(),
|
||||
"width": width,
|
||||
"height": height,
|
||||
"detections": detections,
|
||||
}
|
||||
|
||||
atomic_write_json(
|
||||
OUTPUT_PATH,
|
||||
data,
|
||||
)
|
||||
|
||||
objects = ", ".join(
|
||||
f"{d['class']} {d['confidence']:.2f}"
|
||||
for d in detections
|
||||
)
|
||||
|
||||
if objects:
|
||||
print(f"[YOLO] {objects}")
|
||||
else:
|
||||
print("[YOLO] no objects")
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n[YOLO] stopped")
|
||||
break
|
||||
|
||||
except Exception as e:
|
||||
print(f"[YOLO] error: {e}")
|
||||
time.sleep(0.25)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
+31
-30
@@ -1,8 +1,7 @@
|
||||
#include "r1_voice/conversation.hh"
|
||||
|
||||
#include <chrono>
|
||||
#include <iostream>
|
||||
#include <thread>
|
||||
#include <string>
|
||||
|
||||
namespace r1_voice {
|
||||
|
||||
@@ -12,6 +11,7 @@ Conversation::Conversation(
|
||||
, stt_(config_.stt)
|
||||
, llm_(config_.llm)
|
||||
, tts_(config_.tts)
|
||||
, vision_(config_.vision)
|
||||
{
|
||||
}
|
||||
|
||||
@@ -34,15 +34,13 @@ void Conversation::run()
|
||||
<< "Press Ctrl+C to exit.\n"
|
||||
<< '\n';
|
||||
|
||||
/*
|
||||
* speak() already blocks until playback is done.
|
||||
*/
|
||||
tts_.speak(
|
||||
"Ahoj. Jsem připraven."
|
||||
);
|
||||
|
||||
// Give TTS time to finish before listening.
|
||||
std::this_thread::sleep_for(
|
||||
std::chrono::seconds(2)
|
||||
);
|
||||
|
||||
while (true) {
|
||||
|
||||
const std::string user =
|
||||
@@ -53,32 +51,39 @@ void Conversation::run()
|
||||
|
||||
try {
|
||||
|
||||
const std::string response =
|
||||
std::string response;
|
||||
|
||||
if (vision_.isVisionQuestion(user)) {
|
||||
|
||||
const std::string vision_context =
|
||||
vision_.buildContext();
|
||||
|
||||
std::cout
|
||||
<< "[VISION] Visual question detected\n"
|
||||
<< "[VISION] "
|
||||
<< vision_context
|
||||
<< '\n';
|
||||
|
||||
response =
|
||||
llm_.chat(
|
||||
user,
|
||||
vision_context
|
||||
);
|
||||
}
|
||||
else {
|
||||
|
||||
response =
|
||||
llm_.chat(user);
|
||||
}
|
||||
|
||||
if (response.empty())
|
||||
continue;
|
||||
|
||||
tts_.speak(response);
|
||||
|
||||
/*
|
||||
* Avoid immediately hearing the robot's
|
||||
* own TTS output as the next user utterance.
|
||||
*
|
||||
* Later we can replace this with proper
|
||||
* audio echo suppression / playback state.
|
||||
* speak() handles the complete playback
|
||||
* wait internally.
|
||||
*/
|
||||
const int estimated_ms =
|
||||
1000 +
|
||||
static_cast<int>(
|
||||
response.size() * 50
|
||||
);
|
||||
|
||||
std::this_thread::sleep_for(
|
||||
std::chrono::milliseconds(
|
||||
estimated_ms
|
||||
)
|
||||
);
|
||||
tts_.speak(response);
|
||||
}
|
||||
catch (const std::exception& e) {
|
||||
|
||||
@@ -90,10 +95,6 @@ void Conversation::run()
|
||||
tts_.speak(
|
||||
"Promiň, při zpracování odpovědi nastala chyba."
|
||||
);
|
||||
|
||||
std::this_thread::sleep_for(
|
||||
std::chrono::seconds(2)
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
+48
-4
@@ -297,7 +297,8 @@ static std::string removeThinkBlocks(
|
||||
}
|
||||
|
||||
std::string LLM::chat(
|
||||
const std::string& user)
|
||||
const std::string& user,
|
||||
const std::string& transient_context)
|
||||
{
|
||||
history_.push_back({
|
||||
"user",
|
||||
@@ -317,10 +318,31 @@ std::string LLM::chat(
|
||||
<< '{'
|
||||
<< "\"role\":\"system\","
|
||||
<< "\"content\":\""
|
||||
<< escapeJson(config_.system_prompt)
|
||||
<< escapeJson(
|
||||
config_.system_prompt
|
||||
)
|
||||
<< "\""
|
||||
<< '}';
|
||||
|
||||
/*
|
||||
* Temporary context such as current YOLO detections.
|
||||
*
|
||||
* It is sent as another system message but is NOT
|
||||
* stored in history.
|
||||
*/
|
||||
if (!transient_context.empty()) {
|
||||
|
||||
body
|
||||
<< ",{"
|
||||
<< "\"role\":\"system\","
|
||||
<< "\"content\":\""
|
||||
<< escapeJson(
|
||||
transient_context
|
||||
)
|
||||
<< "\""
|
||||
<< '}';
|
||||
}
|
||||
|
||||
const size_t begin =
|
||||
history_.size() > 12
|
||||
? history_.size() - 12
|
||||
@@ -362,8 +384,29 @@ std::string LLM::chat(
|
||||
|
||||
<< '}';
|
||||
|
||||
const std::string response =
|
||||
httpPost(body.str());
|
||||
std::string response;
|
||||
|
||||
try {
|
||||
response =
|
||||
httpPost(
|
||||
body.str()
|
||||
);
|
||||
}
|
||||
catch (...) {
|
||||
|
||||
/*
|
||||
* Don't leave a failed user request in
|
||||
* conversation history.
|
||||
*/
|
||||
if (!history_.empty() &&
|
||||
history_.back().role == "user" &&
|
||||
history_.back().content == user) {
|
||||
|
||||
history_.pop_back();
|
||||
}
|
||||
|
||||
throw;
|
||||
}
|
||||
|
||||
std::string answer =
|
||||
parseContent(response);
|
||||
@@ -372,6 +415,7 @@ std::string LLM::chat(
|
||||
removeThinkBlocks(answer);
|
||||
|
||||
if (answer.empty()) {
|
||||
|
||||
std::cerr
|
||||
<< "LLM returned empty content:\n"
|
||||
<< response
|
||||
|
||||
@@ -0,0 +1,483 @@
|
||||
#include <algorithm>
|
||||
#include <atomic>
|
||||
#include <chrono>
|
||||
#include <cmath>
|
||||
#include <csignal>
|
||||
#include <fstream>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
#include <regex>
|
||||
#include <sstream>
|
||||
#include <string>
|
||||
#include <thread>
|
||||
#include <vector>
|
||||
|
||||
#include <Eigen/Core>
|
||||
|
||||
#include <unitree/robot/channel/channel_factory.hpp>
|
||||
#include <unitree/dds_wrapper/robots/g1/g1.h>
|
||||
#include <unitree/dds_wrapper/robots/r1/r1.h>
|
||||
|
||||
namespace {
|
||||
|
||||
std::atomic<bool> running{true};
|
||||
|
||||
void signalHandler(int)
|
||||
{
|
||||
running = false;
|
||||
}
|
||||
|
||||
struct PersonDetection {
|
||||
bool valid = false;
|
||||
float confidence = 0.0f;
|
||||
float x = 0.5f;
|
||||
float y = 0.5f;
|
||||
};
|
||||
|
||||
std::string readFile(const std::string& path)
|
||||
{
|
||||
std::ifstream file(path);
|
||||
|
||||
if (!file)
|
||||
return {};
|
||||
|
||||
std::ostringstream out;
|
||||
out << file.rdbuf();
|
||||
|
||||
return out.str();
|
||||
}
|
||||
|
||||
PersonDetection readBestPerson(
|
||||
const std::string& path)
|
||||
{
|
||||
const std::string json =
|
||||
readFile(path);
|
||||
|
||||
PersonDetection best;
|
||||
|
||||
if (json.empty())
|
||||
return best;
|
||||
|
||||
/*
|
||||
* Matches our yolo_detector.py output:
|
||||
*
|
||||
* "class": "person",
|
||||
* "confidence": 0.95,
|
||||
* ...
|
||||
* "normalized_center": {
|
||||
* "x": 0.51,
|
||||
* "y": 0.43
|
||||
* }
|
||||
*/
|
||||
static const std::regex personRegex(
|
||||
R"REGEX(
|
||||
"class"\s*:\s*"person"
|
||||
[\s\S]*?
|
||||
"confidence"\s*:\s*([0-9.]+)
|
||||
[\s\S]*?
|
||||
"normalized_center"\s*:\s*\{
|
||||
\s*"x"\s*:\s*([0-9.]+)
|
||||
\s*,\s*
|
||||
"y"\s*:\s*([0-9.]+)
|
||||
)REGEX",
|
||||
std::regex::ECMAScript
|
||||
);
|
||||
|
||||
auto begin =
|
||||
std::sregex_iterator(
|
||||
json.begin(),
|
||||
json.end(),
|
||||
personRegex
|
||||
);
|
||||
|
||||
auto end =
|
||||
std::sregex_iterator();
|
||||
|
||||
for (auto it = begin;
|
||||
it != end;
|
||||
++it) {
|
||||
|
||||
try {
|
||||
const float confidence =
|
||||
std::stof((*it)[1].str());
|
||||
|
||||
const float x =
|
||||
std::stof((*it)[2].str());
|
||||
|
||||
const float y =
|
||||
std::stof((*it)[3].str());
|
||||
|
||||
if (!best.valid ||
|
||||
confidence > best.confidence) {
|
||||
|
||||
best.valid = true;
|
||||
best.confidence = confidence;
|
||||
best.x = x;
|
||||
best.y = y;
|
||||
}
|
||||
}
|
||||
catch (...) {
|
||||
}
|
||||
}
|
||||
|
||||
return best;
|
||||
}
|
||||
|
||||
class HeadTracker {
|
||||
public:
|
||||
explicit HeadTracker(
|
||||
const std::string& interface)
|
||||
{
|
||||
unitree::robot::ChannelFactory::
|
||||
Instance()->Init(
|
||||
0,
|
||||
interface
|
||||
);
|
||||
|
||||
lowstate_ =
|
||||
std::make_shared<
|
||||
unitree::robot::g1::subscription::LowState
|
||||
>();
|
||||
|
||||
std::cout
|
||||
<< "[MOTION] Waiting for lowstate...\n";
|
||||
|
||||
lowstate_->wait_for_connection();
|
||||
|
||||
armsdk_ =
|
||||
std::make_unique<
|
||||
unitree::robot::r1::publisher::ArmSdk
|
||||
>();
|
||||
|
||||
std::cout
|
||||
<< "[MOTION] Connected to R1\n";
|
||||
|
||||
initialize();
|
||||
}
|
||||
|
||||
~HeadTracker()
|
||||
{
|
||||
release();
|
||||
}
|
||||
|
||||
void run()
|
||||
{
|
||||
constexpr char DETECTIONS[] =
|
||||
"/dev/shm/r1_detections.json";
|
||||
|
||||
while (running) {
|
||||
|
||||
const PersonDetection person =
|
||||
readBestPerson(
|
||||
DETECTIONS
|
||||
);
|
||||
|
||||
if (person.valid &&
|
||||
person.confidence >= 0.50f) {
|
||||
|
||||
track(person);
|
||||
}
|
||||
|
||||
publish();
|
||||
|
||||
std::this_thread::sleep_for(
|
||||
std::chrono::milliseconds(20)
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
private:
|
||||
std::shared_ptr<
|
||||
unitree::robot::g1::subscription::LowState
|
||||
> lowstate_;
|
||||
|
||||
std::unique_ptr<
|
||||
unitree::robot::r1::publisher::ArmSdk
|
||||
> armsdk_;
|
||||
|
||||
Eigen::VectorXf q_des_;
|
||||
|
||||
/*
|
||||
* ArmSdk::JOINTS ordering on R1:
|
||||
*
|
||||
* 0-4 left arm
|
||||
* 5-9 right arm
|
||||
* 10 waist yaw
|
||||
* 11 head pitch
|
||||
* 12 head yaw
|
||||
*/
|
||||
static constexpr int HEAD_PITCH = 11;
|
||||
static constexpr int HEAD_YAW = 12;
|
||||
|
||||
/*
|
||||
* Start conservatively.
|
||||
*
|
||||
* We can widen these after verifying direction
|
||||
* and mechanical range on your R1.
|
||||
*/
|
||||
static constexpr float MAX_YAW =
|
||||
0.70f;
|
||||
|
||||
static constexpr float MAX_PITCH =
|
||||
0.25f;
|
||||
|
||||
/*
|
||||
* Camera control.
|
||||
*/
|
||||
static constexpr float DEAD_ZONE_X =
|
||||
0.07f;
|
||||
|
||||
static constexpr float DEAD_ZONE_Y =
|
||||
0.08f;
|
||||
|
||||
/*
|
||||
* Maximum movement per 20 ms update.
|
||||
*
|
||||
* 0.012 rad * 50 Hz ~= 0.6 rad/s.
|
||||
*/
|
||||
static constexpr float MAX_YAW_STEP =
|
||||
0.012f;
|
||||
|
||||
static constexpr float MAX_PITCH_STEP =
|
||||
0.008f;
|
||||
|
||||
/*
|
||||
* If the head moves AWAY from the person,
|
||||
* flip one of these signs.
|
||||
*/
|
||||
static constexpr float YAW_SIGN =
|
||||
-1.0f;
|
||||
|
||||
static constexpr float PITCH_SIGN =
|
||||
1.0f;
|
||||
|
||||
const std::vector<float> kp_ = {
|
||||
50, 50, 40, 40, 30,
|
||||
50, 50, 40, 40, 30,
|
||||
50,
|
||||
15,
|
||||
15
|
||||
};
|
||||
|
||||
const std::vector<float> kd_ = {
|
||||
2, 2, 2, 2, 2,
|
||||
2, 2, 2, 2, 2,
|
||||
3,
|
||||
1,
|
||||
1
|
||||
};
|
||||
|
||||
void initialize()
|
||||
{
|
||||
armsdk_->weight(1.0f);
|
||||
|
||||
q_des_.resize(
|
||||
armsdk_->JOINTS.size()
|
||||
);
|
||||
|
||||
for (size_t i = 0;
|
||||
i < armsdk_->JOINTS.size();
|
||||
++i) {
|
||||
|
||||
const int joint =
|
||||
static_cast<int>(
|
||||
armsdk_->JOINTS[i]
|
||||
);
|
||||
|
||||
const float current =
|
||||
lowstate_
|
||||
->msg_
|
||||
.motor_state()
|
||||
.at(joint)
|
||||
.q();
|
||||
|
||||
q_des_[i] = current;
|
||||
|
||||
auto& command =
|
||||
armsdk_
|
||||
->msg_
|
||||
.motor_cmd()
|
||||
.at(joint);
|
||||
|
||||
command.q(current);
|
||||
command.dq(0.0f);
|
||||
command.tau(0.0f);
|
||||
|
||||
command.kp(
|
||||
kp_.at(i)
|
||||
);
|
||||
|
||||
command.kd(
|
||||
kd_.at(i)
|
||||
);
|
||||
}
|
||||
|
||||
armsdk_->unlockAndPublish();
|
||||
|
||||
std::cout
|
||||
<< "[MOTION] ArmSdk enabled\n"
|
||||
<< "[MOTION] Initial head pitch: "
|
||||
<< q_des_[HEAD_PITCH]
|
||||
<< " rad\n"
|
||||
<< "[MOTION] Initial head yaw: "
|
||||
<< q_des_[HEAD_YAW]
|
||||
<< " rad\n";
|
||||
}
|
||||
|
||||
void track(
|
||||
const PersonDetection& person)
|
||||
{
|
||||
float error_x =
|
||||
person.x - 0.5f;
|
||||
|
||||
float error_y =
|
||||
person.y - 0.5f;
|
||||
|
||||
if (std::abs(error_x) <
|
||||
DEAD_ZONE_X) {
|
||||
|
||||
error_x = 0.0f;
|
||||
}
|
||||
|
||||
if (std::abs(error_y) <
|
||||
DEAD_ZONE_Y) {
|
||||
|
||||
error_y = 0.0f;
|
||||
}
|
||||
|
||||
const float yaw_step =
|
||||
YAW_SIGN *
|
||||
std::clamp(
|
||||
error_x * 0.05f,
|
||||
-MAX_YAW_STEP,
|
||||
MAX_YAW_STEP
|
||||
);
|
||||
|
||||
const float pitch_step =
|
||||
PITCH_SIGN *
|
||||
std::clamp(
|
||||
error_y * 0.04f,
|
||||
-MAX_PITCH_STEP,
|
||||
MAX_PITCH_STEP
|
||||
);
|
||||
|
||||
q_des_[HEAD_YAW] =
|
||||
std::clamp(
|
||||
q_des_[HEAD_YAW] +
|
||||
yaw_step,
|
||||
|
||||
-MAX_YAW,
|
||||
MAX_YAW
|
||||
);
|
||||
|
||||
q_des_[HEAD_PITCH] =
|
||||
std::clamp(
|
||||
q_des_[HEAD_PITCH] +
|
||||
pitch_step,
|
||||
|
||||
-MAX_PITCH,
|
||||
MAX_PITCH
|
||||
);
|
||||
}
|
||||
|
||||
void publish()
|
||||
{
|
||||
for (size_t i = 0;
|
||||
i < armsdk_->JOINTS.size();
|
||||
++i) {
|
||||
|
||||
const int joint =
|
||||
static_cast<int>(
|
||||
armsdk_->JOINTS[i]
|
||||
);
|
||||
|
||||
armsdk_
|
||||
->msg_
|
||||
.motor_cmd()
|
||||
.at(joint)
|
||||
.q(q_des_[i]);
|
||||
}
|
||||
|
||||
armsdk_->unlockAndPublish();
|
||||
}
|
||||
|
||||
void release()
|
||||
{
|
||||
if (!armsdk_)
|
||||
return;
|
||||
|
||||
std::cout
|
||||
<< "[MOTION] Releasing ArmSdk...\n";
|
||||
|
||||
for (int step = 20;
|
||||
step >= 0;
|
||||
--step) {
|
||||
|
||||
const float weight =
|
||||
static_cast<float>(step) /
|
||||
20.0f;
|
||||
|
||||
armsdk_->weight(weight);
|
||||
armsdk_->unlockAndPublish();
|
||||
|
||||
std::this_thread::sleep_for(
|
||||
std::chrono::milliseconds(25)
|
||||
);
|
||||
}
|
||||
|
||||
std::cout
|
||||
<< "[MOTION] Released\n";
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace
|
||||
|
||||
|
||||
int main(
|
||||
int argc,
|
||||
char** argv)
|
||||
{
|
||||
if (argc < 2) {
|
||||
|
||||
std::cerr
|
||||
<< "Usage: "
|
||||
<< argv[0]
|
||||
<< " <network_interface>\n";
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
std::signal(
|
||||
SIGINT,
|
||||
signalHandler
|
||||
);
|
||||
|
||||
std::signal(
|
||||
SIGTERM,
|
||||
signalHandler
|
||||
);
|
||||
|
||||
try {
|
||||
|
||||
HeadTracker tracker(
|
||||
argv[1]
|
||||
);
|
||||
|
||||
std::cout
|
||||
<< "[MOTION] Person tracking active\n"
|
||||
<< "[MOTION] Ctrl+C to stop\n";
|
||||
|
||||
tracker.run();
|
||||
}
|
||||
catch (const std::exception& e) {
|
||||
|
||||
std::cerr
|
||||
<< "[MOTION] Error: "
|
||||
<< e.what()
|
||||
<< '\n';
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -5,11 +5,12 @@
|
||||
#include <unistd.h>
|
||||
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include <pinocchio/parsers/urdf.hpp>
|
||||
|
||||
#include <unitree/robot/go2/video/video_client.hpp>
|
||||
|
||||
#include "r1_vision/robot_common.hpp"
|
||||
#include "r1_vision/kinematics.hpp"
|
||||
#include "robot_common.hh"
|
||||
#include "r1_vision/pinocchio_kinematics.hh"
|
||||
|
||||
using namespace r1_vision;
|
||||
|
||||
@@ -40,7 +41,7 @@ int main(int argc, char** argv) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
cv::FileStorage fs(argv[2], cv::FILE_STORAGE_READ);
|
||||
cv::FileStorage fs(argv[2], cv::FileStorage::READ);
|
||||
if (!fs.isOpened()) {
|
||||
std::cerr << "Cannot open intrinsics: " << argv[2] << std::endl;
|
||||
return 1;
|
||||
@@ -192,7 +193,7 @@ int main(int argc, char** argv) {
|
||||
const std::string output =
|
||||
"/home/jvizner/r1_camera_calibration/camera_extrinsics.yaml";
|
||||
|
||||
cv::FileStorage out(output, cv::FILE_STORAGE_WRITE);
|
||||
cv::FileStorage out(output, cv::FileStorage::WRITE);
|
||||
out << "camera_matrix" << K;
|
||||
out << "distortion" << D;
|
||||
out << "rotation_robot_to_camera" << R;
|
||||
|
||||
@@ -0,0 +1,334 @@
|
||||
#include "r1_voice/vision_context.hh"
|
||||
|
||||
#include <ctime>
|
||||
#include <fstream>
|
||||
#include <iomanip>
|
||||
#include <map>
|
||||
#include <regex>
|
||||
#include <sstream>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
namespace r1_voice {
|
||||
|
||||
namespace {
|
||||
|
||||
struct Detection {
|
||||
std::string name;
|
||||
double confidence = 0.0;
|
||||
};
|
||||
|
||||
std::string readFile(
|
||||
const std::string& path)
|
||||
{
|
||||
std::ifstream file(path);
|
||||
|
||||
if (!file)
|
||||
return {};
|
||||
|
||||
std::ostringstream out;
|
||||
out << file.rdbuf();
|
||||
|
||||
return out.str();
|
||||
}
|
||||
|
||||
bool parseTimestamp(
|
||||
const std::string& json,
|
||||
double& timestamp)
|
||||
{
|
||||
static const std::regex expression(
|
||||
R"("timestamp"\s*:\s*([0-9]+(?:\.[0-9]+)?))"
|
||||
);
|
||||
|
||||
std::smatch match;
|
||||
|
||||
if (!std::regex_search(
|
||||
json,
|
||||
match,
|
||||
expression)) {
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
try {
|
||||
timestamp =
|
||||
std::stod(match[1].str());
|
||||
|
||||
return true;
|
||||
}
|
||||
catch (...) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<Detection> parseDetections(
|
||||
const std::string& json,
|
||||
double min_confidence)
|
||||
{
|
||||
std::vector<Detection> detections;
|
||||
|
||||
/*
|
||||
* Expected JSON:
|
||||
*
|
||||
* "class": "person",
|
||||
* "confidence": 0.95
|
||||
*/
|
||||
static const std::regex expression(
|
||||
R"REGEX("class"\s*:\s*"([^"]+)"[\s\S]*?"confidence"\s*:\s*([0-9]+(?:\.[0-9]+)?))REGEX"
|
||||
);
|
||||
|
||||
auto begin =
|
||||
std::sregex_iterator(
|
||||
json.begin(),
|
||||
json.end(),
|
||||
expression
|
||||
);
|
||||
|
||||
const auto end =
|
||||
std::sregex_iterator();
|
||||
|
||||
for (auto it = begin;
|
||||
it != end;
|
||||
++it) {
|
||||
|
||||
Detection detection;
|
||||
|
||||
detection.name =
|
||||
(*it)[1].str();
|
||||
|
||||
try {
|
||||
detection.confidence =
|
||||
std::stod(
|
||||
(*it)[2].str()
|
||||
);
|
||||
}
|
||||
catch (...) {
|
||||
continue;
|
||||
}
|
||||
|
||||
if (detection.confidence <
|
||||
min_confidence) {
|
||||
|
||||
continue;
|
||||
}
|
||||
|
||||
detections.push_back(
|
||||
std::move(detection)
|
||||
);
|
||||
}
|
||||
|
||||
return detections;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
VisionContext::VisionContext(
|
||||
VisionConfig config)
|
||||
: config_(std::move(config))
|
||||
{
|
||||
}
|
||||
|
||||
std::string VisionContext::lowerAscii(
|
||||
std::string text)
|
||||
{
|
||||
for (char& c : text) {
|
||||
if (c >= 'A' && c <= 'Z') {
|
||||
c =
|
||||
static_cast<char>(
|
||||
c - 'A' + 'a'
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
return text;
|
||||
}
|
||||
|
||||
bool VisionContext::isVisionQuestion(
|
||||
const std::string& text) const
|
||||
{
|
||||
const std::string lower =
|
||||
lowerAscii(text);
|
||||
|
||||
static const std::vector<std::string>
|
||||
triggers = {
|
||||
|
||||
// Czech
|
||||
"co vidíš",
|
||||
"co vidis",
|
||||
|
||||
"vidíš",
|
||||
"vidis",
|
||||
|
||||
"vidět",
|
||||
"videt",
|
||||
|
||||
"podívej",
|
||||
"podivej",
|
||||
|
||||
"koukni",
|
||||
"koukáš",
|
||||
"koukas",
|
||||
|
||||
"před tebou",
|
||||
"pred tebou",
|
||||
|
||||
"před sebou",
|
||||
"pred sebou",
|
||||
|
||||
"co je před",
|
||||
"co je pred",
|
||||
|
||||
"kolik lidí",
|
||||
"kolik lidi",
|
||||
|
||||
"jakou barvu",
|
||||
"kamera",
|
||||
|
||||
// English
|
||||
"what do you see",
|
||||
"can you see",
|
||||
"do you see",
|
||||
"look at",
|
||||
"in front of you",
|
||||
"how many people",
|
||||
"camera"
|
||||
};
|
||||
|
||||
for (const auto& trigger : triggers) {
|
||||
if (lower.find(trigger) !=
|
||||
std::string::npos) {
|
||||
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
std::string VisionContext::buildContext() const
|
||||
{
|
||||
const std::string json =
|
||||
readFile(
|
||||
config_.detections_path
|
||||
);
|
||||
|
||||
if (json.empty()) {
|
||||
return
|
||||
"Camera vision information is currently "
|
||||
"unavailable because there is no fresh "
|
||||
"YOLO detection file. "
|
||||
"Do not invent anything about what you see.";
|
||||
}
|
||||
|
||||
double timestamp = 0.0;
|
||||
|
||||
if (!parseTimestamp(
|
||||
json,
|
||||
timestamp)) {
|
||||
|
||||
return
|
||||
"Camera vision information is unavailable "
|
||||
"because the YOLO output is invalid. "
|
||||
"Do not invent visual information.";
|
||||
}
|
||||
|
||||
const double now =
|
||||
static_cast<double>(
|
||||
std::time(nullptr)
|
||||
);
|
||||
|
||||
const double age =
|
||||
now - timestamp;
|
||||
|
||||
if (age < -1.0 ||
|
||||
age > config_.max_age_seconds) {
|
||||
|
||||
std::ostringstream out;
|
||||
|
||||
out
|
||||
<< "Camera vision information is stale "
|
||||
<< "(approximately "
|
||||
<< std::fixed
|
||||
<< std::setprecision(1)
|
||||
<< age
|
||||
<< " seconds old). "
|
||||
<< "Do not claim to currently see objects.";
|
||||
|
||||
return out.str();
|
||||
}
|
||||
|
||||
const auto detections =
|
||||
parseDetections(
|
||||
json,
|
||||
config_.min_confidence
|
||||
);
|
||||
|
||||
if (detections.empty()) {
|
||||
return
|
||||
"The current camera frame is fresh. "
|
||||
"YOLO did not detect any known objects. "
|
||||
"This does not prove that the scene is empty. "
|
||||
"Do not invent objects.";
|
||||
}
|
||||
|
||||
std::map<std::string, int> counts;
|
||||
|
||||
for (const auto& detection :
|
||||
detections) {
|
||||
|
||||
++counts[detection.name];
|
||||
}
|
||||
|
||||
std::ostringstream out;
|
||||
|
||||
out
|
||||
<< "You are R1 and this is CURRENT information "
|
||||
<< "from your camera's YOLO detector. "
|
||||
<< "Use only these detections when answering "
|
||||
<< "visual questions. "
|
||||
<< "YOLO detects object classes, not actions, "
|
||||
<< "text, exact colors, identity, or intent. "
|
||||
<< "If the user asks for something YOLO cannot "
|
||||
<< "determine, say that you cannot determine it "
|
||||
<< "from the object detector yet. "
|
||||
<< "Current detected objects: ";
|
||||
|
||||
bool first = true;
|
||||
|
||||
for (const auto& [name, count] :
|
||||
counts) {
|
||||
|
||||
if (!first)
|
||||
out << ", ";
|
||||
|
||||
first = false;
|
||||
|
||||
out
|
||||
<< count
|
||||
<< " x "
|
||||
<< name;
|
||||
}
|
||||
|
||||
out << ". Detection details: ";
|
||||
|
||||
for (size_t i = 0;
|
||||
i < detections.size();
|
||||
++i) {
|
||||
|
||||
if (i != 0)
|
||||
out << ", ";
|
||||
|
||||
out
|
||||
<< detections[i].name
|
||||
<< " confidence "
|
||||
<< std::fixed
|
||||
<< std::setprecision(2)
|
||||
<< detections[i].confidence;
|
||||
}
|
||||
|
||||
out << '.';
|
||||
|
||||
return out.str();
|
||||
}
|
||||
|
||||
} // namespace r1_voice
|
||||
@@ -82,7 +82,7 @@ int main(
|
||||
config.llm.max_tokens = 80;
|
||||
|
||||
config.llm.system_prompt =
|
||||
"Jsi R1, humanoidní robot. "
|
||||
"Jsi ESO 2, humanoidní robot. "
|
||||
"Mluv česky, pokud uživatel mluví česky. "
|
||||
"Odpovídej stručně a přirozeně, obvykle jednou až dvěma větami. "
|
||||
"Pokud je vstup zjevně nesrozumitelný nebo poškozený rozpoznáváním řeči, "
|
||||
|
||||
Binary file not shown.
Reference in New Issue
Block a user