File size: 8,365 Bytes
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import numpy as np
import requests
import os
from reachy_mini import ReachyMini
from reachy_mini.utils import create_head_pose
SCRIPT_DIR = os.path.dirname(os.path.abspath(__file__))
RECORD_DIR = os.path.join(SCRIPT_DIR, "record")
os.makedirs(RECORD_DIR, exist_ok=True)
def get_server_ip():
ip = os.getenv("server_ip")
if ip:
return ip
try:
env_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), '.env')
if os.path.exists(env_path):
with open(env_path, 'r', encoding='utf-8') as f:
for line in f:
line = line.strip()
if line and not line.startswith('#') and '=' in line:
parts = line.split('=', 1)
key = parts[0].strip()
val = parts[1].strip().strip('\'"')
if key == "server_ip":
return val
except Exception:
pass
return "10.112.5.79"
# ----------------- 加入 Monkey Patch 解決遠端連線問題 -----------------
from reachy_mini.media.media_manager import MediaManager
if not hasattr(MediaManager, "_is_patched"):
original_media_manager_init = MediaManager.__init__
def mocked_media_manager_init(self, *args, **kwargs):
# 如果傳入的信令伺服器不是 localhost，強制改為 localhost 以便走 SSH Tunnel
if kwargs.get("signalling_host") not in (None, "localhost", "127.0.0.1"):
kwargs["signalling_host"] = "localhost"
original_media_manager_init(self, *args, **kwargs)
# 替換原有的初始化函數
MediaManager.__init__ = mocked_media_manager_init
MediaManager._is_patched = True
# ---------------------------------------------------------------------
def transcribe_audio(file_path=None):
if file_path is None:
file_path = os.path.join(RECORD_DIR, "ask.mp3")
server_ip = get_server_ip()
url = f"http://{server_ip}:4002/v1/audio/transcriptions"
try:
with open(file_path, "rb") as f:
files = {"file": f}
response = requests.post(url, files=files)
response.raise_for_status()
result = response.json()
return result.get("text", "")
except Exception as e:
print(f"Error during audio transcription: {e}")
return None
def text_to_speech(text, output_file=None):
if output_file is None:
output_file = os.path.join(RECORD_DIR, "tmp.wav")
url = "http://localhost:4003/v1/audio/speech"
headers = {
"Content-Type": "application/json"
}
payload = {
"text": text
}
print(f"Converting text to speech via {url}...")
try:
response = requests.post(url, headers=headers, json=payload, timeout=30)
response.raise_for_status()
with open(output_file, "wb") as f:
f.write(response.content)
print(f"Audio saved to {output_file}")
return True
except Exception as e:
print(f"Error in TTS request: {e}")
return False
def get_chat_completion(prompt):
server_ip = get_server_ip()
url = f"http://{server_ip}:4001/v1/chat/completions"
headers = {
"Content-Type": "application/json"
}
payload = {
"model": "openbmb/MiniCPM5-1B",
"messages": [{"role": "user", "content": prompt}],
"max_tokens": 128,
"temperature": 0.7
}
try:
response = requests.post(url, headers=headers, json=payload)
response.raise_for_status()
result = response.json()
return result["choices"][0]["message"]["content"]
except Exception as e:
print(f"Error during chat completion: {e}")
return None
def ask_gesture(mini, count=3):
for _ in range(count):
mini.goto_target(
head=create_head_pose(y=0.0, roll=15, pitch=-20, mm=True),
antennas=np.deg2rad([-30, -30]),
body_yaw=np.deg2rad(0),
duration=1.0,
method="minjerk"
)
time.sleep(0.1)
mini.goto_target(
head=create_head_pose(y=0.0, roll=-15, pitch=-20, mm=True),
antennas=np.deg2rad([30, 30]),
body_yaw=np.deg2rad(0),
duration=1.0,
method="minjerk"
)
time.sleep(0.1)
def run_ask_workflow(mini):
print("Connected successfully!")
# Enable motors (Torque ON) so the robot can move
print("Enabling motors (Torque ON)...")
mini.enable_motors()
time.sleep(0.5)
print("Moving robot up (goto_target)...")
mini.goto_target(
head=create_head_pose(z=10, mm=True), # Up 5mm
antennas=np.deg2rad([0, 0]), # Antennas out
body_yaw=np.deg2rad(0), # Turn body 30 degrees
duration=2.0, # Slow movement
method="minjerk" # Smooth movement
)
time.sleep(0.5)
# Transcribe audio file and print result
transcribed_text = transcribe_audio(os.path.join(RECORD_DIR, "latest_voice.mp3"))
print("=== Transcription Result ===")
print(transcribed_text)
print("============================")
if transcribed_text:
response_text = get_chat_completion(transcribed_text)
print("=== LLM Response ===")
print(response_text)
print("====================")
# Convert the resulting text to speech and play it
if response_text:
response_wav = os.path.join(RECORD_DIR, "ask_response.wav")
if text_to_speech(response_text, response_wav):
print('Playing...')
mini.media.play_sound(response_wav)
ask_gesture(mini, count=3)
mini.media.stop_playing()
else:
print("No response text returned from reasoning model, skipping text-to-speech.")
print("Moving robot down (goto_target)...")
mini.goto_target(
head=create_head_pose(z=-15, mm=True), # Back down to 0mm
antennas=np.deg2rad([0, 0]), # Antennas back to 0
body_yaw=np.deg2rad(0), # Turn body back to 0
duration=2.0, # Slow movement
method="minjerk" # Smooth movement
)
print("Down movement completed!")
time.sleep(0.5)
# Disable motors (Torque OFF) to protect motors and make it compliant
print("Disabling motors (Torque OFF - making robot limp)...")
mini.disable_motors()
print("Done!")
def apply_safe_goto(mini):
original_goto = mini.goto_target
if not hasattr(original_goto, "_is_safe"):
def safe_goto(*args, **kwargs):
try:
return original_goto(*args, **kwargs)
except Exception as e:
if "timeout" in str(e).lower() or "TimeoutError" in type(e).__name__:
print(f"⚠️ [網路延遲] 動作發送超時但可能已在執行中，繼續下一個動作... ({e})")
else:
raise e
safe_goto._is_safe = True
mini.goto_target = safe_goto
def main():
print("Connecting to Reachy Mini...")
shared_mini = None
try:
from app import robot_manager
if robot_manager and robot_manager.mini is not None:
shared_mini = robot_manager.mini
except Exception:
pass
try:
if shared_mini is not None:
print("Reusing existing ReachyMini connection from RobotManager.")
apply_safe_goto(shared_mini)
run_ask_workflow(shared_mini)
else:
# Standard standalone execution
with ReachyMini(connection_mode="network", host="localhost") as mini:
apply_safe_goto(mini)
run_ask_workflow(mini)
finally:
# 刪除暫存的 latest_voice.mp3 檔案
voice_file = os.path.join(os.path.dirname(os.path.abspath(__file__)), "record", "latest_voice.mp3")
if os.path.exists(voice_file):
try:
os.remove(voice_file)
print(f"🗑️ 已刪除暫存的語音檔: {voice_file}")
except Exception as e:
print(f"⚠️ 無法刪除暫存語音檔: {e}")
if __name__ == "__main__":
main()
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