Soccerbot orchestrator: in-process ACT pickup, clamping, and killswitch

[arjuncoder1]

Summary

Makes soccerbot/ the core orchestrator (workspace-local, not PyPI). Logic stays in sibling deps and is imported in-process:

• local-vla-inference — ACT pickup
• scripted-behavior — turn / avoid / throw + trajectory replay

Defaults

• --layout 14d
• --policy ajkoder/g1-pickup-ball-act
• --clamp 0.002
• --camera zmq://192.168.123.164:55555 (working teleimager head JPEG port)

Safety (defense in depth)

1. URDF hard limit clamp at the choke point — G1Arms.send_arm_positions clamps every commanded joint to real G1 URDF limits; covers ACT, replay, arm holds, throw, and go-home no matter what the caller computes.
2. Slew clamps on every path — ACT / go-home 0.002 rad/step (recovery as calm as inference); replay 0.01; throw 0.06 (loose on purpose so the push keeps its dynamics, only catches garbage targets). Throw phases chain from the actual last command so the clamp can never cause a position step-jump.
3. Ctrl+C graceful reset — StopMove + release arm_sdk; opens a short-timeout temp publisher when the interrupted stage held no handle.
4. Emergency-first killswitch — Damp / ZeroTorque switch the FSM immediately, then clean up the arm overlay; emergencies never wait on an arm connect.
5. Home pose validated against URDF limits at load; no-ramp weight=1 engage avoids the documented re-engage jerk.

(Rerun telemetry was prototyped and then scrapped per request — no viz deps.)

Killswitch (CLI default + GUI)

./killswitch.sh --iface enp5s0            # interactive CLI (no tkinter needed)
./killswitch.sh --iface enp5s0 stop|home  # one-shot
./killswitch.sh --gui --iface enp5s0      # Tk panel: Stop / Go Home / Damp / Zero Torque / Start

Run

./install.sh
./run_soccerbot.sh --iface enp5s0
./diagnose.sh --iface enp5s0

Tests

• scripted-behavior/test_throw.py — 9 passed (FK/limit checks on the push delta)
• Fake-arms slew-chain test: all consecutive throw command deltas ≤ clamp

  

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[arjuncoder1]

@cursor review

[arjuncoder1]

@AmoghShrivastava @aryanmangal769 @thePostFuturist The policy is at: https://huggingface.co/ajkoder/g1-pickup-ball-act

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