Add demo mode - robot animations without Streamlit

haven_kitchen_os/main.py

@@ -4,19 +4,16 @@ Main entry point that integrates with the Reachy Mini daemon.
 
 This module provides the ReachyMiniApp wrapper that:
 1. Receives the robot instance from the daemon
-2. Launches the Streamlit UI
-3. Makes the robot available to the animation system
-4. Handles graceful shutdown
+2. Runs a demo showcasing Olivia and Brie personas
+3. Handles graceful shutdown
 """
 
 import threading
-import subprocess
-import sys
-import os
 import time
-import signal
+import random
 
 from reachy_mini import ReachyMini, ReachyMiniApp
+from reachy_mini.utils import create_head_pose
 
 # Module-level robot instance (shared with animations.py)
 _shared_robot: ReachyMini | None = None
@@ -36,6 +33,30 @@ def set_shared_robot(robot: ReachyMini | None) -> None:
         _shared_robot = robot
 
 
+# ============================================
+# 🎨 PERSONA EYE COLORS
+# ============================================
+COLORS = {
+    "Olivia": [0, 180, 80],      # Sage green - calm, professional
+    "Brie": [255, 160, 0],       # Warm amber - enthusiastic, friendly
+    "neutral": [100, 100, 100],  # Soft white/gray - idle
+    "celebration": [255, 220, 0], # Bright gold - success!
+}
+
+
+def set_eye_color(robot, color_name):
+    """Set eye color by name."""
+    try:
+        rgb = COLORS.get(color_name, COLORS["neutral"])
+        if hasattr(robot, 'head'):
+            if hasattr(robot.head, 'l_eye') and hasattr(robot.head.l_eye, 'set_color'):
+                robot.head.l_eye.set_color(rgb)
+            if hasattr(robot.head, 'r_eye') and hasattr(robot.head.r_eye, 'set_color'):
+                robot.head.r_eye.set_color(rgb)
+    except Exception:
+        pass
+
+
 class HavenKitchenOs(ReachyMiniApp):
     """
     Haven Kitchen OS - AI Home Management System
@@ -45,70 +66,168 @@ class HavenKitchenOs(ReachyMiniApp):
     - 👩🏻‍🍳 Brie: Enthusiastic personal chef (amber eyes)
     """
     
-    # URL to the Streamlit UI - displayed in the dashboard
-    custom_app_url: str | None = "http://localhost:8502"
-    
     def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
         """
         Main entry point called by the Reachy Mini daemon.
-        
-        Args:
-            reachy_mini: The robot instance (already connected)
-            stop_event: Event to signal when the app should stop
+        Runs an interactive demo showcasing both personas.
         """
-        # Share the robot instance with the animation system
+        # Share the robot instance
         set_shared_robot(reachy_mini)
         
-        # Get the directory where this file lives
-        app_dir = os.path.dirname(os.path.abspath(__file__))
-        app_path = os.path.join(app_dir, "app.py")
-        
-        # Launch Streamlit as a subprocess
-        streamlit_process = subprocess.Popen(
-            [
-                sys.executable, "-m", "streamlit", "run",
-                app_path,
-                "--server.port", "8502",
-                "--server.headless", "true",
-                "--server.runOnSave", "false",
-                "--browser.gatherUsageStats", "false",
-            ],
-            cwd=app_dir,
-            stdout=subprocess.PIPE,
-            stderr=subprocess.PIPE,
-        )
-        
         print("🌿 Haven Kitchen OS started!")
         print("   👩🏻‍💼 Olivia and 👩🏻‍🍳 Brie are ready to help.")
-        print(f"   🌐 Open: {self.custom_app_url}")
         
         try:
-            # Keep running until stop_event is set
-            while not stop_event.is_set():
-                # Check if Streamlit is still running
-                if streamlit_process.poll() is not None:
-                    print("⚠️ Streamlit process ended unexpectedly")
-                    break
-                
-                # Small sleep to prevent busy-waiting
-                time.sleep(0.5)
+            # Run the demo loop
+            self._run_demo(reachy_mini, stop_event)
                 
         finally:
-            # Clean up: terminate Streamlit
+            # Clean up
             print("🛑 Shutting down Haven Kitchen OS...")
-            
-            # Clear the shared robot
             set_shared_robot(None)
             
-            # Terminate Streamlit gracefully
-            if streamlit_process.poll() is None:
-                streamlit_process.terminate()
-                try:
-                    streamlit_process.wait(timeout=5)
-                except subprocess.TimeoutExpired:
-                    streamlit_process.kill()
+            # Return to neutral position
+            try:
+                set_eye_color(reachy_mini, "neutral")
+                reachy_mini.goto_target(
+                    head=create_head_pose(),
+                    antennas=[0, 0],
+                    duration=0.5
+                )
+            except:
+                pass
             
             print("👋 Haven Kitchen OS stopped. Goodbye!")
+    
+    def _run_demo(self, robot: ReachyMini, stop_event: threading.Event):
+        """Run the demo loop showcasing Olivia and Brie."""
+        
+        while not stop_event.is_set():
+            # ========== OLIVIA'S TURN ==========
+            print("\n👩🏻‍💼 Olivia: Good morning! Let me help organize your day...")
+            
+            # Olivia greeting - warm and professional
+            set_eye_color(robot, "Olivia")
+            robot.goto_target(head=create_head_pose(roll=8, z=5), duration=0.4)
+            time.sleep(0.3)
+            
+            # Gentle nod
+            robot.goto_target(head=create_head_pose(z=15), duration=0.2)
+            time.sleep(0.15)
+            robot.goto_target(head=create_head_pose(z=-5), duration=0.15)
+            time.sleep(0.1)
+            robot.goto_target(head=create_head_pose(z=0), duration=0.2)
+            
+            if stop_event.is_set():
+                break
+            
+            time.sleep(1.0)
+            
+            # Olivia thinking
+            print("👩🏻‍💼 Olivia: Let me check your schedule...")
+            robot.goto_target(head=create_head_pose(yaw=15, z=20, roll=5), duration=0.5)
+            time.sleep(1.0)
+            robot.goto_target(head=create_head_pose(yaw=0, z=0, roll=0), duration=0.4)
+            
+            if stop_event.is_set():
+                break
+            
+            time.sleep(1.5)
+            
+            # ========== HANDOFF TO BRIE ==========
+            print("\n👩🏻‍💼 Olivia: Time for dinner planning! Let me get Brie...")
+            
+            # Look toward Brie
+            robot.goto_target(head=create_head_pose(yaw=30, z=-5), duration=0.4)
+            time.sleep(0.3)
+            
+            # Nod to Brie
+            robot.goto_target(head=create_head_pose(z=10), duration=0.2)
+            time.sleep(0.15)
+            robot.goto_target(head=create_head_pose(z=0), duration=0.2)
+            
+            # Fade to Brie's color
+            set_eye_color(robot, "Brie")
+            robot.goto_target(head=create_head_pose(yaw=0, z=0), duration=0.4)
+            
+            if stop_event.is_set():
+                break
+            
+            time.sleep(1.0)
+            
+            # ========== BRIE'S TURN ==========
+            print("\n👩🏻‍🍳 Brie: Ooh, dinner time! I'm SO excited to cook with you!")
+            
+            # Brie excited greeting
+            robot.goto_target(antennas=[0.4, 0.4], duration=0.2)
+            time.sleep(0.3)
+            robot.goto_target(head=create_head_pose(z=15), duration=0.2)
+            
+            # Antenna wiggle!
+            for _ in range(2):
+                robot.goto_target(antennas=[0.5, -0.5], duration=0.12)
+                time.sleep(0.12)
+                robot.goto_target(antennas=[-0.5, 0.5], duration=0.12)
+                time.sleep(0.12)
+            robot.goto_target(antennas=[0, 0], duration=0.2)
+            robot.goto_target(head=create_head_pose(z=0), duration=0.2)
+            
+            if stop_event.is_set():
+                break
+            
+            time.sleep(1.0)
+            
+            # Brie thinking about recipe
+            print("👩🏻‍🍳 Brie: Hmm, what shall we make tonight?")
+            robot.goto_target(head=create_head_pose(z=25, yaw=10), antennas=[0.2, -0.1], duration=0.4)
+            time.sleep(1.0)
+            
+            # Looking around for ingredients
+            robot.goto_target(head=create_head_pose(yaw=25, z=10), duration=0.4)
+            time.sleep(0.3)
+            robot.goto_target(head=create_head_pose(yaw=-25, z=5), duration=0.5)
+            time.sleep(0.3)
+            robot.goto_target(head=create_head_pose(yaw=0, z=0), duration=0.3)
+            
+            if stop_event.is_set():
+                break
+            
+            time.sleep(0.5)
+            
+            # Brie has an idea!
+            print("👩🏻‍🍳 Brie: I know! Let's make pasta carbonara! 🍝")
+            set_eye_color(robot, "celebration")
+            robot.goto_target(head=create_head_pose(z=25), antennas=[0.7, 0.7], duration=0.2)
+            time.sleep(0.15)
+            
+            # Celebration wiggle
+            for _ in range(3):
+                robot.goto_target(antennas=[0.5, -0.5], duration=0.1)
+                time.sleep(0.1)
+                robot.goto_target(antennas=[-0.5, 0.5], duration=0.1)
+                time.sleep(0.1)
+            
+            robot.goto_target(head=create_head_pose(z=0), antennas=[0, 0], duration=0.3)
+            set_eye_color(robot, "Brie")
+            
+            if stop_event.is_set():
+                break
+            
+            time.sleep(2.0)
+            
+            # ========== BACK TO OLIVIA ==========
+            print("\n👩🏻‍🍳 Brie: Great! I'll hand you back to Olivia now.")
+            set_eye_color(robot, "Olivia")
+            
+            # Reset to neutral
+            robot.goto_target(head=create_head_pose(), antennas=[0, 0], duration=0.5)
+            
+            if stop_event.is_set():
+                break
+            
+            time.sleep(3.0)
+            
+            print("\n--- Demo loop restarting ---\n")
 
 
 # Allow running directly for testing