First commit

.gitignore

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+__pycache__/
+*.egg-info/
+build/

README.md

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+---
+title: Jericho
+emoji: 👋
+colorFrom: red
+colorTo: blue
+sdk: static
+pinned: false
+short_description: Write your description here
+tags:
+ - reachy_mini
+ - reachy_mini_python_app
+---

index.html

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+<!doctype html>
+<html>
+
+<head>
+	<meta charset="utf-8" />
+	<meta name="viewport" content="width=device-width" />
+	<title> Jericho </title>
+	<link rel="stylesheet" href="style.css" />
+</head>
+
+<body>
+	<div class="hero">
+		<div class="hero-content">
+			<div class="app-icon">🤖⚡</div>
+			<h1> Jericho </h1>
+			<p class="tagline">Enter your tagline here</p>
+		</div>
+	</div>
+
+	<div class="container">
+		<div class="main-card">
+			<div class="app-preview">
+				<div class="preview-image">
+					<div class="camera-feed">🛠️</div>
+				</div>
+			</div>
+		</div>
+	</div>
+
+	<div class="footer">
+		<p>
+			🤖 Jericho •
+			<a href="https://github.com/pollen-robotics" target="_blank">Pollen Robotics</a> •
+			<a href="https://huggingface.co/spaces/pollen-robotics/reachy-mini-landing-page#apps" target="_blank">Browse More
+				Apps</a>
+		</p>
+	</div>
+</body>
+
+</html>

jericho/danceTest1.py

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+import time
+import threading
+import numpy as np
+
+from reachy_mini import ReachyMini, ReachyMiniApp
+from reachy_mini.utils import create_head_pose
+
+class TestDance1(ReachyMiniApp):
+    
+    def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+  
+        reachy_mini.goto_target(create_head_pose(), antennas=[0.0, 0.0], duration=1.0)
+        
+        start_time = time.time()
+
+        while not stop_event.is_set():
+            t = time.time()
+            elapsed_time = t - start_time
+            
+            compteur = int(elapsed_time / 2)
+            
+            antennas_offset = np.deg2rad(20 * np.sin(2 * np.pi * 0.5 * t))
+            
+            sinus_rot = np.deg2rad(20 * np.sin(2 * np.pi * 0.5 * t))
+            sinus_trans = 0.03 * np.sin(2 * np.pi * 0.5 * t)
+            
+            current_roll = 0.0
+            current_pitch = 0.0
+            current_yaw = 0.0
+            current_x = 0.0
+            current_y = 0.0
+            current_z = 0.0
+
+            if compteur < 3:
+                current_roll = sinus_rot
+            elif compteur < 6:
+                current_pitch = sinus_rot
+            elif compteur < 9:
+                current_yaw = sinus_rot
+            elif compteur < 12:
+                current_x = sinus_trans
+            elif compteur < 15:
+                current_y = sinus_trans
+            elif compteur < 18:
+                current_z = sinus_trans
+            else:
+                start_time = time.time()
+                continue
+            
+            head_pose = create_head_pose(
+                    x=current_x,
+                    y=current_y,
+                    z=current_z,
+                    roll=current_roll,
+                    pitch=current_pitch,
+                    yaw=current_yaw,
+                    degrees=False,
+                    mm=False,
+            )
+            
+            reachy_mini.set_target(head=head_pose, antennas=[antennas_offset, antennas_offset])
+            
+            time.sleep(0.01)

jericho/danceTest2.py

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+import time
+import threading
+import numpy as np
+
+from reachy_mini import ReachyMini, ReachyMiniApp
+from reachy_mini.utils import create_head_pose
+
+class TestDance2(ReachyMiniApp):
+    
+    def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+  
+        reachy_mini.goto_target(create_head_pose(), antennas=[0.0, 0.0], duration=1.0)
+        
+        start_time = time.time()
+
+        while not stop_event.is_set():
+            t = time.time()
+            elapsed_time = t - start_time
+            
+            compteur = int(elapsed_time/2)
+            
+            antennas_offset = np.deg2rad(20 * np.sin(2 * np.pi * 0.5 * t))
+            
+            sinus_rot = np.deg2rad(20 * np.sin(2 * np.pi * 0.5 * 4 * t))
+            sinus_trans = 0.03 * np.sin(2 * np.pi * 0.5 * t)
+            cosinus_trans = 0.03 * np.cos(2 * np.pi * 0.5 * t)
+            
+            current_roll = 0.0
+            current_pitch = 0.0
+            current_yaw = 0.0
+            current_x = 0.0
+            current_y = 0.0
+            current_z = 0.0
+
+            if compteur < 3:
+                current_pitch = sinus_rot
+                current_y = sinus_trans
+            elif compteur < 6:
+                current_x=sinus_trans
+                current_y=cosinus_trans
+            else:
+                start_time = time.time()
+                continue
+            
+            head_pose = create_head_pose(
+                    x=current_x,
+                    y=current_y,
+                    z=current_z,
+                    roll=current_roll,
+                    pitch=current_pitch,
+                    yaw=current_yaw,
+                    degrees=False,
+                    mm=False,
+            )
+            
+            reachy_mini.set_target(head=head_pose, antennas=[antennas_offset, antennas_offset])
+            
+            time.sleep(0.01)

jericho/main.py

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+import time
+import threading
+import numpy as np
+
+from reachy_mini import ReachyMini, ReachyMiniApp
+from reachy_mini.utils import create_head_pose
+
+
+class TestDance1(ReachyMiniApp):
+
+    def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+
+        reachy_mini.goto_target(create_head_pose(), antennas=[0.0, 0.0], duration=1.0)
+
+        start_time = time.time()
+
+        while not stop_event.is_set():
+            t = time.time()
+            elapsed_time = t - start_time
+
+            compteur = int(elapsed_time / 2)
+
+            antennas_offset = np.deg2rad(20 * np.sin(2 * np.pi * 0.5 * t))
+
+            sinus_rot = np.deg2rad(20 * np.sin(2 * np.pi * 0.5 * t))
+            sinus_trans = 0.03 * np.sin(2 * np.pi * 0.5 * t)
+
+            current_roll = 0.0
+            current_pitch = 0.0
+            current_yaw = 0.0
+            current_x = 0.0
+            current_y = 0.0
+            current_z = 0.0
+
+            if compteur < 3:
+                current_roll = sinus_rot
+            elif compteur < 6:
+                current_pitch = sinus_rot
+            elif compteur < 9:
+                current_yaw = sinus_rot
+            elif compteur < 12:
+                current_x = sinus_trans
+            elif compteur < 15:
+                current_y = sinus_trans
+            elif compteur < 18:
+                current_z = sinus_trans
+            else:
+                start_time = time.time()
+                continue
+
+            head_pose = create_head_pose(
+                x=current_x,
+                y=current_y,
+                z=current_z,
+                roll=current_roll,
+                pitch=current_pitch,
+                yaw=current_yaw,
+                degrees=False,
+                mm=False,
+            )
+
+            reachy_mini.set_target(head=head_pose, antennas=[antennas_offset, antennas_offset])
+
+            time.sleep(0.01)
+
+
+class TestDance2(ReachyMiniApp):
+
+    def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+
+        reachy_mini.goto_target(create_head_pose(), antennas=[0.0, 0.0], duration=1.0)
+
+        start_time = time.time()
+
+        while not stop_event.is_set():
+            t = time.time()
+            elapsed_time = t - start_time
+
+            compteur = int(elapsed_time / 2)
+
+            antennas_offset = np.deg2rad(20 * np.sin(2 * np.pi * 0.5 * t))
+
+            sinus_rot = np.deg2rad(20 * np.sin(2 * np.pi * 0.5 * 4 * t))
+            sinus_trans = 0.03 * np.sin(2 * np.pi * 0.5 * t)
+            cosinus_trans = 0.03 * np.cos(2 * np.pi * 0.5 * t)
+
+            current_roll = 0.0
+            current_pitch = 0.0
+            current_yaw = 0.0
+            current_x = 0.0
+            current_y = 0.0
+            current_z = 0.0
+
+            if compteur < 3:
+                current_pitch = sinus_rot
+                current_y = sinus_trans
+            elif compteur < 6:
+                current_x = sinus_trans
+                current_y = cosinus_trans
+            else:
+                start_time = time.time()
+                continue
+
+            head_pose = create_head_pose(
+                x=current_x,
+                y=current_y,
+                z=current_z,
+                roll=current_roll,
+                pitch=current_pitch,
+                yaw=current_yaw,
+                degrees=False,
+                mm=False,
+            )
+
+            reachy_mini.set_target(head=head_pose, antennas=[antennas_offset, antennas_offset])
+
+            time.sleep(0.01)
+
+
+if __name__ == "__main__":
+    print("Lancement manuel depuis le terminal...")
+
+    with ReachyMini(media_backend="no_media") as robot:
+
+        # 👉 Choisis ici ta danse
+        # mon_app = TestDance1()
+        mon_app = TestDance2()
+
+        stop_event = threading.Event()
+
+        try:
+            mon_app.run(robot, stop_event)
+        except KeyboardInterrupt:
+            print("\nArrêt du programme")
+            stop_event.set()

jericho/static/index.html

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+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+    <meta charset="UTF-8">
+    <title>Reachy Mini example app template</title>
+    <meta name="viewport" content="width=device-width, initial-scale=1">
+    <link rel="stylesheet" href="/static/style.css">
+</head>
+
+<body>
+    <h1>Reachy Mini – Control Panel</h1>
+
+    <div id="controls">
+        <label style="display:flex; align-items:center; gap:8px;">
+            <input type="checkbox" id="antenna-checkbox" checked>
+            Antennas
+        </label>
+
+        <button id="sound-btn">Play Sound</button>
+    </div>
+
+    <div id="status">Antennas status: running</div>
+    <script src="/static/main.js"></script>
+</body>
+
+</html>

jericho/static/main.js

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+let antennasEnabled = true;
+
+async function updateAntennasState(enabled) {
+    try {
+        const resp = await fetch("/antennas", {
+            method: "POST",
+            headers: { "Content-Type": "application/json" },
+            body: JSON.stringify({ enabled }),
+        });
+        const data = await resp.json();
+        antennasEnabled = data.antennas_enabled;
+        updateUI();
+    } catch (e) {
+        document.getElementById("status").textContent = "Backend error";
+    }
+}
+
+async function playSound() {
+    try {
+        await fetch("/play_sound", { method: "POST" });
+    } catch (e) {
+        console.error("Error triggering sound:", e);
+    }
+}
+
+function updateUI() {
+    const checkbox = document.getElementById("antenna-checkbox");
+    const status = document.getElementById("status");
+
+    checkbox.checked = antennasEnabled;
+
+    if (antennasEnabled) {
+        status.textContent = "Antennas status: running";
+    } else {
+        status.textContent = "Antennas status: stopped";
+    }
+}
+
+document.getElementById("antenna-checkbox").addEventListener("change", (e) => {
+    updateAntennasState(e.target.checked);
+});
+
+document.getElementById("sound-btn").addEventListener("click", () => {
+    playSound();
+});
+
+updateUI();

jericho/static/style.css

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+body {
+    font-family: sans-serif;
+    margin: 24px;
+}
+
+#sound-btn {
+    padding: 10px 20px;
+    border: none;
+    color: white;
+    cursor: pointer;
+    font-size: 16px;
+    border-radius: 6px;
+    background-color: #3498db;
+}
+
+#status {
+    margin-top: 16px;
+    font-weight: bold;
+}
+
+#controls {
+    display: flex;
+    align-items: center;
+    gap: 20px;
+}

pyproject.toml

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+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+
+[project]
+name = "jericho"
+version = "0.1.0"
+description = "Add your description here"
+readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+    "reachy-mini"
+]
+keywords = ["reachy-mini-app"]
+
+[project.entry-points."reachy_mini_apps"]
+jericho = "jericho.main:Jericho"
+
+[tool.setuptools]
+package-dir = { "" = "." }
+include-package-data = true
+
+[tool.setuptools.packages.find]
+where = ["."]
+
+[tool.setuptools.package-data]
+jericho = ["**/*"] # Also include all non-.py files

style.css

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+* {
+	margin: 0;
+	padding: 0;
+	box-sizing: border-box;
+}
+
+body {
+	font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
+	line-height: 1.6;
+	color: #333;
+	background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
+	min-height: 100vh;
+}
+
+.hero {
+	background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
+	color: white;
+	padding: 4rem 2rem;
+	text-align: center;
+}
+
+.hero-content {
+	max-width: 800px;
+	margin: 0 auto;
+}
+
+.app-icon {
+	font-size: 4rem;
+	margin-bottom: 1rem;
+	display: inline-block;
+}
+
+.hero h1 {
+	font-size: 3rem;
+	font-weight: 700;
+	margin-bottom: 1rem;
+	background: linear-gradient(45deg, #fff, #f0f9ff);
+	background-clip: text;
+	-webkit-background-clip: text;
+	-webkit-text-fill-color: transparent;
+}
+
+.tagline {
+	font-size: 1.25rem;
+	opacity: 0.9;
+	max-width: 600px;
+	margin: 0 auto;
+}
+
+.container {
+	max-width: 1200px;
+	margin: 0 auto;
+	padding: 0 2rem;
+	position: relative;
+	z-index: 2;
+}
+
+.main-card {
+	background: white;
+	border-radius: 20px;
+	box-shadow: 0 20px 40px rgba(0, 0, 0, 0.1);
+	margin-top: -2rem;
+	overflow: hidden;
+	margin-bottom: 3rem;
+}
+
+.app-preview {
+	background: linear-gradient(135deg, #1e3a8a, #3b82f6);
+	padding: 3rem;
+	color: white;
+	text-align: center;
+	position: relative;
+}
+
+.preview-image {
+	background: #000;
+	border-radius: 15px;
+	padding: 2rem;
+	max-width: 500px;
+	margin: 0 auto;
+	position: relative;
+	overflow: hidden;
+}
+
+.camera-feed {
+	font-size: 4rem;
+	margin-bottom: 1rem;
+	opacity: 0.7;
+}
+
+.detection-overlay {
+	position: absolute;
+	top: 50%;
+	left: 50%;
+	transform: translate(-50%, -50%);
+	width: 100%;
+}
+
+.bbox {
+	background: rgba(34, 197, 94, 0.9);
+	color: white;
+	padding: 0.5rem 1rem;
+	border-radius: 8px;
+	font-size: 0.9rem;
+	font-weight: 600;
+	margin: 0.5rem;
+	display: inline-block;
+	border: 2px solid #22c55e;
+}
+
+.app-details {
+	padding: 3rem;
+}
+
+.app-details h2 {
+	font-size: 2rem;
+	color: #1e293b;
+	margin-bottom: 2rem;
+	text-align: center;
+}
+
+.template-info {
+	display: grid;
+	grid-template-columns: repeat(auto-fit, minmax(300px, 1fr));
+	gap: 2rem;
+	margin-bottom: 3rem;
+}
+
+.info-box {
+	background: #f0f9ff;
+	border: 2px solid #e0f2fe;
+	border-radius: 12px;
+	padding: 2rem;
+}
+
+.info-box h3 {
+	color: #0c4a6e;
+	margin-bottom: 1rem;
+	font-size: 1.2rem;
+}
+
+.info-box p {
+	color: #0369a1;
+	line-height: 1.6;
+}
+
+.how-to-use {
+	background: #fefce8;
+	border: 2px solid #fde047;
+	border-radius: 12px;
+	padding: 2rem;
+	margin-top: 3rem;
+}
+
+.how-to-use h3 {
+	color: #a16207;
+	margin-bottom: 1.5rem;
+	font-size: 1.3rem;
+	text-align: center;
+}
+
+.steps {
+	display: flex;
+	flex-direction: column;
+	gap: 1.5rem;
+}
+
+.step {
+	display: flex;
+	align-items: flex-start;
+	gap: 1rem;
+}
+
+.step-number {
+	background: #eab308;
+	color: white;
+	width: 2rem;
+	height: 2rem;
+	border-radius: 50%;
+	display: flex;
+	align-items: center;
+	justify-content: center;
+	font-weight: bold;
+	flex-shrink: 0;
+}
+
+.step h4 {
+	color: #a16207;
+	margin-bottom: 0.5rem;
+	font-size: 1.1rem;
+}
+
+.step p {
+	color: #ca8a04;
+}
+
+.download-card {
+	background: white;
+	border-radius: 20px;
+	box-shadow: 0 20px 40px rgba(0, 0, 0, 0.1);
+	padding: 3rem;
+	text-align: center;
+}
+
+.download-card h2 {
+	font-size: 2rem;
+	color: #1e293b;
+	margin-bottom: 1rem;
+}
+
+.download-card>p {
+	color: #64748b;
+	font-size: 1.1rem;
+	margin-bottom: 2rem;
+}
+
+.dashboard-config {
+	margin-bottom: 2rem;
+	text-align: left;
+	max-width: 400px;
+	margin-left: auto;
+	margin-right: auto;
+}
+
+.dashboard-config label {
+	display: block;
+	color: #374151;
+	font-weight: 600;
+	margin-bottom: 0.5rem;
+}
+
+.dashboard-config input {
+	width: 100%;
+	padding: 0.75rem 1rem;
+	border: 2px solid #e5e7eb;
+	border-radius: 8px;
+	font-size: 0.95rem;
+	transition: border-color 0.2s;
+}
+
+.dashboard-config input:focus {
+	outline: none;
+	border-color: #667eea;
+}
+
+.install-btn {
+	background: linear-gradient(135deg, #667eea, #764ba2);
+	color: white;
+	border: none;
+	padding: 1.25rem 3rem;
+	border-radius: 16px;
+	font-size: 1.2rem;
+	font-weight: 700;
+	cursor: pointer;
+	transition: all 0.3s ease;
+	display: inline-flex;
+	align-items: center;
+	gap: 0.75rem;
+	margin-bottom: 2rem;
+	box-shadow: 0 8px 25px rgba(102, 126, 234, 0.3);
+}
+
+.install-btn:hover:not(:disabled) {
+	transform: translateY(-3px);
+	box-shadow: 0 15px 35px rgba(102, 126, 234, 0.4);
+}
+
+.install-btn:disabled {
+	opacity: 0.7;
+	cursor: not-allowed;
+	transform: none;
+}
+
+.manual-option {
+	background: #f8fafc;
+	border-radius: 12px;
+	padding: 2rem;
+	margin-top: 2rem;
+}
+
+.manual-option h3 {
+	color: #1e293b;
+	margin-bottom: 1rem;
+	font-size: 1.2rem;
+}
+
+.manual-option>p {
+	color: #64748b;
+	margin-bottom: 1rem;
+}
+
+.btn-icon {
+	font-size: 1.1rem;
+}
+
+.install-status {
+	padding: 1rem;
+	border-radius: 8px;
+	font-size: 0.9rem;
+	text-align: center;
+	display: none;
+	margin-top: 1rem;
+}
+
+.install-status.success {
+	background: #dcfce7;
+	color: #166534;
+	border: 1px solid #bbf7d0;
+}
+
+.install-status.error {
+	background: #fef2f2;
+	color: #dc2626;
+	border: 1px solid #fecaca;
+}
+
+.install-status.loading {
+	background: #dbeafe;
+	color: #1d4ed8;
+	border: 1px solid #bfdbfe;
+}
+
+.install-status.info {
+	background: #e0f2fe;
+	color: #0369a1;
+	border: 1px solid #7dd3fc;
+}
+
+.manual-install {
+	background: #1f2937;
+	border-radius: 8px;
+	padding: 1rem;
+	margin-bottom: 1rem;
+	display: flex;
+	align-items: center;
+	gap: 1rem;
+}
+
+.manual-install code {
+	color: #10b981;
+	font-family: 'SF Mono', 'Monaco', 'Inconsolata', 'Roboto Mono', monospace;
+	font-size: 0.85rem;
+	flex: 1;
+	overflow-x: auto;
+}
+
+.copy-btn {
+	background: #374151;
+	color: white;
+	border: none;
+	padding: 0.5rem 1rem;
+	border-radius: 6px;
+	font-size: 0.8rem;
+	cursor: pointer;
+	transition: background-color 0.2s;
+}
+
+.copy-btn:hover {
+	background: #4b5563;
+}
+
+.manual-steps {
+	color: #6b7280;
+	font-size: 0.9rem;
+	line-height: 1.8;
+}
+
+.footer {
+	text-align: center;
+	padding: 2rem;
+	color: white;
+	opacity: 0.8;
+}
+
+.footer a {
+	color: white;
+	text-decoration: none;
+	font-weight: 600;
+}
+
+.footer a:hover {
+	text-decoration: underline;
+}
+
+/* Responsive Design */
+@media (max-width: 768px) {
+	.hero {
+		padding: 2rem 1rem;
+	}
+
+	.hero h1 {
+		font-size: 2rem;
+	}
+
+	.container {
+		padding: 0 1rem;
+	}
+
+	.app-details,
+	.download-card {
+		padding: 2rem;
+	}
+
+	.features-grid {
+		grid-template-columns: 1fr;
+	}
+
+	.download-options {
+		grid-template-columns: 1fr;
+	}
+}