diff --git a/.env.example b/.env.example new file mode 100644 index 0000000000000000000000000000000000000000..ace4717067951a6384f1a5206eb99c9210b3ac5d --- /dev/null +++ b/.env.example @@ -0,0 +1,30 @@ +# Ollama LLM server +OLLAMA_BASE_URL=http://localhost:11434 +MODEL_NAME="llama3.2" + +# STT (faster-whisper model size: tiny, base, small, medium, large-v3) +STT_MODEL=base + +# TTS (edge-tts voice name, e.g. en-US-AriaNeural, en-GB-SoniaNeural) +TTS_VOICE=en-US-AriaNeural + +# Local vision model (only used with --local-vision CLI flag) +LOCAL_VISION_MODEL=HuggingFaceTB/SmolVLM2-2.2B-Instruct + +# Cache for local VLM (only used with --local-vision CLI flag) +HF_HOME=./cache + +# Hugging Face token for accessing datasets/models +HF_TOKEN= + +# Profile selection (defaults to "default" when unset) +REACHY_MINI_CUSTOM_PROFILE="example" + +# Optional external profile/tool directories +# REACHY_MINI_EXTERNAL_PROFILES_DIRECTORY=external_content/external_profiles +# REACHY_MINI_EXTERNAL_TOOLS_DIRECTORY=external_content/external_tools + +# Optional: discover and auto-load all tools found in REACHY_MINI_EXTERNAL_TOOLS_DIRECTORY, +# even if they are not listed in the selected profile's tools.txt. +# This is convenient for downloaded tools used with built-in/default profiles. +# AUTOLOAD_EXTERNAL_TOOLS=1 \ No newline at end of file diff --git a/.gitattributes b/.gitattributes index a6344aac8c09253b3b630fb776ae94478aa0275b..240447c073b0e898646f6ccb5f9945efebb6f9ef 100644 --- a/.gitattributes +++ b/.gitattributes @@ -33,3 +33,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text *.zip filter=lfs diff=lfs merge=lfs -text *.zst filter=lfs diff=lfs merge=lfs -text *tfevents* filter=lfs diff=lfs merge=lfs -text +*.gif filter=lfs diff=lfs merge=lfs -text +*.png filter=lfs diff=lfs merge=lfs -text diff --git a/Dockerfile b/Dockerfile index 815cc756163f0be700efebf9067c8673cb3a5ab5..60820c9e58c686768a9038a75a96076dc9fd4d3a 100644 --- a/Dockerfile +++ b/Dockerfile @@ -1,10 +1,12 @@ FROM python:3.12-slim -# System dependencies for faster-whisper (ctranslate2) and audio processing +# System dependencies for faster-whisper (ctranslate2) and audio/image processing RUN apt-get update && apt-get install -y --no-install-recommends \ build-essential \ ffmpeg \ libsndfile1 \ + libgl1 \ + libglib2.0-0 \ && rm -rf /var/lib/apt/lists/* # Create non-root user (required by HF Spaces) @@ -15,13 +17,10 @@ ENV HOME=/home/user \ WORKDIR /home/user/app -# Install Python dependencies -COPY --chown=user requirements.txt . -RUN pip install --no-cache-dir --upgrade pip && \ - pip install --no-cache-dir -r requirements.txt - -# Copy application code +# Install Python dependencies and the app itself COPY --chown=user . . +RUN pip install --no-cache-dir --upgrade pip && \ + pip install --no-cache-dir . # Expose Gradio port EXPOSE 7860 diff --git a/docs/assets/conversation_app_arch.svg b/docs/assets/conversation_app_arch.svg new file mode 100644 index 0000000000000000000000000000000000000000..3a95fa731761cbe83757229103f089e06076f9fc --- /dev/null +++ b/docs/assets/conversation_app_arch.svg @@ -0,0 +1,102 @@ +

audio stream

audio stream

audio stream

tool calls

defines enabled tools

movement
requests

camera frames, head tracking

image for
analysis

head tracking

frames

description

camera
frames

commands

results

User
Person interacting with system

UI Layer
Gradio/Console

gpt-realtime API
Audio+Tool Calls+Vision

Motion Control
Audio Sync + Tracking

Tool Layer
Built-in tools + profile-local tools
+ external tools (optional)

Selected Profile
built-in or external
instructions.txt + tools.txt

Camera Worker
Frame Buffer + Head Tracking

Vision Processor
Local VLM (optional)

reachy_mini
Robot Control Library

 \ No newline at end of file diff --git a/docs/scheme.mmd b/docs/scheme.mmd new file mode 100644 index 0000000000000000000000000000000000000000..c277c7f7a0965222df0669582f4efc5bb67746f8 --- /dev/null +++ b/docs/scheme.mmd @@ -0,0 +1,63 @@ +--- +config: + layout: dagre + flowchart: + htmlLabels: true +--- +flowchart TB + User(["User
Person interacting with system"]) + -- audio stream --> + UI@{ label: "UI Layer
Gradio/Console" } + + UI -- audio stream --> + OpenAI@{ label: "gpt-realtime API
Audio+Tool Calls+Vision" } + + OpenAI -- audio stream --> + Motion@{ label: "Motion Control
Audio Sync + Tracking" } + + OpenAI -- tool calls --> + Handlers@{ label: "Tool Layer
Built-in tools + profile-local tools
+ external tools (optional)" } + + Profiles@{ label: "Selected Profile
built-in or external
instructions.txt + tools.txt" } + + Profiles -- defines enabled tools --> Handlers + + Handlers -- movement + requests --> Motion + + Handlers -- camera frames, head tracking --> + Camera@{ label: "Camera Worker
Frame Buffer + Head Tracking" } + + Handlers -. image for + analysis .-> OpenAI + + Camera -- head tracking --> Motion + + Camera -. frames .-> + Vision@{ label: "Vision Processor
Local VLM (optional)" } + + Vision -. description .-> Handlers + + Robot@{ label: "reachy_mini
Robot Control Library" } + -- camera + frames --> Camera + + Motion -- commands --> Robot + + Handlers -- results --> OpenAI + + User:::userStyle + UI:::uiStyle + OpenAI:::aiStyle + Motion:::coreStyle + Profiles:::toolStyle + Handlers:::toolStyle + Camera:::coreStyle + Vision:::aiStyle + Robot:::hardwareStyle + classDef userStyle fill:#e1f5fe,stroke:#01579b,stroke-width:3px + classDef uiStyle fill:#b3e5fc,stroke:#0277bd,stroke-width:2px + classDef aiStyle fill:#e1bee7,stroke:#7b1fa2,stroke-width:3px + classDef coreStyle fill:#fff9c4,stroke:#f57f17,stroke-width:2px + classDef hardwareStyle fill:#ef9a9a,stroke:#c62828,stroke-width:3px + classDef toolStyle fill:#fffde7,stroke:#f9a825,stroke-width:1px diff --git a/external_content/external_profiles/starter_profile/instructions.txt b/external_content/external_profiles/starter_profile/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..2d2a1c2c24fd7c37aa3a573a0ece54b424f7511c --- /dev/null +++ b/external_content/external_profiles/starter_profile/instructions.txt @@ -0,0 +1,6 @@ +You are a helpful Reachy Mini assistant running from an external profile. + +When asked to demonstrate your custom greeting, use the `starter_custom_tool` tool. +You can also dance and show emotions like the built-in profiles. + +Be friendly and concise, and explain that you're using an external profile/tool setup when asked about yourself. diff --git a/external_content/external_profiles/starter_profile/tools.txt b/external_content/external_profiles/starter_profile/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..955a621f8709230b4f81c6c305d60325b26d3093 --- /dev/null +++ b/external_content/external_profiles/starter_profile/tools.txt @@ -0,0 +1,11 @@ +# This file is an explicit allow-list. +# Every tool name listed below must be either: +# - a built-in tool from src/reachy_mini_conversation_app/tools/ +# - or an external tool file in TOOLS_DIRECTORY (e.g. external_tools/starter_custom_tool.py) + +dance +stop_dance +play_emotion +stop_emotion +move_head +starter_custom_tool diff --git a/external_content/external_tools/starter_custom_tool.py b/external_content/external_tools/starter_custom_tool.py new file mode 100644 index 0000000000000000000000000000000000000000..3588d9eb89e2405f0e9c2736e02ddad47aa001e1 --- /dev/null +++ b/external_content/external_tools/starter_custom_tool.py @@ -0,0 +1,33 @@ +"""Example external tool implementation.""" + +import logging +from typing import Any, Dict + +from reachy_mini_conversation_app.tools.core_tools import Tool, ToolDependencies + + +logger = logging.getLogger(__name__) + + +class StarterCustomTool(Tool): + """Placeholder custom tool - demonstrates external tool loading.""" + + name = "starter_custom_tool" + description = "A placeholder custom tool loaded from outside the library" + parameters_schema = { + "type": "object", + "properties": { + "message": { + "type": "string", + "description": "Optional message to include in the response", + }, + }, + "required": [], + } + + async def __call__(self, deps: ToolDependencies, **kwargs: Any) -> Dict[str, Any]: + """Execute the placeholder tool.""" + message = kwargs.get("message", "Hello from custom tool!") + logger.info(f"Tool call: starter_custom_tool message={message}") + + return {"status": "success", "message": message} diff --git a/pyproject.toml b/pyproject.toml new file mode 100644 index 0000000000000000000000000000000000000000..6ea730b8b28a3efa5a5b991e0ccfb9c04984707f --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,142 @@ +[build-system] +requires = ["setuptools"] +build-backend = "setuptools.build_meta" + +[project] +name = "reachy_mini_conversation_app" +version = "0.2.2" +authors = [{ name = "Pollen Robotics", email = "contact@pollen-robotics.com" }] +description = "" +readme = "README.md" +requires-python = ">=3.10" +dependencies = [ + #Media + "aiortc>=1.13.0", + "fastrtc>=0.0.34", + "gradio==5.50.1.dev1", + "huggingface-hub==1.3.0", + "opencv-python>=4.12.0.88", + + #Environment variables + "python-dotenv", + + #Ollama LLM + "ollama>=0.4", + + #STT (Speech-to-Text) + "faster-whisper>=1.0", + + #TTS (Text-to-Speech) + "edge-tts>=7.0", + "miniaudio>=1.60", + + #Reachy mini + "reachy_mini_dances_library", + "reachy_mini_toolbox", + "reachy-mini>=1.3.1", + "eclipse-zenoh~=1.7.0", + "gradio_client>=1.13.3", +] + +[project.optional-dependencies] +reachy_mini_wireless = [ + "PyGObject>=3.42.2,<=3.46.0", + "gst-signalling>=1.1.2", +] +local_vision = [ + "torch>=2.1", + "transformers==5.0.0rc2", + "num2words", +] +yolo_vision = [ + "ultralytics", + "supervision", +] +mediapipe_vision = [ + "mediapipe==0.10.14", +] +all_vision = [ + "torch>=2.1", + "transformers==5.0.0rc2", + "num2words", + "ultralytics", + "supervision", + "mediapipe==0.10.14", +] + +[dependency-groups] +dev = [ + "pytest", + "pytest-asyncio", + "ruff==0.12.0", + "mypy==1.18.2", + "pre-commit", + "types-requests", + "python-semantic-release>=10.5.3", +] + +[project.scripts] +reachy-mini-conversation-app = "reachy_mini_conversation_app.main:main" + +[project.entry-points."reachy_mini_apps"] +reachy_mini_conversation_app = "reachy_mini_conversation_app.main:ReachyMiniConversationApp" + +[tool.setuptools] +package-dir = { "" = "src" } +include-package-data = true + +[tool.setuptools.packages.find] +where = ["src"] + +[tool.setuptools.package-data] +reachy_mini_conversation_app = [ + "images/*", + "static/*", + ".env.example", + "demos/**/*.txt", + "prompts_library/*.txt", + "profiles/**/*.txt", + "prompts/**/*.txt", +] + +[tool.ruff] +line-length = 119 +exclude = [".venv", "dist", "build", "**/__pycache__", "*.egg-info", ".mypy_cache", ".pytest_cache"] + +[tool.ruff.lint] +select = [ + "E", # pycodestyle errors + "F", # pyflakes + "W", # pycodestyle warnings + "I", # isort + "C4", # flake8-comprehensions + "D", # pydocstyle +] +ignore = [ + "E501", # handled by formatter + "D100", # ignore missing module docstrings + "D203", # blank line before class docstring (conflicts with D211) + "D213", # summary on second line (conflicts with D212) +] + +[tool.ruff.lint.isort] +length-sort = true +lines-after-imports = 2 +no-lines-before = ["standard-library", "local-folder"] +known-local-folder = ["reachy_mini_conversation_app"] +known-first-party = ["reachy_mini", "reachy_mini_dances_library", "reachy_mini_toolbox"] +split-on-trailing-comma = true + +[tool.ruff.format] +quote-style = "double" +indent-style = "space" +skip-magic-trailing-comma = false +line-ending = "auto" + +[tool.mypy] +python_version = "3.12" +files = ["src/"] +ignore_missing_imports = true +strict = true +show_error_codes = true +warn_unused_ignores = true diff --git a/src/reachy_mini_conversation_app.egg-info/PKG-INFO b/src/reachy_mini_conversation_app.egg-info/PKG-INFO new file mode 100644 index 0000000000000000000000000000000000000000..df94dedf93f2de345f3fe9fe0eb52963fbdc77ba --- /dev/null +++ b/src/reachy_mini_conversation_app.egg-info/PKG-INFO @@ -0,0 +1,364 @@ +Metadata-Version: 2.4 +Name: reachy_mini_conversation_app +Version: 0.2.2 +Author-email: Pollen Robotics +Requires-Python: >=3.10 +Description-Content-Type: text/markdown +License-File: LICENSE +Requires-Dist: aiortc>=1.13.0 +Requires-Dist: fastrtc>=0.0.34 +Requires-Dist: gradio==5.50.1.dev1 +Requires-Dist: huggingface-hub==1.3.0 +Requires-Dist: opencv-python>=4.12.0.88 +Requires-Dist: python-dotenv +Requires-Dist: ollama>=0.4 +Requires-Dist: faster-whisper>=1.0 +Requires-Dist: edge-tts>=7.0 +Requires-Dist: miniaudio>=1.60 +Requires-Dist: reachy_mini_dances_library +Requires-Dist: reachy_mini_toolbox +Requires-Dist: reachy-mini>=1.3.1 +Requires-Dist: eclipse-zenoh~=1.7.0 +Requires-Dist: gradio_client>=1.13.3 +Provides-Extra: reachy-mini-wireless +Requires-Dist: PyGObject<=3.46.0,>=3.42.2; extra == "reachy-mini-wireless" +Requires-Dist: gst-signalling>=1.1.2; extra == "reachy-mini-wireless" +Provides-Extra: local-vision +Requires-Dist: torch>=2.1; extra == "local-vision" +Requires-Dist: transformers==5.0.0rc2; extra == "local-vision" +Requires-Dist: num2words; extra == "local-vision" +Provides-Extra: yolo-vision +Requires-Dist: ultralytics; extra == "yolo-vision" +Requires-Dist: supervision; extra == "yolo-vision" +Provides-Extra: mediapipe-vision +Requires-Dist: mediapipe==0.10.14; extra == "mediapipe-vision" +Provides-Extra: all-vision +Requires-Dist: torch>=2.1; extra == "all-vision" +Requires-Dist: transformers==5.0.0rc2; extra == "all-vision" +Requires-Dist: num2words; extra == "all-vision" +Requires-Dist: ultralytics; extra == "all-vision" +Requires-Dist: supervision; extra == "all-vision" +Requires-Dist: mediapipe==0.10.14; extra == "all-vision" +Dynamic: license-file + +--- +title: Reachy Mini Conversation App +emoji: 🎤 +colorFrom: red +colorTo: blue +sdk: static +pinned: false +short_description: Talk with Reachy Mini ! +tags: + - reachy_mini + - reachy_mini_python_app +--- + +# Reachy Mini conversation app + +Conversational app for the Reachy Mini robot combining OpenAI's realtime APIs, vision pipelines, and choreographed motion libraries. + +![Reachy Mini Dance](docs/assets/reachy_mini_dance.gif) + +## Table of contents +- [Overview](#overview) +- [Architecture](#architecture) +- [Installation](#installation) +- [Configuration](#configuration) +- [Running the app](#running-the-app) +- [LLM tools](#llm-tools-exposed-to-the-assistant) +- [Advanced features](#advanced-features) +- [Contributing](#contributing) +- [License](#license) + +## Overview +- Real-time audio conversation loop powered by the OpenAI realtime API and `fastrtc` for low-latency streaming. +- Vision processing uses gpt-realtime by default (when camera tool is used), with optional local vision processing using SmolVLM2 model running on-device (CPU/GPU/MPS) via `--local-vision` flag. +- Layered motion system queues primary moves (dances, emotions, goto poses, breathing) while blending speech-reactive wobble and head-tracking. +- Async tool dispatch integrates robot motion, camera capture, and optional head-tracking capabilities through a Gradio web UI with live transcripts. + +## Architecture + +The app follows a layered architecture connecting the user, AI services, and robot hardware: + +

+ Architecture Diagram +

+ +## Installation + +> [!IMPORTANT] +> Before using this app, you need to install [Reachy Mini's SDK](https://github.com/pollen-robotics/reachy_mini/).
+> Windows support is currently experimental and has not been extensively tested. Use with caution. + +
+Using uv (recommended) + +Set up the project quickly using [uv](https://docs.astral.sh/uv/): + +```bash +# macOS (Homebrew) +uv venv --python /opt/homebrew/bin/python3.12 .venv + +# Linux / Windows (Python in PATH) +uv venv --python python3.12 .venv + +source .venv/bin/activate +uv sync +``` + +> **Note:** To reproduce the exact dependency set from this repo's `uv.lock`, run `uv sync --frozen`. This ensures `uv` installs directly from the lockfile without re-resolving or updating any versions. + +**Install optional features:** +```bash +uv sync --extra reachy_mini_wireless # Wireless Reachy Mini with GStreamer support +uv sync --extra local_vision # Local PyTorch/Transformers vision +uv sync --extra yolo_vision # YOLO-based head-tracking +uv sync --extra mediapipe_vision # MediaPipe-based head-tracking +uv sync --extra all_vision # All vision features +``` + +Combine extras or include dev dependencies: +```bash +uv sync --extra all_vision --group dev +``` + +
+ +
+Using pip + +```bash +python -m venv .venv +source .venv/bin/activate +pip install -e . +``` + +**Install optional features:** +```bash +pip install -e .[reachy_mini_wireless] # Wireless Reachy Mini +pip install -e .[local_vision] # Local vision stack +pip install -e .[yolo_vision] # YOLO-based vision +pip install -e .[mediapipe_vision] # MediaPipe-based vision +pip install -e .[all_vision] # All vision features +pip install -e .[dev] # Development tools +``` + +Some wheels (like PyTorch) are large and require compatible CUDA or CPU builds—make sure your platform matches the binaries pulled in by each extra. + +
+ +### Optional dependency groups + +| Extra | Purpose | Notes | +|-------|---------|-------| +| `reachy_mini_wireless` | Wireless Reachy Mini with GStreamer support | Required for wireless versions of Reachy Mini, includes GStreamer dependencies. | +| `local_vision` | Run the local VLM (SmolVLM2) through PyTorch/Transformers | GPU recommended. Ensure compatible PyTorch builds for your platform. | +| `yolo_vision` | YOLOv11n head tracking via `ultralytics` and `supervision` | Runs on CPU (default). GPU improves performance. Supports the `--head-tracker yolo` option. | +| `mediapipe_vision` | Lightweight landmark tracking with MediaPipe | Works on CPU. Enables `--head-tracker mediapipe`. | +| `all_vision` | Convenience alias installing every vision extra | Install when you want the flexibility to experiment with every provider. | +| `dev` | Developer tooling (`pytest`, `ruff`, `mypy`) | Development-only dependencies. Use `--group dev` with uv or `[dev]` with pip. | + +**Note:** `dev` is a dependency group (not an optional dependency). With uv, use `--group dev`. With pip, use `[dev]`. + +## Configuration + +1. Copy `.env.example` to `.env` +2. Fill in required values, notably the OpenAI API key + +| Variable | Description | +|----------|-------------| +| `OPENAI_API_KEY` | Required. Grants access to the OpenAI realtime endpoint. | +| `MODEL_NAME` | Override the realtime model (defaults to `gpt-realtime`). Used for both conversation and vision (unless `--local-vision` flag is used). | +| `HF_HOME` | Cache directory for local Hugging Face downloads (only used with `--local-vision` flag, defaults to `./cache`). | +| `HF_TOKEN` | Optional token for Hugging Face access (for gated/private assets). | +| `LOCAL_VISION_MODEL` | Hugging Face model path for local vision processing (only used with `--local-vision` flag, defaults to `HuggingFaceTB/SmolVLM2-2.2B-Instruct`). | + +## Running the app + +Activate your virtual environment, then launch: + +```bash +reachy-mini-conversation-app +``` + +> [!TIP] +> Make sure the Reachy Mini daemon is running before launching the app. If you see a `TimeoutError`, it means the daemon isn't started. See [Reachy Mini's SDK](https://github.com/pollen-robotics/reachy_mini/) for setup instructions. + +The app runs in console mode by default. Add `--gradio` to launch a web UI at http://127.0.0.1:7860/ (required for simulation mode). Vision and head-tracking options are described in the CLI table below. + +### CLI options + +| Option | Default | Description | +|--------|---------|-------------| +| `--head-tracker {yolo,mediapipe}` | `None` | Select a head-tracking backend when a camera is available. YOLO is implemented locally, MediaPipe comes from the `reachy_mini_toolbox` package. Requires the matching optional extra. | +| `--no-camera` | `False` | Run without camera capture or head tracking. | +| `--local-vision` | `False` | Use local vision model (SmolVLM2) for periodic image processing instead of gpt-realtime vision. Requires `local_vision` extra to be installed. | +| `--gradio` | `False` | Launch the Gradio web UI. Without this flag, runs in console mode. Required when running in simulation mode. | +| `--robot-name` | `None` | Optional. Connect to a specific robot by name when running multiple daemons on the same subnet. See [Multiple robots on the same subnet](#advanced-features). | +| `--debug` | `False` | Enable verbose logging for troubleshooting. | + +### Examples + +```bash +# Run with MediaPipe head tracking +reachy-mini-conversation-app --head-tracker mediapipe + +# Run with local vision processing (requires local_vision extra) +reachy-mini-conversation-app --local-vision + +# Audio-only conversation (no camera) +reachy-mini-conversation-app --no-camera + +# Launch with Gradio web interface +reachy-mini-conversation-app --gradio +``` + +## LLM tools exposed to the assistant + +| Tool | Action | Dependencies | +|------|--------|--------------| +| `move_head` | Queue a head pose change (left/right/up/down/front). | Core install only. | +| `camera` | Capture the latest camera frame and send it to gpt-realtime for vision analysis. | Requires camera worker. Uses gpt-realtime vision by default. | +| `head_tracking` | Enable or disable head-tracking offsets (not identity recognition - only detects and tracks head position). | Camera worker with configured head tracker (`--head-tracker`). | +| `dance` | Queue a dance from `reachy_mini_dances_library`. | Core install only. | +| `stop_dance` | Clear queued dances. | Core install only. | +| `play_emotion` | Play a recorded emotion clip via Hugging Face datasets. | Core install only. Uses the default open emotions dataset: [`pollen-robotics/reachy-mini-emotions-library`](https://huggingface.co/datasets/pollen-robotics/reachy-mini-emotions-library). | +| `stop_emotion` | Clear queued emotions. | Core install only. | +| `do_nothing` | Explicitly remain idle. | Core install only. | + +## Advanced features + +Built-in motion content is published as open Hugging Face datasets: +- Emotions: [`pollen-robotics/reachy-mini-emotions-library`](https://huggingface.co/datasets/pollen-robotics/reachy-mini-emotions-library) +- Dances: [`pollen-robotics/reachy-mini-dances-library`](https://huggingface.co/datasets/pollen-robotics/reachy-mini-dances-library) + +
+Custom profiles + +Create custom profiles with dedicated instructions and enabled tools. + +Set `REACHY_MINI_CUSTOM_PROFILE=` to load `src/reachy_mini_conversation_app/profiles//` (see `.env.example`). If unset, the `default` profile is used. + +Each profile should include `instructions.txt` (prompt text). `tools.txt` (list of allowed tools) is recommended. If missing for a non-default profile, the app falls back to `profiles/default/tools.txt`. Profiles can optionally contain custom tool implementations. + +**Custom instructions:** + +Write plain-text prompts in `instructions.txt`. To reuse shared prompt pieces, add lines like: +``` +[passion_for_lobster_jokes] +[identities/witty_identity] +``` +Each placeholder pulls the matching file under `src/reachy_mini_conversation_app/prompts/` (nested paths allowed). See `src/reachy_mini_conversation_app/profiles/example/` for a reference layout. + +**Enabling tools:** + +List enabled tools in `tools.txt`, one per line. Prefix with `#` to comment out: +``` +play_emotion +# move_head + +# My custom tool defined locally +sweep_look +``` +Tools are resolved first from Python files in the profile folder (custom tools), then from the core library `src/reachy_mini_conversation_app/tools/` (like `dance`, `head_tracking`). + +**Custom tools:** + +On top of built-in tools found in the core library, you can implement custom tools specific to your profile by adding Python files in the profile folder. +Custom tools must subclass `reachy_mini_conversation_app.tools.core_tools.Tool` (see `profiles/example/sweep_look.py`). + +**Edit personalities from the UI:** + +When running with `--gradio`, open the "Personality" accordion: +- Select among available profiles (folders under `src/reachy_mini_conversation_app/profiles/`) or the built‑in default. +- Click "Apply" to update the current session instructions live. +- Create a new personality by entering a name and instructions text. It stores files under `profiles//` and copies `tools.txt` from the `default` profile. + +Note: The "Personality" panel updates the conversation instructions. Tool sets are loaded at startup from `tools.txt` and are not hot‑reloaded. + +
+ +
+Locked profile mode + +To create a locked variant of the app that cannot switch profiles, edit `src/reachy_mini_conversation_app/config.py` and set the `LOCKED_PROFILE` constant to the desired profile name: +```python +LOCKED_PROFILE: str | None = "mars_rover" # Lock to this profile +``` +When `LOCKED_PROFILE` is set, the app always uses that profile, ignoring `REACHY_MINI_CUSTOM_PROFILE` env var & the Gradio UI shows "(locked)" and disables all profile editing controls. +This is useful for creating dedicated clones of the app with a fixed personality. Clone scripts can simply edit this constant to lock the variant. + +
+ +
+External profiles and tools + +You can extend the app with profiles/tools stored outside `src/reachy_mini_conversation_app/`. + +- Core profiles are under `src/reachy_mini_conversation_app/profiles/`. +- Core tools are under `src/reachy_mini_conversation_app/tools/`. + +**Recommended layout:** + +```text +external_content/ +├── external_profiles/ +│ └── my_profile/ +│ ├── instructions.txt +│ ├── tools.txt # optional (see fallback behavior below) +│ └── voice.txt # optional +└── external_tools/ + └── my_custom_tool.py +``` + +**Environment variables:** + +Set these values in your `.env` (copy from `.env.example`): + +```env +REACHY_MINI_CUSTOM_PROFILE=my_profile +REACHY_MINI_EXTERNAL_PROFILES_DIRECTORY=./external_content/external_profiles +REACHY_MINI_EXTERNAL_TOOLS_DIRECTORY=./external_content/external_tools +# Optional convenience mode: +# AUTOLOAD_EXTERNAL_TOOLS=1 +``` + +**Loading behavior:** + +- **Default/strict mode**: `tools.txt` defines enabled tools explicitly. Every name in `tools.txt` must resolve to either a built-in tool (`src/reachy_mini_conversation_app/tools/`) or an external tool module in `REACHY_MINI_EXTERNAL_TOOLS_DIRECTORY`. +- **Convenience mode** (`AUTOLOAD_EXTERNAL_TOOLS=1`): all valid `*.py` tool files in `REACHY_MINI_EXTERNAL_TOOLS_DIRECTORY` are auto-added. +- **External profile fallback**: if the selected external profile has no `tools.txt`, the app falls back to built-in `profiles/default/tools.txt`. + +This supports both: +1. Downloaded external tools used with built-in/default profile. +2. Downloaded external profiles used with built-in default tools. + +
+ +
+Multiple robots on the same subnet + +If you run multiple Reachy Mini daemons on the same network, use: + +```bash +reachy-mini-conversation-app --robot-name +``` + +`` must match the daemon's `--robot-name` value so the app connects to the correct robot. + +
+ +## Contributing + +We welcome bug fixes, features, profiles, and documentation improvements. Please review our +[contribution guide](CONTRIBUTING.md) for branch conventions, quality checks, and PR workflow. + +Quick start: +- Fork and clone the repo +- Follow the [installation steps](#installation) (include the `dev` dependency group) +- Run contributor checks listed in [CONTRIBUTING.md](CONTRIBUTING.md) + +## License + +Apache 2.0 diff --git a/src/reachy_mini_conversation_app.egg-info/SOURCES.txt b/src/reachy_mini_conversation_app.egg-info/SOURCES.txt new file mode 100644 index 0000000000000000000000000000000000000000..a4157fc144c9a721877910dbda65beccb25cad8f --- /dev/null +++ b/src/reachy_mini_conversation_app.egg-info/SOURCES.txt @@ -0,0 +1,81 @@ +LICENSE +README.md +pyproject.toml +src/reachy_mini_conversation_app/__init__.py +src/reachy_mini_conversation_app/camera_worker.py +src/reachy_mini_conversation_app/config.py +src/reachy_mini_conversation_app/console.py +src/reachy_mini_conversation_app/dance_emotion_moves.py +src/reachy_mini_conversation_app/gradio_personality.py +src/reachy_mini_conversation_app/headless_personality.py +src/reachy_mini_conversation_app/headless_personality_ui.py +src/reachy_mini_conversation_app/main.py +src/reachy_mini_conversation_app/moves.py +src/reachy_mini_conversation_app/ollama_handler.py +src/reachy_mini_conversation_app/prompts.py +src/reachy_mini_conversation_app/utils.py +src/reachy_mini_conversation_app.egg-info/PKG-INFO +src/reachy_mini_conversation_app.egg-info/SOURCES.txt +src/reachy_mini_conversation_app.egg-info/dependency_links.txt +src/reachy_mini_conversation_app.egg-info/entry_points.txt +src/reachy_mini_conversation_app.egg-info/requires.txt +src/reachy_mini_conversation_app.egg-info/top_level.txt +src/reachy_mini_conversation_app/audio/__init__.py +src/reachy_mini_conversation_app/audio/head_wobbler.py +src/reachy_mini_conversation_app/audio/speech_tapper.py +src/reachy_mini_conversation_app/images/reachymini_avatar.png +src/reachy_mini_conversation_app/images/user_avatar.png +src/reachy_mini_conversation_app/profiles/__init__.py +src/reachy_mini_conversation_app/profiles/cosmic_kitchen/instructions.txt +src/reachy_mini_conversation_app/profiles/cosmic_kitchen/tools.txt +src/reachy_mini_conversation_app/profiles/default/instructions.txt +src/reachy_mini_conversation_app/profiles/default/tools.txt +src/reachy_mini_conversation_app/profiles/example/instructions.txt +src/reachy_mini_conversation_app/profiles/example/sweep_look.py +src/reachy_mini_conversation_app/profiles/example/tools.txt +src/reachy_mini_conversation_app/profiles/mars_rover/instructions.txt +src/reachy_mini_conversation_app/profiles/mars_rover/tools.txt +src/reachy_mini_conversation_app/profiles/short_bored_teenager/instructions.txt +src/reachy_mini_conversation_app/profiles/short_bored_teenager/tools.txt +src/reachy_mini_conversation_app/profiles/short_captain_circuit/instructions.txt +src/reachy_mini_conversation_app/profiles/short_captain_circuit/tools.txt +src/reachy_mini_conversation_app/profiles/short_chess_coach/instructions.txt +src/reachy_mini_conversation_app/profiles/short_chess_coach/tools.txt +src/reachy_mini_conversation_app/profiles/short_hype_bot/instructions.txt +src/reachy_mini_conversation_app/profiles/short_hype_bot/tools.txt +src/reachy_mini_conversation_app/profiles/short_mad_scientist_assistant/instructions.txt +src/reachy_mini_conversation_app/profiles/short_mad_scientist_assistant/tools.txt +src/reachy_mini_conversation_app/profiles/short_nature_documentarian/instructions.txt +src/reachy_mini_conversation_app/profiles/short_nature_documentarian/tools.txt +src/reachy_mini_conversation_app/profiles/short_noir_detective/instructions.txt +src/reachy_mini_conversation_app/profiles/short_noir_detective/tools.txt +src/reachy_mini_conversation_app/profiles/short_time_traveler/instructions.txt +src/reachy_mini_conversation_app/profiles/short_time_traveler/tools.txt +src/reachy_mini_conversation_app/profiles/short_victorian_butler/instructions.txt +src/reachy_mini_conversation_app/profiles/short_victorian_butler/tools.txt +src/reachy_mini_conversation_app/profiles/sorry_bro/instructions.txt +src/reachy_mini_conversation_app/profiles/sorry_bro/tools.txt +src/reachy_mini_conversation_app/prompts/default_prompt.txt +src/reachy_mini_conversation_app/prompts/passion_for_lobster_jokes.txt +src/reachy_mini_conversation_app/prompts/behaviors/silent_robot.txt +src/reachy_mini_conversation_app/prompts/identities/basic_info.txt +src/reachy_mini_conversation_app/prompts/identities/witty_identity.txt +src/reachy_mini_conversation_app/static/index.html +src/reachy_mini_conversation_app/static/main.js +src/reachy_mini_conversation_app/static/style.css +src/reachy_mini_conversation_app/tools/__init__.py +src/reachy_mini_conversation_app/tools/camera.py +src/reachy_mini_conversation_app/tools/core_tools.py +src/reachy_mini_conversation_app/tools/dance.py +src/reachy_mini_conversation_app/tools/do_nothing.py +src/reachy_mini_conversation_app/tools/head_tracking.py +src/reachy_mini_conversation_app/tools/move_head.py +src/reachy_mini_conversation_app/tools/play_emotion.py +src/reachy_mini_conversation_app/tools/stop_dance.py +src/reachy_mini_conversation_app/tools/stop_emotion.py +src/reachy_mini_conversation_app/vision/__init__.py +src/reachy_mini_conversation_app/vision/processors.py +src/reachy_mini_conversation_app/vision/yolo_head_tracker.py +tests/test_config_name_collisions.py +tests/test_external_loading.py +tests/test_ollama_handler.py \ No newline at end of file diff --git a/src/reachy_mini_conversation_app.egg-info/dependency_links.txt b/src/reachy_mini_conversation_app.egg-info/dependency_links.txt new file mode 100644 index 0000000000000000000000000000000000000000..8b137891791fe96927ad78e64b0aad7bded08bdc --- /dev/null +++ b/src/reachy_mini_conversation_app.egg-info/dependency_links.txt @@ -0,0 +1 @@ + diff --git a/src/reachy_mini_conversation_app.egg-info/entry_points.txt b/src/reachy_mini_conversation_app.egg-info/entry_points.txt new file mode 100644 index 0000000000000000000000000000000000000000..d02a693efc8e42fa8337760e820b484c8493c9f2 --- /dev/null +++ b/src/reachy_mini_conversation_app.egg-info/entry_points.txt @@ -0,0 +1,5 @@ +[console_scripts] +reachy-mini-conversation-app = reachy_mini_conversation_app.main:main + +[reachy_mini_apps] +reachy_mini_conversation_app = reachy_mini_conversation_app.main:ReachyMiniConversationApp diff --git a/src/reachy_mini_conversation_app.egg-info/requires.txt b/src/reachy_mini_conversation_app.egg-info/requires.txt new file mode 100644 index 0000000000000000000000000000000000000000..0a84c65108c605ef82609855d2f160cc0f220ff4 --- /dev/null +++ b/src/reachy_mini_conversation_app.egg-info/requires.txt @@ -0,0 +1,39 @@ +aiortc>=1.13.0 +fastrtc>=0.0.34 +gradio==5.50.1.dev1 +huggingface-hub==1.3.0 +opencv-python>=4.12.0.88 +python-dotenv +ollama>=0.4 +faster-whisper>=1.0 +edge-tts>=7.0 +miniaudio>=1.60 +reachy_mini_dances_library +reachy_mini_toolbox +reachy-mini>=1.3.1 +eclipse-zenoh~=1.7.0 +gradio_client>=1.13.3 + +[all_vision] +torch>=2.1 +transformers==5.0.0rc2 +num2words +ultralytics +supervision +mediapipe==0.10.14 + +[local_vision] +torch>=2.1 +transformers==5.0.0rc2 +num2words + +[mediapipe_vision] +mediapipe==0.10.14 + +[reachy_mini_wireless] +PyGObject<=3.46.0,>=3.42.2 +gst-signalling>=1.1.2 + +[yolo_vision] +ultralytics +supervision diff --git a/src/reachy_mini_conversation_app.egg-info/top_level.txt b/src/reachy_mini_conversation_app.egg-info/top_level.txt new file mode 100644 index 0000000000000000000000000000000000000000..b43300a21c4bd4ff512c5a0b3a54c1f25861160d --- /dev/null +++ b/src/reachy_mini_conversation_app.egg-info/top_level.txt @@ -0,0 +1 @@ +reachy_mini_conversation_app diff --git a/src/reachy_mini_conversation_app/__init__.py b/src/reachy_mini_conversation_app/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..60dc15c497e49cbeb8687afb06a62339c297e2b5 --- /dev/null +++ b/src/reachy_mini_conversation_app/__init__.py @@ -0,0 +1 @@ +"""Nothing (for ruff).""" diff --git a/src/reachy_mini_conversation_app/audio/__init__.py b/src/reachy_mini_conversation_app/audio/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..60dc15c497e49cbeb8687afb06a62339c297e2b5 --- /dev/null +++ b/src/reachy_mini_conversation_app/audio/__init__.py @@ -0,0 +1 @@ +"""Nothing (for ruff).""" diff --git a/src/reachy_mini_conversation_app/audio/head_wobbler.py b/src/reachy_mini_conversation_app/audio/head_wobbler.py new file mode 100644 index 0000000000000000000000000000000000000000..805d1cdb9ce682705b2f7851898cd8d952fdaeac --- /dev/null +++ b/src/reachy_mini_conversation_app/audio/head_wobbler.py @@ -0,0 +1,181 @@ +"""Moves head given audio samples.""" + +import time +import queue +import base64 +import logging +import threading +from typing import Tuple +from collections.abc import Callable + +import numpy as np +from numpy.typing import NDArray + +from reachy_mini_conversation_app.audio.speech_tapper import HOP_MS, SwayRollRT + + +SAMPLE_RATE = 24000 +MOVEMENT_LATENCY_S = 0.2 # seconds between audio and robot movement +logger = logging.getLogger(__name__) + + +class HeadWobbler: + """Converts audio deltas (base64) into head movement offsets.""" + + def __init__(self, set_speech_offsets: Callable[[Tuple[float, float, float, float, float, float]], None]) -> None: + """Initialize the head wobbler.""" + self._apply_offsets = set_speech_offsets + self._base_ts: float | None = None + self._hops_done: int = 0 + + self.audio_queue: "queue.Queue[Tuple[int, int, NDArray[np.int16]]]" = queue.Queue() + self.sway = SwayRollRT() + + # Synchronization primitives + self._state_lock = threading.Lock() + self._sway_lock = threading.Lock() + self._generation = 0 + + self._stop_event = threading.Event() + self._thread: threading.Thread | None = None + + def feed(self, delta_b64: str) -> None: + """Thread-safe: push audio into the consumer queue.""" + buf = np.frombuffer(base64.b64decode(delta_b64), dtype=np.int16).reshape(1, -1) + with self._state_lock: + generation = self._generation + self.audio_queue.put((generation, SAMPLE_RATE, buf)) + + def start(self) -> None: + """Start the head wobbler loop in a thread.""" + self._stop_event.clear() + self._thread = threading.Thread(target=self.working_loop, daemon=True) + self._thread.start() + logger.debug("Head wobbler started") + + def stop(self) -> None: + """Stop the head wobbler loop.""" + self._stop_event.set() + if self._thread is not None: + self._thread.join() + logger.debug("Head wobbler stopped") + + def working_loop(self) -> None: + """Convert audio deltas into head movement offsets.""" + hop_dt = HOP_MS / 1000.0 + + logger.debug("Head wobbler thread started") + while not self._stop_event.is_set(): + queue_ref = self.audio_queue + try: + chunk_generation, sr, chunk = queue_ref.get_nowait() # (gen, sr, data) + except queue.Empty: + # avoid while to never exit + time.sleep(MOVEMENT_LATENCY_S) + continue + + try: + with self._state_lock: + current_generation = self._generation + if chunk_generation != current_generation: + continue + + if self._base_ts is None: + with self._state_lock: + if self._base_ts is None: + self._base_ts = time.monotonic() + + pcm = np.asarray(chunk).squeeze(0) + with self._sway_lock: + results = self.sway.feed(pcm, sr) + + i = 0 + while i < len(results): + with self._state_lock: + if self._generation != current_generation: + break + base_ts = self._base_ts + hops_done = self._hops_done + + if base_ts is None: + base_ts = time.monotonic() + with self._state_lock: + if self._base_ts is None: + self._base_ts = base_ts + hops_done = self._hops_done + + target = base_ts + MOVEMENT_LATENCY_S + hops_done * hop_dt + now = time.monotonic() + + if now - target >= hop_dt: + lag_hops = int((now - target) / hop_dt) + drop = min(lag_hops, len(results) - i - 1) + if drop > 0: + with self._state_lock: + self._hops_done += drop + hops_done = self._hops_done + i += drop + continue + + if target > now: + time.sleep(target - now) + with self._state_lock: + if self._generation != current_generation: + break + + r = results[i] + offsets = ( + r["x_mm"] / 1000.0, + r["y_mm"] / 1000.0, + r["z_mm"] / 1000.0, + r["roll_rad"], + r["pitch_rad"], + r["yaw_rad"], + ) + + with self._state_lock: + if self._generation != current_generation: + break + + self._apply_offsets(offsets) + + with self._state_lock: + self._hops_done += 1 + i += 1 + finally: + queue_ref.task_done() + logger.debug("Head wobbler thread exited") + + ''' + def drain_audio_queue(self) -> None: + """Empty the audio queue.""" + try: + while True: + self.audio_queue.get_nowait() + except QueueEmpty: + pass + ''' + + def reset(self) -> None: + """Reset the internal state.""" + with self._state_lock: + self._generation += 1 + self._base_ts = None + self._hops_done = 0 + + # Drain any queued audio chunks from previous generations + drained_any = False + while True: + try: + _, _, _ = self.audio_queue.get_nowait() + except queue.Empty: + break + else: + drained_any = True + self.audio_queue.task_done() + + with self._sway_lock: + self.sway.reset() + + if drained_any: + logger.debug("Head wobbler queue drained during reset") diff --git a/src/reachy_mini_conversation_app/audio/speech_tapper.py b/src/reachy_mini_conversation_app/audio/speech_tapper.py new file mode 100644 index 0000000000000000000000000000000000000000..3f4a2f16f9c9dae14946f6e0b50db8d2bb0b08dd --- /dev/null +++ b/src/reachy_mini_conversation_app/audio/speech_tapper.py @@ -0,0 +1,268 @@ +from __future__ import annotations +import math +from typing import Any, Dict, List +from itertools import islice +from collections import deque + +import numpy as np +from numpy.typing import NDArray + + +# Tunables +SR = 16_000 +FRAME_MS = 20 +HOP_MS = 50 + +SWAY_MASTER = 1.5 +SENS_DB_OFFSET = +4.0 +VAD_DB_ON = -35.0 +VAD_DB_OFF = -45.0 +VAD_ATTACK_MS = 40 +VAD_RELEASE_MS = 250 +ENV_FOLLOW_GAIN = 0.65 + +SWAY_F_PITCH = 2.2 +SWAY_A_PITCH_DEG = 4.5 +SWAY_F_YAW = 0.6 +SWAY_A_YAW_DEG = 7.5 +SWAY_F_ROLL = 1.3 +SWAY_A_ROLL_DEG = 2.25 +SWAY_F_X = 0.35 +SWAY_A_X_MM = 4.5 +SWAY_F_Y = 0.45 +SWAY_A_Y_MM = 3.75 +SWAY_F_Z = 0.25 +SWAY_A_Z_MM = 2.25 + +SWAY_DB_LOW = -46.0 +SWAY_DB_HIGH = -18.0 +LOUDNESS_GAMMA = 0.9 +SWAY_ATTACK_MS = 50 +SWAY_RELEASE_MS = 250 + +# Derived +FRAME = int(SR * FRAME_MS / 1000) +HOP = int(SR * HOP_MS / 1000) +ATTACK_FR = max(1, int(VAD_ATTACK_MS / HOP_MS)) +RELEASE_FR = max(1, int(VAD_RELEASE_MS / HOP_MS)) +SWAY_ATTACK_FR = max(1, int(SWAY_ATTACK_MS / HOP_MS)) +SWAY_RELEASE_FR = max(1, int(SWAY_RELEASE_MS / HOP_MS)) + + +def _rms_dbfs(x: NDArray[np.float32]) -> float: + """Root-mean-square in dBFS for float32 mono array in [-1,1].""" + # numerically stable rms (avoid overflow) + x = x.astype(np.float32, copy=False) + rms = np.sqrt(np.mean(x * x, dtype=np.float32) + 1e-12, dtype=np.float32) + return float(20.0 * math.log10(float(rms) + 1e-12)) + + +def _loudness_gain(db: float, offset: float = SENS_DB_OFFSET) -> float: + """Normalize dB into [0,1] with gamma; clipped to [0,1].""" + t = (db + offset - SWAY_DB_LOW) / (SWAY_DB_HIGH - SWAY_DB_LOW) + if t < 0.0: + t = 0.0 + elif t > 1.0: + t = 1.0 + return t**LOUDNESS_GAMMA if LOUDNESS_GAMMA != 1.0 else t + + +def _to_float32_mono(x: NDArray[Any]) -> NDArray[np.float32]: + """Convert arbitrary PCM array to float32 mono in [-1,1]. + + Accepts shapes: (N,), (1,N), (N,1), (C,N), (N,C). + """ + a = np.asarray(x) + if a.ndim == 0: + return np.zeros(0, dtype=np.float32) + + # If 2D, decide which axis is channels (prefer small first dim) + if a.ndim == 2: + # e.g., (channels, samples) if channels is small (<=8) + if a.shape[0] <= 8 and a.shape[0] <= a.shape[1]: + a = np.mean(a, axis=0) + else: + a = np.mean(a, axis=1) + elif a.ndim > 2: + a = np.mean(a.reshape(a.shape[0], -1), axis=0) + + # Now 1D, cast/scale + if np.issubdtype(a.dtype, np.floating): + return a.astype(np.float32, copy=False) + # integer PCM + info = np.iinfo(a.dtype) + scale = float(max(-info.min, info.max)) + return a.astype(np.float32) / (scale if scale != 0.0 else 1.0) + + +def _resample_linear(x: NDArray[np.float32], sr_in: int, sr_out: int) -> NDArray[np.float32]: + """Lightweight linear resampler for short buffers.""" + if sr_in == sr_out or x.size == 0: + return x + # guard tiny sizes + n_out = int(round(x.size * sr_out / sr_in)) + if n_out <= 1: + return np.zeros(0, dtype=np.float32) + t_in = np.linspace(0.0, 1.0, num=x.size, dtype=np.float32, endpoint=True) + t_out = np.linspace(0.0, 1.0, num=n_out, dtype=np.float32, endpoint=True) + return np.interp(t_out, t_in, x).astype(np.float32, copy=False) + + +class SwayRollRT: + """Feed audio chunks → per-hop sway outputs. + + Usage: + rt = SwayRollRT() + rt.feed(pcm_int16_or_float, sr) -> List[dict] + """ + + def __init__(self, rng_seed: int = 7): + """Initialize state.""" + self._seed = int(rng_seed) + self.samples: deque[float] = deque(maxlen=10 * SR) # sliding window for VAD/env + self.carry: NDArray[np.float32] = np.zeros(0, dtype=np.float32) + + self.vad_on = False + self.vad_above = 0 + self.vad_below = 0 + + self.sway_env = 0.0 + self.sway_up = 0 + self.sway_down = 0 + + rng = np.random.default_rng(self._seed) + self.phase_pitch = float(rng.random() * 2 * math.pi) + self.phase_yaw = float(rng.random() * 2 * math.pi) + self.phase_roll = float(rng.random() * 2 * math.pi) + self.phase_x = float(rng.random() * 2 * math.pi) + self.phase_y = float(rng.random() * 2 * math.pi) + self.phase_z = float(rng.random() * 2 * math.pi) + self.t = 0.0 + + def reset(self) -> None: + """Reset state (VAD/env/buffers/time) but keep initial phases/seed.""" + self.samples.clear() + self.carry = np.zeros(0, dtype=np.float32) + self.vad_on = False + self.vad_above = 0 + self.vad_below = 0 + self.sway_env = 0.0 + self.sway_up = 0 + self.sway_down = 0 + self.t = 0.0 + + def feed(self, pcm: NDArray[Any], sr: int | None) -> List[Dict[str, float]]: + """Stream in PCM chunk. Returns a list of sway dicts, one per hop (HOP_MS). + + Args: + pcm: np.ndarray, shape (N,) or (C,N)/(N,C); int or float. + sr: sample rate of `pcm` (None -> assume SR). + + """ + sr_in = SR if sr is None else int(sr) + x = _to_float32_mono(pcm) + if x.size == 0: + return [] + if sr_in != SR: + x = _resample_linear(x, sr_in, SR) + if x.size == 0: + return [] + + # append to carry and consume fixed HOP chunks + if self.carry.size: + self.carry = np.concatenate([self.carry, x]) + else: + self.carry = x + + out: List[Dict[str, float]] = [] + + while self.carry.size >= HOP: + hop = self.carry[:HOP] + remaining: NDArray[np.float32] = self.carry[HOP:] + self.carry = remaining + + # keep sliding window for VAD/env computation + # (deque accepts any iterable; list() for small HOP is fine) + self.samples.extend(hop.tolist()) + if len(self.samples) < FRAME: + self.t += HOP_MS / 1000.0 + continue + + frame = np.fromiter( + islice(self.samples, len(self.samples) - FRAME, len(self.samples)), + dtype=np.float32, + count=FRAME, + ) + db = _rms_dbfs(frame) + + # VAD with hysteresis + attack/release + if db >= VAD_DB_ON: + self.vad_above += 1 + self.vad_below = 0 + if not self.vad_on and self.vad_above >= ATTACK_FR: + self.vad_on = True + elif db <= VAD_DB_OFF: + self.vad_below += 1 + self.vad_above = 0 + if self.vad_on and self.vad_below >= RELEASE_FR: + self.vad_on = False + + if self.vad_on: + self.sway_up = min(SWAY_ATTACK_FR, self.sway_up + 1) + self.sway_down = 0 + else: + self.sway_down = min(SWAY_RELEASE_FR, self.sway_down + 1) + self.sway_up = 0 + + up = self.sway_up / SWAY_ATTACK_FR + down = 1.0 - (self.sway_down / SWAY_RELEASE_FR) + target = up if self.vad_on else down + self.sway_env += ENV_FOLLOW_GAIN * (target - self.sway_env) + # clamp + if self.sway_env < 0.0: + self.sway_env = 0.0 + elif self.sway_env > 1.0: + self.sway_env = 1.0 + + loud = _loudness_gain(db) * SWAY_MASTER + env = self.sway_env + self.t += HOP_MS / 1000.0 + + # oscillators + pitch = ( + math.radians(SWAY_A_PITCH_DEG) + * loud + * env + * math.sin(2 * math.pi * SWAY_F_PITCH * self.t + self.phase_pitch) + ) + yaw = ( + math.radians(SWAY_A_YAW_DEG) + * loud + * env + * math.sin(2 * math.pi * SWAY_F_YAW * self.t + self.phase_yaw) + ) + roll = ( + math.radians(SWAY_A_ROLL_DEG) + * loud + * env + * math.sin(2 * math.pi * SWAY_F_ROLL * self.t + self.phase_roll) + ) + x_mm = SWAY_A_X_MM * loud * env * math.sin(2 * math.pi * SWAY_F_X * self.t + self.phase_x) + y_mm = SWAY_A_Y_MM * loud * env * math.sin(2 * math.pi * SWAY_F_Y * self.t + self.phase_y) + z_mm = SWAY_A_Z_MM * loud * env * math.sin(2 * math.pi * SWAY_F_Z * self.t + self.phase_z) + + out.append( + { + "pitch_rad": pitch, + "yaw_rad": yaw, + "roll_rad": roll, + "pitch_deg": math.degrees(pitch), + "yaw_deg": math.degrees(yaw), + "roll_deg": math.degrees(roll), + "x_mm": x_mm, + "y_mm": y_mm, + "z_mm": z_mm, + }, + ) + + return out diff --git a/src/reachy_mini_conversation_app/camera_worker.py b/src/reachy_mini_conversation_app/camera_worker.py new file mode 100644 index 0000000000000000000000000000000000000000..e625c00936d73edbe6c9bcf677f11d71a3409d89 --- /dev/null +++ b/src/reachy_mini_conversation_app/camera_worker.py @@ -0,0 +1,241 @@ +"""Camera worker thread with frame buffering and face tracking. + +Ported from main_works.py camera_worker() function to provide: +- 30Hz+ camera polling with thread-safe frame buffering +- Face tracking integration with smooth interpolation +- Latest frame always available for tools +""" + +import time +import logging +import threading +from typing import Any, List, Tuple + +import numpy as np +from numpy.typing import NDArray +from scipy.spatial.transform import Rotation as R + +from reachy_mini import ReachyMini +from reachy_mini.utils.interpolation import linear_pose_interpolation + + +logger = logging.getLogger(__name__) + + +class CameraWorker: + """Thread-safe camera worker with frame buffering and face tracking.""" + + def __init__(self, reachy_mini: ReachyMini, head_tracker: Any = None) -> None: + """Initialize.""" + self.reachy_mini = reachy_mini + self.head_tracker = head_tracker + + # Thread-safe frame storage + self.latest_frame: NDArray[np.uint8] | None = None + self.frame_lock = threading.Lock() + self._stop_event = threading.Event() + self._thread: threading.Thread | None = None + + # Face tracking state + self.is_head_tracking_enabled = True + self.face_tracking_offsets: List[float] = [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + ] # x, y, z, roll, pitch, yaw + self.face_tracking_lock = threading.Lock() + + # Face tracking timing variables (same as main_works.py) + self.last_face_detected_time: float | None = None + self.interpolation_start_time: float | None = None + self.interpolation_start_pose: NDArray[np.float32] | None = None + self.face_lost_delay = 2.0 # seconds to wait before starting interpolation + self.interpolation_duration = 1.0 # seconds to interpolate back to neutral + + # Track state changes + self.previous_head_tracking_state = self.is_head_tracking_enabled + + def get_latest_frame(self) -> NDArray[np.uint8] | None: + """Get the latest frame (thread-safe).""" + with self.frame_lock: + if self.latest_frame is None: + return None + # Return a copy in original BGR format (OpenCV native) + return self.latest_frame.copy() + + def get_face_tracking_offsets( + self, + ) -> Tuple[float, float, float, float, float, float]: + """Get current face tracking offsets (thread-safe).""" + with self.face_tracking_lock: + offsets = self.face_tracking_offsets + return (offsets[0], offsets[1], offsets[2], offsets[3], offsets[4], offsets[5]) + + def set_head_tracking_enabled(self, enabled: bool) -> None: + """Enable/disable head tracking.""" + self.is_head_tracking_enabled = enabled + logger.info(f"Head tracking {'enabled' if enabled else 'disabled'}") + + def start(self) -> None: + """Start the camera worker loop in a thread.""" + self._stop_event.clear() + self._thread = threading.Thread(target=self.working_loop, daemon=True) + self._thread.start() + logger.debug("Camera worker started") + + def stop(self) -> None: + """Stop the camera worker loop.""" + self._stop_event.set() + if self._thread is not None: + self._thread.join() + + logger.debug("Camera worker stopped") + + def working_loop(self) -> None: + """Enable the camera worker loop. + + Ported from main_works.py camera_worker() with same logic. + """ + logger.debug("Starting camera working loop") + + # Initialize head tracker if available + neutral_pose = np.eye(4) # Neutral pose (identity matrix) + self.previous_head_tracking_state = self.is_head_tracking_enabled + + while not self._stop_event.is_set(): + try: + current_time = time.time() + + # Get frame from robot + frame = self.reachy_mini.media.get_frame() + + if frame is not None: + # Thread-safe frame storage + with self.frame_lock: + self.latest_frame = frame # .copy() + + # Check if face tracking was just disabled + if self.previous_head_tracking_state and not self.is_head_tracking_enabled: + # Face tracking was just disabled - start interpolation to neutral + self.last_face_detected_time = current_time # Trigger the face-lost logic + self.interpolation_start_time = None # Will be set by the face-lost interpolation + self.interpolation_start_pose = None + + # Update tracking state + self.previous_head_tracking_state = self.is_head_tracking_enabled + + # Handle face tracking if enabled and head tracker available + if self.is_head_tracking_enabled and self.head_tracker is not None: + eye_center, _ = self.head_tracker.get_head_position(frame) + + if eye_center is not None: + # Face detected - immediately switch to tracking + self.last_face_detected_time = current_time + self.interpolation_start_time = None # Stop any interpolation + + # Convert normalized coordinates to pixel coordinates + h, w, _ = frame.shape + eye_center_norm = (eye_center + 1) / 2 + eye_center_pixels = [ + eye_center_norm[0] * w, + eye_center_norm[1] * h, + ] + + # Get the head pose needed to look at the target, but don't perform movement + target_pose = self.reachy_mini.look_at_image( + eye_center_pixels[0], + eye_center_pixels[1], + duration=0.0, + perform_movement=False, + ) + + # Extract translation and rotation from the target pose directly + translation = target_pose[:3, 3] + rotation = R.from_matrix(target_pose[:3, :3]).as_euler("xyz", degrees=False) + + # Scale down translation and rotation because smaller FOV + translation *= 0.6 + rotation *= 0.6 + + # Thread-safe update of face tracking offsets (use pose as-is) + with self.face_tracking_lock: + self.face_tracking_offsets = [ + translation[0], + translation[1], + translation[2], # x, y, z + rotation[0], + rotation[1], + rotation[2], # roll, pitch, yaw + ] + + # No face detected while tracking enabled - set face lost timestamp + elif self.last_face_detected_time is None or self.last_face_detected_time == current_time: + # Only update if we haven't already set a face lost time + # (current_time check prevents overriding the disable-triggered timestamp) + pass + + # Handle smooth interpolation (works for both face-lost and tracking-disabled cases) + if self.last_face_detected_time is not None: + time_since_face_lost = current_time - self.last_face_detected_time + + if time_since_face_lost >= self.face_lost_delay: + # Start interpolation if not already started + if self.interpolation_start_time is None: + self.interpolation_start_time = current_time + # Capture current pose as start of interpolation + with self.face_tracking_lock: + current_translation = self.face_tracking_offsets[:3] + current_rotation_euler = self.face_tracking_offsets[3:] + # Convert to 4x4 pose matrix + pose_matrix = np.eye(4, dtype=np.float32) + pose_matrix[:3, 3] = current_translation + pose_matrix[:3, :3] = R.from_euler( + "xyz", + current_rotation_euler, + ).as_matrix() + self.interpolation_start_pose = pose_matrix + + # Calculate interpolation progress (t from 0 to 1) + elapsed_interpolation = current_time - self.interpolation_start_time + t = min(1.0, elapsed_interpolation / self.interpolation_duration) + + # Interpolate between current pose and neutral pose + interpolated_pose = linear_pose_interpolation( + self.interpolation_start_pose, + neutral_pose, + t, + ) + + # Extract translation and rotation from interpolated pose + translation = interpolated_pose[:3, 3] + rotation = R.from_matrix(interpolated_pose[:3, :3]).as_euler("xyz", degrees=False) + + # Thread-safe update of face tracking offsets + with self.face_tracking_lock: + self.face_tracking_offsets = [ + translation[0], + translation[1], + translation[2], # x, y, z + rotation[0], + rotation[1], + rotation[2], # roll, pitch, yaw + ] + + # If interpolation is complete, reset timing + if t >= 1.0: + self.last_face_detected_time = None + self.interpolation_start_time = None + self.interpolation_start_pose = None + # else: Keep current offsets (within 2s delay period) + + # Small sleep to prevent excessive CPU usage (same as main_works.py) + time.sleep(0.04) + + except Exception as e: + logger.error(f"Camera worker error: {e}") + time.sleep(0.1) # Longer sleep on error + + logger.debug("Camera worker thread exited") diff --git a/src/reachy_mini_conversation_app/config.py b/src/reachy_mini_conversation_app/config.py new file mode 100644 index 0000000000000000000000000000000000000000..50f39f5caef5ecfa26272cbc9cd0766cb463fedf --- /dev/null +++ b/src/reachy_mini_conversation_app/config.py @@ -0,0 +1,223 @@ +import os +import sys +import logging +from pathlib import Path + +from dotenv import find_dotenv, load_dotenv + + +# Locked profile: set to a profile name (e.g., "astronomer") to lock the app +# to that profile and disable all profile switching. Leave as None for normal behavior. +LOCKED_PROFILE: str | None = None +DEFAULT_PROFILES_DIRECTORY = Path(__file__).parent / "profiles" + +logger = logging.getLogger(__name__) + + +def _env_flag(name: str, default: bool = False) -> bool: + """Parse a boolean environment flag. + + Accepted truthy values: 1, true, yes, on + Accepted falsy values: 0, false, no, off + """ + raw = os.getenv(name) + if raw is None: + return default + + value = raw.strip().lower() + if value in {"1", "true", "yes", "on"}: + return True + if value in {"0", "false", "no", "off"}: + return False + + logger.warning("Invalid boolean value for %s=%r, using default=%s", name, raw, default) + return default + + +def _collect_profile_names(profiles_root: Path) -> set[str]: + """Return profile folder names from a profiles root directory.""" + if not profiles_root.exists() or not profiles_root.is_dir(): + return set() + return {p.name for p in profiles_root.iterdir() if p.is_dir()} + + +def _collect_tool_module_names(tools_root: Path) -> set[str]: + """Return tool module names from a tools directory.""" + if not tools_root.exists() or not tools_root.is_dir(): + return set() + ignored = {"__init__", "core_tools"} + return { + p.stem + for p in tools_root.glob("*.py") + if p.is_file() and p.stem not in ignored + } + + +def _raise_on_name_collisions( + *, + label: str, + external_root: Path, + internal_root: Path, + external_names: set[str], + internal_names: set[str], +) -> None: + """Raise with a clear message when external/internal names collide.""" + collisions = sorted(external_names & internal_names) + if not collisions: + return + + raise RuntimeError( + f"Config.__init__(): Ambiguous {label} names found in both external and built-in libraries: {collisions}. " + f"External {label} root: {external_root}. Built-in {label} root: {internal_root}. " + f"Please rename the conflicting external {label}(s) to continue." + ) + + +# Validate LOCKED_PROFILE at startup +if LOCKED_PROFILE is not None: + _profiles_dir = DEFAULT_PROFILES_DIRECTORY + _profile_path = _profiles_dir / LOCKED_PROFILE + _instructions_file = _profile_path / "instructions.txt" + if not _profile_path.is_dir(): + print(f"Error: LOCKED_PROFILE '{LOCKED_PROFILE}' does not exist in {_profiles_dir}", file=sys.stderr) + sys.exit(1) + if not _instructions_file.is_file(): + print(f"Error: LOCKED_PROFILE '{LOCKED_PROFILE}' has no instructions.txt", file=sys.stderr) + sys.exit(1) + +_skip_dotenv = _env_flag("REACHY_MINI_SKIP_DOTENV", default=False) + +if _skip_dotenv: + logger.info("Skipping .env loading because REACHY_MINI_SKIP_DOTENV is set") +else: + # Locate .env file (search upward from current working directory) + dotenv_path = find_dotenv(usecwd=True) + + if dotenv_path: + # Load .env and override environment variables + load_dotenv(dotenv_path=dotenv_path, override=True) + logger.info(f"Configuration loaded from {dotenv_path}") + else: + logger.warning("No .env file found, using environment variables") + + +class Config: + """Configuration class for the conversation app.""" + + # Ollama + OLLAMA_BASE_URL = os.getenv("OLLAMA_BASE_URL", "http://localhost:11434") + MODEL_NAME = os.getenv("MODEL_NAME", "llama3.2") + + # STT (faster-whisper model size: tiny, base, small, medium, large-v3) + STT_MODEL = os.getenv("STT_MODEL", "base") + + # TTS (edge-tts voice name) + TTS_VOICE = os.getenv("TTS_VOICE", "en-US-AriaNeural") + + # Vision (optional, used with --local-vision CLI flag) + HF_HOME = os.getenv("HF_HOME", "./cache") + LOCAL_VISION_MODEL = os.getenv("LOCAL_VISION_MODEL", "HuggingFaceTB/SmolVLM2-2.2B-Instruct") + HF_TOKEN = os.getenv("HF_TOKEN") # Optional, falls back to hf auth login if not set + + logger.debug(f"Model: {MODEL_NAME}, Ollama: {OLLAMA_BASE_URL}, STT: {STT_MODEL}, TTS: {TTS_VOICE}") + + _profiles_directory_env = os.getenv("REACHY_MINI_EXTERNAL_PROFILES_DIRECTORY") + PROFILES_DIRECTORY = ( + Path(_profiles_directory_env) if _profiles_directory_env else Path(__file__).parent / "profiles" + ) + _tools_directory_env = os.getenv("REACHY_MINI_EXTERNAL_TOOLS_DIRECTORY") + TOOLS_DIRECTORY = Path(_tools_directory_env) if _tools_directory_env else None + AUTOLOAD_EXTERNAL_TOOLS = _env_flag("AUTOLOAD_EXTERNAL_TOOLS", default=False) + REACHY_MINI_CUSTOM_PROFILE = LOCKED_PROFILE or os.getenv("REACHY_MINI_CUSTOM_PROFILE") + + logger.debug(f"Custom Profile: {REACHY_MINI_CUSTOM_PROFILE}") + + def __init__(self) -> None: + """Initialize the configuration.""" + if self.REACHY_MINI_CUSTOM_PROFILE and self.PROFILES_DIRECTORY != DEFAULT_PROFILES_DIRECTORY: + selected_profile_path = self.PROFILES_DIRECTORY / self.REACHY_MINI_CUSTOM_PROFILE + if not selected_profile_path.is_dir(): + available_profiles = sorted(_collect_profile_names(self.PROFILES_DIRECTORY)) + raise RuntimeError( + "Config.__init__(): Selected profile " + f"'{self.REACHY_MINI_CUSTOM_PROFILE}' was not found in external profiles root " + f"{self.PROFILES_DIRECTORY}. " + f"Available external profiles: {available_profiles}. " + "Either set 'REACHY_MINI_CUSTOM_PROFILE' to one of the available external profiles " + "or unset 'REACHY_MINI_EXTERNAL_PROFILES_DIRECTORY' to use built-in profiles." + ) + + if self.PROFILES_DIRECTORY != DEFAULT_PROFILES_DIRECTORY: + external_profiles = _collect_profile_names(self.PROFILES_DIRECTORY) + internal_profiles = _collect_profile_names(DEFAULT_PROFILES_DIRECTORY) + _raise_on_name_collisions( + label="profile", + external_root=self.PROFILES_DIRECTORY, + internal_root=DEFAULT_PROFILES_DIRECTORY, + external_names=external_profiles, + internal_names=internal_profiles, + ) + + if self.TOOLS_DIRECTORY is not None: + builtin_tools_root = Path(__file__).parent / "tools" + external_tools = _collect_tool_module_names(self.TOOLS_DIRECTORY) + internal_tools = _collect_tool_module_names(builtin_tools_root) + _raise_on_name_collisions( + label="tool", + external_root=self.TOOLS_DIRECTORY, + internal_root=builtin_tools_root, + external_names=external_tools, + internal_names=internal_tools, + ) + + if self.PROFILES_DIRECTORY != DEFAULT_PROFILES_DIRECTORY: + logger.warning( + "Environment variable 'REACHY_MINI_EXTERNAL_PROFILES_DIRECTORY' is set. " + "Profiles (instructions.txt, ...) will be loaded from %s.", + self.PROFILES_DIRECTORY, + ) + else: + logger.info( + "'REACHY_MINI_EXTERNAL_PROFILES_DIRECTORY' is not set. " + "Using built-in profiles from %s.", + DEFAULT_PROFILES_DIRECTORY, + ) + + if self.TOOLS_DIRECTORY is not None: + logger.warning( + "Environment variable 'REACHY_MINI_EXTERNAL_TOOLS_DIRECTORY' is set. " + "External tools will be loaded from %s.", + self.TOOLS_DIRECTORY, + ) + else: + logger.info( + "'REACHY_MINI_EXTERNAL_TOOLS_DIRECTORY' is not set. " + "Using built-in shared tools only." + ) + + +config = Config() + + +def set_custom_profile(profile: str | None) -> None: + """Update the selected custom profile at runtime and expose it via env. + + This ensures modules that read `config` and code that inspects the + environment see a consistent value. + """ + if LOCKED_PROFILE is not None: + return + try: + config.REACHY_MINI_CUSTOM_PROFILE = profile + except Exception: + pass + try: + import os as _os + + if profile: + _os.environ["REACHY_MINI_CUSTOM_PROFILE"] = profile + else: + # Remove to reflect default + _os.environ.pop("REACHY_MINI_CUSTOM_PROFILE", None) + except Exception: + pass diff --git a/src/reachy_mini_conversation_app/console.py b/src/reachy_mini_conversation_app/console.py new file mode 100644 index 0000000000000000000000000000000000000000..9449f1b3567bf1e963d63691d3a56274dfb0155a --- /dev/null +++ b/src/reachy_mini_conversation_app/console.py @@ -0,0 +1,377 @@ +"""Bidirectional local audio stream with optional settings UI. + +In headless mode, there is no Gradio UI. The app connects directly to the +Ollama server for LLM inference. If Ollama is not reachable, the settings +page shows the connection status. + +The settings UI is served from this package's ``static/`` folder and offers +personality management. Once configured, streaming starts automatically. +""" + +import os +import sys +import time +import asyncio +import logging +from typing import List, Optional +from pathlib import Path + +from fastrtc import AdditionalOutputs, audio_to_float32 +from scipy.signal import resample + +from reachy_mini import ReachyMini +from reachy_mini.media.media_manager import MediaBackend +from reachy_mini_conversation_app.config import LOCKED_PROFILE, config +from reachy_mini_conversation_app.ollama_handler import OllamaHandler +from reachy_mini_conversation_app.headless_personality_ui import mount_personality_routes + + +try: + # FastAPI is provided by the Reachy Mini Apps runtime + from fastapi import FastAPI, Response + from pydantic import BaseModel + from fastapi.responses import FileResponse, JSONResponse + from starlette.staticfiles import StaticFiles +except Exception: # pragma: no cover - only loaded when settings_app is used + FastAPI = object # type: ignore + FileResponse = object # type: ignore + JSONResponse = object # type: ignore + StaticFiles = object # type: ignore + BaseModel = object # type: ignore + + +logger = logging.getLogger(__name__) + + +class LocalStream: + """LocalStream using Reachy Mini's recorder/player.""" + + def __init__( + self, + handler: OllamaHandler, + robot: ReachyMini, + *, + settings_app: Optional[FastAPI] = None, + instance_path: Optional[str] = None, + ): + """Initialize the stream with an Ollama handler and pipelines. + + - ``settings_app``: the Reachy Mini Apps FastAPI to attach settings endpoints. + - ``instance_path``: directory where per-instance ``.env`` should be stored. + """ + self.handler = handler + self._robot = robot + self._stop_event = asyncio.Event() + self._tasks: List[asyncio.Task[None]] = [] + # Allow the handler to flush the player queue when appropriate. + self.handler._clear_queue = self.clear_audio_queue + self._settings_app: Optional[FastAPI] = settings_app + self._instance_path: Optional[str] = instance_path + self._settings_initialized = False + self._asyncio_loop = None + + # ---- Personality persistence helpers ---- + + def _read_env_lines(self, env_path: Path) -> list[str]: + """Load env file contents or a template as a list of lines.""" + inst = env_path.parent + try: + if env_path.exists(): + try: + return env_path.read_text(encoding="utf-8").splitlines() + except Exception: + return [] + template_text = None + ex = inst / ".env.example" + if ex.exists(): + try: + template_text = ex.read_text(encoding="utf-8") + except Exception: + template_text = None + if template_text is None: + try: + cwd_example = Path.cwd() / ".env.example" + if cwd_example.exists(): + template_text = cwd_example.read_text(encoding="utf-8") + except Exception: + template_text = None + if template_text is None: + packaged = Path(__file__).parent / ".env.example" + if packaged.exists(): + try: + template_text = packaged.read_text(encoding="utf-8") + except Exception: + template_text = None + return template_text.splitlines() if template_text else [] + except Exception: + return [] + + def _persist_personality(self, profile: Optional[str]) -> None: + """Persist the startup personality to the instance .env and config.""" + if LOCKED_PROFILE is not None: + return + selection = (profile or "").strip() or None + try: + from reachy_mini_conversation_app.config import set_custom_profile + + set_custom_profile(selection) + except Exception: + pass + + if not self._instance_path: + return + try: + env_path = Path(self._instance_path) / ".env" + lines = self._read_env_lines(env_path) + replaced = False + for i, ln in enumerate(list(lines)): + if ln.strip().startswith("REACHY_MINI_CUSTOM_PROFILE="): + if selection: + lines[i] = f"REACHY_MINI_CUSTOM_PROFILE={selection}" + else: + lines.pop(i) + replaced = True + break + if selection and not replaced: + lines.append(f"REACHY_MINI_CUSTOM_PROFILE={selection}") + if selection is None and not env_path.exists(): + return + final_text = "\n".join(lines) + "\n" + env_path.write_text(final_text, encoding="utf-8") + logger.info("Persisted startup personality to %s", env_path) + try: + from dotenv import load_dotenv + + load_dotenv(dotenv_path=str(env_path), override=True) + except Exception: + pass + except Exception as e: + logger.warning("Failed to persist REACHY_MINI_CUSTOM_PROFILE: %s", e) + + def _read_persisted_personality(self) -> Optional[str]: + """Read persisted startup personality from instance .env (if any).""" + if not self._instance_path: + return None + env_path = Path(self._instance_path) / ".env" + try: + if env_path.exists(): + for ln in env_path.read_text(encoding="utf-8").splitlines(): + if ln.strip().startswith("REACHY_MINI_CUSTOM_PROFILE="): + _, _, val = ln.partition("=") + v = val.strip() + return v or None + except Exception: + pass + return None + + def _init_settings_ui_if_needed(self) -> None: + """Attach minimal settings UI to the settings app. + + Mounts a status page and personality management when a settings_app + is provided. + """ + if self._settings_initialized: + return + if self._settings_app is None: + return + + static_dir = Path(__file__).parent / "static" + index_file = static_dir / "index.html" + + if hasattr(self._settings_app, "mount"): + try: + # Serve /static/* assets + self._settings_app.mount("/static", StaticFiles(directory=str(static_dir)), name="static") + except Exception: + pass + + # GET / -> index.html + @self._settings_app.get("/") + def _root() -> FileResponse: + return FileResponse(str(index_file)) + + # GET /favicon.ico -> avoid noisy 404s + @self._settings_app.get("/favicon.ico") + def _favicon() -> Response: + return Response(status_code=204) + + # GET /status -> Ollama connectivity check + @self._settings_app.get("/status") + async def _status() -> JSONResponse: + ollama_ok = False + try: + import httpx + + async with httpx.AsyncClient(timeout=3.0) as client: + resp = await client.get(f"{config.OLLAMA_BASE_URL}/api/tags") + ollama_ok = resp.status_code == 200 + except Exception: + pass + return JSONResponse({"ollama_connected": ollama_ok, "model": config.MODEL_NAME}) + + # GET /ready -> whether backend finished loading tools + @self._settings_app.get("/ready") + def _ready() -> JSONResponse: + try: + mod = sys.modules.get("reachy_mini_conversation_app.tools.core_tools") + ready = bool(getattr(mod, "_TOOLS_INITIALIZED", False)) if mod else False + except Exception: + ready = False + return JSONResponse({"ready": ready}) + + self._settings_initialized = True + + def launch(self) -> None: + """Start the recorder/player and run the async processing loops.""" + self._stop_event.clear() + + # Try to load an existing instance .env first (covers subsequent runs) + if self._instance_path: + try: + from dotenv import load_dotenv + + from reachy_mini_conversation_app.config import set_custom_profile + + env_path = Path(self._instance_path) / ".env" + if env_path.exists(): + load_dotenv(dotenv_path=str(env_path), override=True) + if LOCKED_PROFILE is None: + new_profile = os.getenv("REACHY_MINI_CUSTOM_PROFILE") + if new_profile is not None: + try: + set_custom_profile(new_profile.strip() or None) + except Exception: + pass # Best-effort profile update + except Exception: + pass # Instance .env loading is optional; continue with defaults + + # Always expose settings UI if a settings app is available + self._init_settings_ui_if_needed() + + # Start media + self._robot.media.start_recording() + self._robot.media.start_playing() + time.sleep(1) # give some time to the pipelines to start + + async def runner() -> None: + # Capture loop for cross-thread personality actions + loop = asyncio.get_running_loop() + self._asyncio_loop = loop # type: ignore[assignment] + # Mount personality routes now that loop and handler are available + try: + if self._settings_app is not None: + mount_personality_routes( + self._settings_app, + self.handler, + lambda: self._asyncio_loop, + persist_personality=self._persist_personality, + get_persisted_personality=self._read_persisted_personality, + ) + except Exception: + pass + self._tasks = [ + asyncio.create_task(self.handler.start_up(), name="ollama-handler"), + asyncio.create_task(self.record_loop(), name="stream-record-loop"), + asyncio.create_task(self.play_loop(), name="stream-play-loop"), + ] + try: + await asyncio.gather(*self._tasks) + except asyncio.CancelledError: + logger.info("Tasks cancelled during shutdown") + finally: + # Ensure handler connection is closed + await self.handler.shutdown() + + asyncio.run(runner()) + + def close(self) -> None: + """Stop the stream and underlying media pipelines. + + This method: + - Stops audio recording and playback first + - Sets the stop event to signal async loops to terminate + - Cancels all pending async tasks + """ + logger.info("Stopping LocalStream...") + + # Stop media pipelines FIRST before cancelling async tasks + try: + self._robot.media.stop_recording() + except Exception as e: + logger.debug(f"Error stopping recording (may already be stopped): {e}") + + try: + self._robot.media.stop_playing() + except Exception as e: + logger.debug(f"Error stopping playback (may already be stopped): {e}") + + # Now signal async loops to stop + self._stop_event.set() + + # Cancel all running tasks + for task in self._tasks: + if not task.done(): + task.cancel() + + def clear_audio_queue(self) -> None: + """Flush the player's appsrc to drop any queued audio immediately.""" + logger.info("User intervention: flushing player queue") + if self._robot.media.backend == MediaBackend.GSTREAMER: + self._robot.media.audio.clear_player() + elif self._robot.media.backend == MediaBackend.DEFAULT or self._robot.media.backend == MediaBackend.DEFAULT_NO_VIDEO: + self._robot.media.audio.clear_output_buffer() + self.handler.output_queue = asyncio.Queue() + + async def record_loop(self) -> None: + """Read mic frames from the recorder and forward them to the handler.""" + input_sample_rate = self._robot.media.get_input_audio_samplerate() + logger.debug(f"Audio recording started at {input_sample_rate} Hz") + + while not self._stop_event.is_set(): + audio_frame = self._robot.media.get_audio_sample() + if audio_frame is not None: + await self.handler.receive((input_sample_rate, audio_frame)) + await asyncio.sleep(0) # avoid busy loop + + async def play_loop(self) -> None: + """Fetch outputs from the handler: log text and play audio frames.""" + while not self._stop_event.is_set(): + handler_output = await self.handler.emit() + + if isinstance(handler_output, AdditionalOutputs): + for msg in handler_output.args: + content = msg.get("content", "") + if isinstance(content, str): + logger.info( + "role=%s content=%s", + msg.get("role"), + content if len(content) < 500 else content[:500] + "…", + ) + + elif isinstance(handler_output, tuple): + input_sample_rate, audio_data = handler_output + output_sample_rate = self._robot.media.get_output_audio_samplerate() + + # Reshape if needed + if audio_data.ndim == 2: + if audio_data.shape[1] > audio_data.shape[0]: + audio_data = audio_data.T + if audio_data.shape[1] > 1: + audio_data = audio_data[:, 0] + + # Cast if needed + audio_frame = audio_to_float32(audio_data) + + # Resample if needed + if input_sample_rate != output_sample_rate: + audio_frame = resample( + audio_frame, + int(len(audio_frame) * output_sample_rate / input_sample_rate), + ) + + self._robot.media.push_audio_sample(audio_frame) + + else: + logger.debug("Ignoring output type=%s", type(handler_output).__name__) + + await asyncio.sleep(0) # yield to event loop diff --git a/src/reachy_mini_conversation_app/dance_emotion_moves.py b/src/reachy_mini_conversation_app/dance_emotion_moves.py new file mode 100644 index 0000000000000000000000000000000000000000..a39dd67c7f694debfc9954023c845309331b3865 --- /dev/null +++ b/src/reachy_mini_conversation_app/dance_emotion_moves.py @@ -0,0 +1,154 @@ +"""Dance and emotion moves for the movement queue system. + +This module implements dance moves and emotions as Move objects that can be queued +and executed sequentially by the MovementManager. +""" + +from __future__ import annotations +import logging +from typing import Tuple + +import numpy as np +from numpy.typing import NDArray + +from reachy_mini.motion.move import Move +from reachy_mini.motion.recorded_move import RecordedMoves +from reachy_mini_dances_library.dance_move import DanceMove + + +logger = logging.getLogger(__name__) + + +class DanceQueueMove(Move): # type: ignore + """Wrapper for dance moves to work with the movement queue system.""" + + def __init__(self, move_name: str): + """Initialize a DanceQueueMove.""" + self.dance_move = DanceMove(move_name) + self.move_name = move_name + + @property + def duration(self) -> float: + """Duration property required by official Move interface.""" + return float(self.dance_move.duration) + + def evaluate(self, t: float) -> tuple[NDArray[np.float64] | None, NDArray[np.float64] | None, float | None]: + """Evaluate dance move at time t.""" + try: + # Get the pose from the dance move + head_pose, antennas, body_yaw = self.dance_move.evaluate(t) + + # Convert to numpy array if antennas is tuple and return in official Move format + if isinstance(antennas, tuple): + antennas = np.array([antennas[0], antennas[1]]) + + return (head_pose, antennas, body_yaw) + + except Exception as e: + logger.error(f"Error evaluating dance move '{self.move_name}' at t={t}: {e}") + # Return neutral pose on error + from reachy_mini.utils import create_head_pose + + neutral_head_pose = create_head_pose(0, 0, 0, 0, 0, 0, degrees=True) + return (neutral_head_pose, np.array([0.0, 0.0], dtype=np.float64), 0.0) + + +class EmotionQueueMove(Move): # type: ignore + """Wrapper for emotion moves to work with the movement queue system.""" + + def __init__(self, emotion_name: str, recorded_moves: RecordedMoves): + """Initialize an EmotionQueueMove.""" + self.emotion_move = recorded_moves.get(emotion_name) + self.emotion_name = emotion_name + + @property + def duration(self) -> float: + """Duration property required by official Move interface.""" + return float(self.emotion_move.duration) + + def evaluate(self, t: float) -> tuple[NDArray[np.float64] | None, NDArray[np.float64] | None, float | None]: + """Evaluate emotion move at time t.""" + try: + # Get the pose from the emotion move + head_pose, antennas, body_yaw = self.emotion_move.evaluate(t) + + # Convert to numpy array if antennas is tuple and return in official Move format + if isinstance(antennas, tuple): + antennas = np.array([antennas[0], antennas[1]]) + + return (head_pose, antennas, body_yaw) + + except Exception as e: + logger.error(f"Error evaluating emotion '{self.emotion_name}' at t={t}: {e}") + # Return neutral pose on error + from reachy_mini.utils import create_head_pose + + neutral_head_pose = create_head_pose(0, 0, 0, 0, 0, 0, degrees=True) + return (neutral_head_pose, np.array([0.0, 0.0], dtype=np.float64), 0.0) + + +class GotoQueueMove(Move): # type: ignore + """Wrapper for goto moves to work with the movement queue system.""" + + def __init__( + self, + target_head_pose: NDArray[np.float32], + start_head_pose: NDArray[np.float32] | None = None, + target_antennas: Tuple[float, float] = (0, 0), + start_antennas: Tuple[float, float] | None = None, + target_body_yaw: float = 0, + start_body_yaw: float | None = None, + duration: float = 1.0, + ): + """Initialize a GotoQueueMove.""" + self._duration = duration + self.target_head_pose = target_head_pose + self.start_head_pose = start_head_pose + self.target_antennas = target_antennas + self.start_antennas = start_antennas or (0, 0) + self.target_body_yaw = target_body_yaw + self.start_body_yaw = start_body_yaw or 0 + + @property + def duration(self) -> float: + """Duration property required by official Move interface.""" + return self._duration + + def evaluate(self, t: float) -> tuple[NDArray[np.float64] | None, NDArray[np.float64] | None, float | None]: + """Evaluate goto move at time t using linear interpolation.""" + try: + from reachy_mini.utils import create_head_pose + from reachy_mini.utils.interpolation import linear_pose_interpolation + + # Clamp t to [0, 1] for interpolation + t_clamped = max(0, min(1, t / self.duration)) + + # Use start pose if available, otherwise neutral + if self.start_head_pose is not None: + start_pose = self.start_head_pose + else: + start_pose = create_head_pose(0, 0, 0, 0, 0, 0, degrees=True) + + # Interpolate head pose + head_pose = linear_pose_interpolation(start_pose, self.target_head_pose, t_clamped) + + # Interpolate antennas - return as numpy array + antennas = np.array( + [ + self.start_antennas[0] + (self.target_antennas[0] - self.start_antennas[0]) * t_clamped, + self.start_antennas[1] + (self.target_antennas[1] - self.start_antennas[1]) * t_clamped, + ], + dtype=np.float64, + ) + + # Interpolate body yaw + body_yaw = self.start_body_yaw + (self.target_body_yaw - self.start_body_yaw) * t_clamped + + return (head_pose, antennas, body_yaw) + + except Exception as e: + logger.error(f"Error evaluating goto move at t={t}: {e}") + # Return target pose on error - convert to float64 + target_head_pose_f64 = self.target_head_pose.astype(np.float64) + target_antennas_array = np.array([self.target_antennas[0], self.target_antennas[1]], dtype=np.float64) + return (target_head_pose_f64, target_antennas_array, self.target_body_yaw) diff --git a/src/reachy_mini_conversation_app/gradio_personality.py b/src/reachy_mini_conversation_app/gradio_personality.py new file mode 100644 index 0000000000000000000000000000000000000000..cf60cfc11b86182d033a076ab1c01655e5c4eb4f --- /dev/null +++ b/src/reachy_mini_conversation_app/gradio_personality.py @@ -0,0 +1,316 @@ +"""Gradio personality UI components and wiring. + +This module encapsulates the UI elements and logic related to managing +conversation "personalities" (profiles) so that `main.py` stays lean. +""" + +from __future__ import annotations +from typing import Any +from pathlib import Path + +import gradio as gr + +from .config import LOCKED_PROFILE, config + + +class PersonalityUI: + """Container for personality-related Gradio components.""" + + def __init__(self) -> None: + """Initialize the PersonalityUI instance.""" + # Constants and paths + self.DEFAULT_OPTION = "(built-in default)" + self._profiles_root = Path(__file__).parent / "profiles" + self._tools_dir = Path(__file__).parent / "tools" + self._prompts_dir = Path(__file__).parent / "prompts" + + # Components (initialized in create_components) + self.personalities_dropdown: gr.Dropdown + self.apply_btn: gr.Button + self.status_md: gr.Markdown + self.preview_md: gr.Markdown + self.person_name_tb: gr.Textbox + self.person_instr_ta: gr.TextArea + self.tools_txt_ta: gr.TextArea + self.voice_dropdown: gr.Dropdown + self.new_personality_btn: gr.Button + self.available_tools_cg: gr.CheckboxGroup + self.save_btn: gr.Button + + # ---------- Filesystem helpers ---------- + def _list_personalities(self) -> list[str]: + names: list[str] = [] + try: + if self._profiles_root.exists(): + for p in sorted(self._profiles_root.iterdir()): + if p.name == "user_personalities": + continue + if p.is_dir() and (p / "instructions.txt").exists(): + names.append(p.name) + user_dir = self._profiles_root / "user_personalities" + if user_dir.exists(): + for p in sorted(user_dir.iterdir()): + if p.is_dir() and (p / "instructions.txt").exists(): + names.append(f"user_personalities/{p.name}") + except Exception: + pass + return names + + def _resolve_profile_dir(self, selection: str) -> Path: + return self._profiles_root / selection + + def _read_instructions_for(self, name: str) -> str: + try: + if name == self.DEFAULT_OPTION: + default_file = self._prompts_dir / "default_prompt.txt" + if default_file.exists(): + return default_file.read_text(encoding="utf-8").strip() + return "" + target = self._resolve_profile_dir(name) / "instructions.txt" + if target.exists(): + return target.read_text(encoding="utf-8").strip() + return "" + except Exception as e: + return f"Could not load instructions: {e}" + + @staticmethod + def _sanitize_name(name: str) -> str: + import re + + s = name.strip() + s = re.sub(r"\s+", "_", s) + s = re.sub(r"[^a-zA-Z0-9_-]", "", s) + return s + + # ---------- Public API ---------- + def create_components(self) -> None: + """Instantiate Gradio components for the personality UI.""" + if LOCKED_PROFILE is not None: + is_locked = True + current_value: str = LOCKED_PROFILE + dropdown_label = "Select personality (locked)" + dropdown_choices: list[str] = [LOCKED_PROFILE] + else: + is_locked = False + current_value = config.REACHY_MINI_CUSTOM_PROFILE or self.DEFAULT_OPTION + dropdown_label = "Select personality" + dropdown_choices = [self.DEFAULT_OPTION, *(self._list_personalities())] + + self.personalities_dropdown = gr.Dropdown( + label=dropdown_label, + choices=dropdown_choices, + value=current_value, + interactive=not is_locked, + ) + self.apply_btn = gr.Button("Apply personality", interactive=not is_locked) + self.status_md = gr.Markdown(visible=True) + self.preview_md = gr.Markdown(value=self._read_instructions_for(current_value)) + self.person_name_tb = gr.Textbox(label="Personality name", interactive=not is_locked) + self.person_instr_ta = gr.TextArea(label="Personality instructions", lines=10, interactive=not is_locked) + self.tools_txt_ta = gr.TextArea(label="tools.txt", lines=10, interactive=not is_locked) + self.voice_dropdown = gr.Dropdown(label="Voice", choices=["cedar"], value="cedar", interactive=not is_locked) + self.new_personality_btn = gr.Button("New personality", interactive=not is_locked) + self.available_tools_cg = gr.CheckboxGroup(label="Available tools (helper)", choices=[], value=[], interactive=not is_locked) + self.save_btn = gr.Button("Save personality (instructions + tools)", interactive=not is_locked) + + def additional_inputs_ordered(self) -> list[Any]: + """Return the additional inputs in the expected order for Stream.""" + return [ + self.personalities_dropdown, + self.apply_btn, + self.new_personality_btn, + self.status_md, + self.preview_md, + self.person_name_tb, + self.person_instr_ta, + self.tools_txt_ta, + self.voice_dropdown, + self.available_tools_cg, + self.save_btn, + ] + + # ---------- Event wiring ---------- + def wire_events(self, handler: Any, blocks: gr.Blocks) -> None: + """Attach event handlers to components within a Blocks context.""" + + async def _apply_personality(selected: str) -> tuple[str, str]: + if LOCKED_PROFILE is not None and selected != LOCKED_PROFILE: + return ( + f"Profile is locked to '{LOCKED_PROFILE}'. Cannot change personality.", + self._read_instructions_for(LOCKED_PROFILE), + ) + profile = None if selected == self.DEFAULT_OPTION else selected + status = await handler.apply_personality(profile) + preview = self._read_instructions_for(selected) + return status, preview + + def _read_voice_for(name: str) -> str: + try: + if name == self.DEFAULT_OPTION: + return "cedar" + vf = self._resolve_profile_dir(name) / "voice.txt" + if vf.exists(): + v = vf.read_text(encoding="utf-8").strip() + return v or "cedar" + except Exception: + pass + return "cedar" + + async def _fetch_voices(selected: str) -> dict[str, Any]: + try: + voices = await handler.get_available_voices() + current = _read_voice_for(selected) + if current not in voices: + current = "cedar" + return gr.update(choices=voices, value=current) + except Exception: + return gr.update(choices=["cedar"], value="cedar") + + def _available_tools_for(selected: str) -> tuple[list[str], list[str]]: + shared: list[str] = [] + try: + for py in self._tools_dir.glob("*.py"): + if py.stem in {"__init__", "core_tools"}: + continue + shared.append(py.stem) + except Exception: + pass + local: list[str] = [] + try: + if selected != self.DEFAULT_OPTION: + for py in (self._profiles_root / selected).glob("*.py"): + local.append(py.stem) + except Exception: + pass + return sorted(shared), sorted(local) + + def _parse_enabled_tools(text: str) -> list[str]: + enabled: list[str] = [] + for line in text.splitlines(): + s = line.strip() + if not s or s.startswith("#"): + continue + enabled.append(s) + return enabled + + def _load_profile_for_edit(selected: str) -> tuple[dict[str, Any], dict[str, Any], dict[str, Any], str]: + instr = self._read_instructions_for(selected) + tools_txt = "" + if selected != self.DEFAULT_OPTION: + tp = self._resolve_profile_dir(selected) / "tools.txt" + if tp.exists(): + tools_txt = tp.read_text(encoding="utf-8") + shared, local = _available_tools_for(selected) + all_tools = sorted(set(shared + local)) + enabled = _parse_enabled_tools(tools_txt) + status_text = f"Loaded profile '{selected}'." + return ( + gr.update(value=instr), + gr.update(value=tools_txt), + gr.update(choices=all_tools, value=enabled), + status_text, + ) + + def _new_personality() -> tuple[ + dict[str, Any], dict[str, Any], dict[str, Any], dict[str, Any], str, dict[str, Any] + ]: + try: + # Prefill with hints + instr_val = """# Write your instructions here\n# e.g., Keep responses concise and friendly.""" + tools_txt_val = "# tools enabled for this profile\n" + return ( + gr.update(value=""), + gr.update(value=instr_val), + gr.update(value=tools_txt_val), + gr.update(choices=sorted(_available_tools_for(self.DEFAULT_OPTION)[0]), value=[]), + "Fill in a name, instructions and (optional) tools, then Save.", + gr.update(value="cedar"), + ) + except Exception: + return ( + gr.update(), + gr.update(), + gr.update(), + gr.update(), + "Failed to initialize new personality.", + gr.update(), + ) + + def _save_personality( + name: str, instructions: str, tools_text: str, voice: str + ) -> tuple[dict[str, Any], dict[str, Any], str]: + name_s = self._sanitize_name(name) + if not name_s: + return gr.update(), gr.update(), "Please enter a valid name." + try: + target_dir = self._profiles_root / "user_personalities" / name_s + target_dir.mkdir(parents=True, exist_ok=True) + (target_dir / "instructions.txt").write_text(instructions.strip() + "\n", encoding="utf-8") + (target_dir / "tools.txt").write_text(tools_text.strip() + "\n", encoding="utf-8") + (target_dir / "voice.txt").write_text((voice or "cedar").strip() + "\n", encoding="utf-8") + + choices = self._list_personalities() + value = f"user_personalities/{name_s}" + if value not in choices: + choices.append(value) + return ( + gr.update(choices=[self.DEFAULT_OPTION, *sorted(choices)], value=value), + gr.update(value=instructions), + f"Saved personality '{name_s}'.", + ) + except Exception as e: + return gr.update(), gr.update(), f"Failed to save personality: {e}" + + def _sync_tools_from_checks(selected: list[str], current_text: str) -> dict[str, Any]: + comments = [ln for ln in current_text.splitlines() if ln.strip().startswith("#")] + body = "\n".join(selected) + out = ("\n".join(comments) + ("\n" if comments else "") + body).strip() + "\n" + return gr.update(value=out) + + with blocks: + self.apply_btn.click( + fn=_apply_personality, + inputs=[self.personalities_dropdown], + outputs=[self.status_md, self.preview_md], + ) + + self.personalities_dropdown.change( + fn=_load_profile_for_edit, + inputs=[self.personalities_dropdown], + outputs=[self.person_instr_ta, self.tools_txt_ta, self.available_tools_cg, self.status_md], + ) + + blocks.load( + fn=_fetch_voices, + inputs=[self.personalities_dropdown], + outputs=[self.voice_dropdown], + ) + + self.available_tools_cg.change( + fn=_sync_tools_from_checks, + inputs=[self.available_tools_cg, self.tools_txt_ta], + outputs=[self.tools_txt_ta], + ) + + self.new_personality_btn.click( + fn=_new_personality, + inputs=[], + outputs=[ + self.person_name_tb, + self.person_instr_ta, + self.tools_txt_ta, + self.available_tools_cg, + self.status_md, + self.voice_dropdown, + ], + ) + + self.save_btn.click( + fn=_save_personality, + inputs=[self.person_name_tb, self.person_instr_ta, self.tools_txt_ta, self.voice_dropdown], + outputs=[self.personalities_dropdown, self.person_instr_ta, self.status_md], + ).then( + fn=_apply_personality, + inputs=[self.personalities_dropdown], + outputs=[self.status_md, self.preview_md], + ) diff --git a/src/reachy_mini_conversation_app/headless_personality.py b/src/reachy_mini_conversation_app/headless_personality.py new file mode 100644 index 0000000000000000000000000000000000000000..9baa0d44143163d74a35e985af31310c45faf76b --- /dev/null +++ b/src/reachy_mini_conversation_app/headless_personality.py @@ -0,0 +1,102 @@ +"""Headless personality management (console-based). + +Provides an interactive CLI to browse, preview, apply, create and edit +"personalities" (profiles) when running without Gradio. + +This module is intentionally not shared with the Gradio implementation to +avoid coupling and keep responsibilities clear for headless mode. +""" + +from __future__ import annotations +from typing import List +from pathlib import Path + + +DEFAULT_OPTION = "(built-in default)" + + +def _profiles_root() -> Path: + return Path(__file__).parent / "profiles" + + +def _prompts_dir() -> Path: + return Path(__file__).parent / "prompts" + + +def _tools_dir() -> Path: + return Path(__file__).parent / "tools" + + +def _sanitize_name(name: str) -> str: + import re + + s = name.strip() + s = re.sub(r"\s+", "_", s) + s = re.sub(r"[^a-zA-Z0-9_-]", "", s) + return s + + +def list_personalities() -> List[str]: + """List available personality profile names.""" + names: List[str] = [] + root = _profiles_root() + try: + if root.exists(): + for p in sorted(root.iterdir()): + if p.name == "user_personalities": + continue + if p.is_dir() and (p / "instructions.txt").exists(): + names.append(p.name) + udir = root / "user_personalities" + if udir.exists(): + for p in sorted(udir.iterdir()): + if p.is_dir() and (p / "instructions.txt").exists(): + names.append(f"user_personalities/{p.name}") + except Exception: + pass + return names + + +def resolve_profile_dir(selection: str) -> Path: + """Resolve the directory path for the given profile selection.""" + return _profiles_root() / selection + + +def read_instructions_for(name: str) -> str: + """Read the instructions.txt content for the given profile name.""" + try: + if name == DEFAULT_OPTION: + df = _prompts_dir() / "default_prompt.txt" + return df.read_text(encoding="utf-8").strip() if df.exists() else "" + target = resolve_profile_dir(name) / "instructions.txt" + return target.read_text(encoding="utf-8").strip() if target.exists() else "" + except Exception as e: + return f"Could not load instructions: {e}" + + +def available_tools_for(selected: str) -> List[str]: + """List available tool modules for the given profile selection.""" + shared: List[str] = [] + try: + for py in _tools_dir().glob("*.py"): + if py.stem in {"__init__", "core_tools"}: + continue + shared.append(py.stem) + except Exception: + pass + local: List[str] = [] + try: + if selected != DEFAULT_OPTION: + for py in resolve_profile_dir(selected).glob("*.py"): + local.append(py.stem) + except Exception: + pass + return sorted(set(shared + local)) + + +def _write_profile(name_s: str, instructions: str, tools_text: str, voice: str = "cedar") -> None: + target_dir = _profiles_root() / "user_personalities" / name_s + target_dir.mkdir(parents=True, exist_ok=True) + (target_dir / "instructions.txt").write_text(instructions.strip() + "\n", encoding="utf-8") + (target_dir / "tools.txt").write_text((tools_text or "").strip() + "\n", encoding="utf-8") + (target_dir / "voice.txt").write_text((voice or "cedar").strip() + "\n", encoding="utf-8") diff --git a/src/reachy_mini_conversation_app/headless_personality_ui.py b/src/reachy_mini_conversation_app/headless_personality_ui.py new file mode 100644 index 0000000000000000000000000000000000000000..c1721b206420c86a2d65c485ce126266a6c3a6b7 --- /dev/null +++ b/src/reachy_mini_conversation_app/headless_personality_ui.py @@ -0,0 +1,287 @@ +"""Settings UI routes for headless personality management. + +Exposes REST endpoints on the provided FastAPI settings app. The +implementation schedules backend actions (apply personality, fetch voices) +onto the running LocalStream asyncio loop using the supplied get_loop +callable to avoid cross-thread issues. +""" + +from __future__ import annotations +import asyncio +import logging +from typing import Any, Callable, Optional + +from fastapi import FastAPI + +from .config import LOCKED_PROFILE, config +from .ollama_handler import OllamaHandler +from .headless_personality import ( + DEFAULT_OPTION, + _sanitize_name, + _write_profile, + list_personalities, + available_tools_for, + resolve_profile_dir, + read_instructions_for, +) + + +def mount_personality_routes( + app: FastAPI, + handler: OllamaHandler, + get_loop: Callable[[], asyncio.AbstractEventLoop | None], + *, + persist_personality: Callable[[Optional[str]], None] | None = None, + get_persisted_personality: Callable[[], Optional[str]] | None = None, +) -> None: + """Register personality management endpoints on a FastAPI app.""" + try: + from fastapi import Request + from pydantic import BaseModel + from fastapi.responses import JSONResponse + except Exception: # pragma: no cover - only when settings app not available + return + + class SavePayload(BaseModel): + name: str + instructions: str + tools_text: str + voice: Optional[str] = "cedar" + + class ApplyPayload(BaseModel): + name: str + persist: Optional[bool] = False + + def _startup_choice() -> Any: + """Return the persisted startup personality or default.""" + try: + if get_persisted_personality is not None: + stored = get_persisted_personality() + if stored: + return stored + env_val = getattr(config, "REACHY_MINI_CUSTOM_PROFILE", None) + if env_val: + return env_val + except Exception: + pass + return DEFAULT_OPTION + + def _current_choice() -> str: + try: + cur = getattr(config, "REACHY_MINI_CUSTOM_PROFILE", None) + return cur or DEFAULT_OPTION + except Exception: + return DEFAULT_OPTION + + @app.get("/personalities") + def _list() -> dict: # type: ignore + choices = [DEFAULT_OPTION, *list_personalities()] + return { + "choices": choices, + "current": _current_choice(), + "startup": _startup_choice(), + "locked": LOCKED_PROFILE is not None, + "locked_to": LOCKED_PROFILE, + } + + @app.get("/personalities/load") + def _load(name: str) -> dict: # type: ignore + instr = read_instructions_for(name) + tools_txt = "" + voice = "cedar" + if name != DEFAULT_OPTION: + pdir = resolve_profile_dir(name) + tp = pdir / "tools.txt" + if tp.exists(): + tools_txt = tp.read_text(encoding="utf-8") + vf = pdir / "voice.txt" + if vf.exists(): + v = vf.read_text(encoding="utf-8").strip() + voice = v or "cedar" + avail = available_tools_for(name) + enabled = [ln.strip() for ln in tools_txt.splitlines() if ln.strip() and not ln.strip().startswith("#")] + return { + "instructions": instr, + "tools_text": tools_txt, + "voice": voice, + "available_tools": avail, + "enabled_tools": enabled, + } + + @app.post("/personalities/save") + async def _save(request: Request) -> dict: # type: ignore + # Accept raw JSON only to avoid validation-related 422s + try: + raw = await request.json() + except Exception: + raw = {} + name = str(raw.get("name", "")) + instructions = str(raw.get("instructions", "")) + tools_text = str(raw.get("tools_text", "")) + voice = str(raw.get("voice", "cedar")) if raw.get("voice") is not None else "cedar" + + name_s = _sanitize_name(name) + if not name_s: + return JSONResponse({"ok": False, "error": "invalid_name"}, status_code=400) # type: ignore + try: + logger.info( + "Headless save: name=%r voice=%r instr_len=%d tools_len=%d", + name_s, + voice, + len(instructions), + len(tools_text), + ) + _write_profile(name_s, instructions, tools_text, voice or "cedar") + value = f"user_personalities/{name_s}" + choices = [DEFAULT_OPTION, *list_personalities()] + return {"ok": True, "value": value, "choices": choices} + except Exception as e: + return JSONResponse({"ok": False, "error": str(e)}, status_code=500) # type: ignore + + @app.post("/personalities/save_raw") + async def _save_raw( + request: Request, + name: Optional[str] = None, + instructions: Optional[str] = None, + tools_text: Optional[str] = None, + voice: Optional[str] = None, + ) -> dict: # type: ignore + # Accept query params, form-encoded, or raw JSON + data = {"name": name, "instructions": instructions, "tools_text": tools_text, "voice": voice} + # Prefer form if present + try: + form = await request.form() + for k in ("name", "instructions", "tools_text", "voice"): + if k in form and form[k] is not None: + data[k] = str(form[k]) + except Exception: + pass + # Try JSON + try: + raw = await request.json() + if isinstance(raw, dict): + for k in ("name", "instructions", "tools_text", "voice"): + if raw.get(k) is not None: + data[k] = str(raw.get(k)) + except Exception: + pass + + name_s = _sanitize_name(str(data.get("name") or "")) + if not name_s: + return JSONResponse({"ok": False, "error": "invalid_name"}, status_code=400) # type: ignore + instr = str(data.get("instructions") or "") + tools = str(data.get("tools_text") or "") + v = str(data.get("voice") or "cedar") + try: + logger.info( + "Headless save_raw: name=%r voice=%r instr_len=%d tools_len=%d", name_s, v, len(instr), len(tools) + ) + _write_profile(name_s, instr, tools, v) + value = f"user_personalities/{name_s}" + choices = [DEFAULT_OPTION, *list_personalities()] + return {"ok": True, "value": value, "choices": choices} + except Exception as e: + return JSONResponse({"ok": False, "error": str(e)}, status_code=500) # type: ignore + + @app.get("/personalities/save_raw") + async def _save_raw_get(name: str, instructions: str = "", tools_text: str = "", voice: str = "cedar") -> dict: # type: ignore + name_s = _sanitize_name(name) + if not name_s: + return JSONResponse({"ok": False, "error": "invalid_name"}, status_code=400) # type: ignore + try: + logger.info( + "Headless save_raw(GET): name=%r voice=%r instr_len=%d tools_len=%d", + name_s, + voice, + len(instructions), + len(tools_text), + ) + _write_profile(name_s, instructions, tools_text, voice or "cedar") + value = f"user_personalities/{name_s}" + choices = [DEFAULT_OPTION, *list_personalities()] + return {"ok": True, "value": value, "choices": choices} + except Exception as e: + return JSONResponse({"ok": False, "error": str(e)}, status_code=500) # type: ignore + + logger = logging.getLogger(__name__) + + @app.post("/personalities/apply") + async def _apply( + payload: ApplyPayload | None = None, + name: str | None = None, + persist: Optional[bool] = None, + request: Optional[Request] = None, + ) -> dict: # type: ignore + if LOCKED_PROFILE is not None: + return JSONResponse( + {"ok": False, "error": "profile_locked", "locked_to": LOCKED_PROFILE}, + status_code=403, + ) # type: ignore + loop = get_loop() + if loop is None: + return JSONResponse({"ok": False, "error": "loop_unavailable"}, status_code=503) # type: ignore + + # Accept both JSON payload and query param for convenience + sel_name: Optional[str] = None + persist_flag = bool(persist) if persist is not None else False + if payload and getattr(payload, "name", None): + sel_name = payload.name + persist_flag = bool(getattr(payload, "persist", False)) + elif name: + sel_name = name + elif request is not None: + try: + body = await request.json() + if isinstance(body, dict) and body.get("name"): + sel_name = str(body.get("name")) + if isinstance(body, dict) and "persist" in body: + persist_flag = bool(body.get("persist")) + except Exception: + sel_name = None + if request is not None: + try: + q_persist = request.query_params.get("persist") + if q_persist is not None: + persist_flag = str(q_persist).lower() in {"1", "true", "yes", "on"} + except Exception: + pass + if not sel_name: + sel_name = DEFAULT_OPTION + + async def _do_apply() -> str: + sel = None if sel_name == DEFAULT_OPTION else sel_name + status = await handler.apply_personality(sel) + return status + + try: + logger.info("Headless apply: requested name=%r", sel_name) + fut = asyncio.run_coroutine_threadsafe(_do_apply(), loop) + status = fut.result(timeout=10) + persisted_choice = _startup_choice() + if persist_flag and persist_personality is not None: + try: + persist_personality(None if sel_name == DEFAULT_OPTION else sel_name) + persisted_choice = _startup_choice() + except Exception as e: + logger.warning("Failed to persist startup personality: %s", e) + return {"ok": True, "status": status, "startup": persisted_choice} + except Exception as e: + return JSONResponse({"ok": False, "error": str(e)}, status_code=500) # type: ignore + + @app.get("/voices") + async def _voices() -> list[str]: + loop = get_loop() + if loop is None: + return ["cedar"] + + async def _get_v() -> list[str]: + try: + return await handler.get_available_voices() + except Exception: + return ["cedar"] + + try: + fut = asyncio.run_coroutine_threadsafe(_get_v(), loop) + return fut.result(timeout=10) + except Exception: + return ["cedar"] diff --git a/src/reachy_mini_conversation_app/images/reachymini_avatar.png b/src/reachy_mini_conversation_app/images/reachymini_avatar.png new file mode 100644 index 0000000000000000000000000000000000000000..cb6dee522f40a200b6ddadc13b2afecefbf14f78 --- /dev/null +++ b/src/reachy_mini_conversation_app/images/reachymini_avatar.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a63ac8802ff3542f01292c431c5278296880d74cd3580d219fcf4827bc235f9 +size 1228716 diff --git a/src/reachy_mini_conversation_app/images/user_avatar.png b/src/reachy_mini_conversation_app/images/user_avatar.png new file mode 100644 index 0000000000000000000000000000000000000000..c297bda9088aa6961fe49c3176ec20a0886149be --- /dev/null +++ b/src/reachy_mini_conversation_app/images/user_avatar.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e97ca125a86bacdaa41c8dca88abd9ca746fd5c9391eda24249c012432b0219b +size 1111878 diff --git a/src/reachy_mini_conversation_app/main.py b/src/reachy_mini_conversation_app/main.py new file mode 100644 index 0000000000000000000000000000000000000000..05268165542e22821060a6518a53c4b271d6ade0 --- /dev/null +++ b/src/reachy_mini_conversation_app/main.py @@ -0,0 +1,246 @@ +"""Entrypoint for the Reachy Mini conversation app.""" + +import os +import sys +import time +import asyncio +import argparse +import threading +from typing import Any, Dict, List, Optional + +import gradio as gr +from fastapi import FastAPI +from fastrtc import Stream +from gradio.utils import get_space + +from reachy_mini import ReachyMini, ReachyMiniApp +from reachy_mini_conversation_app.utils import ( + parse_args, + setup_logger, + handle_vision_stuff, + log_connection_troubleshooting, +) + + +def update_chatbot(chatbot: List[Dict[str, Any]], response: Dict[str, Any]) -> List[Dict[str, Any]]: + """Update the chatbot with AdditionalOutputs.""" + chatbot.append(response) + return chatbot + + +def main() -> None: + """Entrypoint for the Reachy Mini conversation app.""" + args, _ = parse_args() + run(args) + + +def run( + args: argparse.Namespace, + robot: ReachyMini = None, + app_stop_event: Optional[threading.Event] = None, + settings_app: Optional[FastAPI] = None, + instance_path: Optional[str] = None, +) -> None: + """Run the Reachy Mini conversation app.""" + # Putting these dependencies here makes the dashboard faster to load when the conversation app is installed + from reachy_mini_conversation_app.moves import MovementManager + from reachy_mini_conversation_app.console import LocalStream + from reachy_mini_conversation_app.ollama_handler import OllamaHandler + from reachy_mini_conversation_app.tools.core_tools import ToolDependencies + from reachy_mini_conversation_app.audio.head_wobbler import HeadWobbler + + logger = setup_logger(args.debug) + logger.info("Starting Reachy Mini Conversation App") + + if args.no_camera and args.head_tracker is not None: + logger.warning( + "Head tracking disabled: --no-camera flag is set. " + "Remove --no-camera to enable head tracking." + ) + + if robot is None: + try: + robot_kwargs = {} + if args.robot_name is not None: + robot_kwargs["robot_name"] = args.robot_name + + logger.info("Initializing ReachyMini (SDK will auto-detect appropriate backend)") + robot = ReachyMini(**robot_kwargs) + + except TimeoutError as e: + logger.error( + "Connection timeout: Failed to connect to Reachy Mini daemon. " + f"Details: {e}" + ) + log_connection_troubleshooting(logger, args.robot_name) + sys.exit(1) + + except ConnectionError as e: + logger.error( + "Connection failed: Unable to establish connection to Reachy Mini. " + f"Details: {e}" + ) + log_connection_troubleshooting(logger, args.robot_name) + sys.exit(1) + + except Exception as e: + logger.error( + f"Unexpected error during robot initialization: {type(e).__name__}: {e}" + ) + logger.error("Please check your configuration and try again.") + sys.exit(1) + + # Auto-enable Gradio in simulation mode (both MuJoCo for deamon and mockup-sim for desktop app) + status = robot.client.get_status() + is_simulation = status.get("simulation_enabled", False) or status.get("mockup_sim_enabled", False) + + if is_simulation and not args.gradio: + logger.info("Simulation mode detected. Automatically enabling gradio flag.") + args.gradio = True + + camera_worker, _, vision_manager = handle_vision_stuff(args, robot) + + movement_manager = MovementManager( + current_robot=robot, + camera_worker=camera_worker, + ) + + head_wobbler = HeadWobbler(set_speech_offsets=movement_manager.set_speech_offsets) + + deps = ToolDependencies( + reachy_mini=robot, + movement_manager=movement_manager, + camera_worker=camera_worker, + vision_manager=vision_manager, + head_wobbler=head_wobbler, + ) + current_file_path = os.path.dirname(os.path.abspath(__file__)) + logger.debug(f"Current file absolute path: {current_file_path}") + chatbot = gr.Chatbot( + type="messages", + resizable=True, + avatar_images=( + os.path.join(current_file_path, "images", "user_avatar.png"), + os.path.join(current_file_path, "images", "reachymini_avatar.png"), + ), + ) + logger.debug(f"Chatbot avatar images: {chatbot.avatar_images}") + + handler = OllamaHandler(deps, gradio_mode=args.gradio, instance_path=instance_path) + + stream_manager: gr.Blocks | LocalStream | None = None + + if args.gradio: + from reachy_mini_conversation_app.gradio_personality import PersonalityUI + + personality_ui = PersonalityUI() + personality_ui.create_components() + + stream = Stream( + handler=handler, + mode="send-receive", + modality="audio", + additional_inputs=[ + chatbot, + *personality_ui.additional_inputs_ordered(), + ], + additional_outputs=[chatbot], + additional_outputs_handler=update_chatbot, + ui_args={"title": "Talk with Reachy Mini"}, + ) + stream_manager = stream.ui + if not settings_app: + app = FastAPI() + else: + app = settings_app + + personality_ui.wire_events(handler, stream_manager) + + app = gr.mount_gradio_app(app, stream.ui, path="/") + else: + # In headless mode, wire settings_app + instance_path to console LocalStream + stream_manager = LocalStream( + handler, + robot, + settings_app=settings_app, + instance_path=instance_path, + ) + + # Each async service → its own thread/loop + movement_manager.start() + head_wobbler.start() + if camera_worker: + camera_worker.start() + if vision_manager: + vision_manager.start() + + def poll_stop_event() -> None: + """Poll the stop event to allow graceful shutdown.""" + if app_stop_event is not None: + app_stop_event.wait() + + logger.info("App stop event detected, shutting down...") + try: + stream_manager.close() + except Exception as e: + logger.error(f"Error while closing stream manager: {e}") + + if app_stop_event: + threading.Thread(target=poll_stop_event, daemon=True).start() + + try: + stream_manager.launch() + except KeyboardInterrupt: + logger.info("Keyboard interruption in main thread... closing server.") + finally: + movement_manager.stop() + head_wobbler.stop() + if camera_worker: + camera_worker.stop() + if vision_manager: + vision_manager.stop() + + # Ensure media is explicitly closed before disconnecting + try: + robot.media.close() + except Exception as e: + logger.debug(f"Error closing media during shutdown: {e}") + + # prevent connection to keep alive some threads + robot.client.disconnect() + time.sleep(1) + logger.info("Shutdown complete.") + + +class ReachyMiniConversationApp(ReachyMiniApp): # type: ignore[misc] + """Reachy Mini Apps entry point for the conversation app.""" + + custom_app_url = "http://0.0.0.0:7860/" + dont_start_webserver = False + + def run(self, reachy_mini: ReachyMini, stop_event: threading.Event) -> None: + """Run the Reachy Mini conversation app.""" + loop = asyncio.new_event_loop() + asyncio.set_event_loop(loop) + + args, _ = parse_args() + + # is_wireless = reachy_mini.client.get_status()["wireless_version"] + # args.head_tracker = None if is_wireless else "mediapipe" + + instance_path = self._get_instance_path().parent + run( + args, + robot=reachy_mini, + app_stop_event=stop_event, + settings_app=self.settings_app, + instance_path=instance_path, + ) + + +if __name__ == "__main__": + app = ReachyMiniConversationApp() + try: + app.wrapped_run() + except KeyboardInterrupt: + app.stop() diff --git a/src/reachy_mini_conversation_app/moves.py b/src/reachy_mini_conversation_app/moves.py new file mode 100644 index 0000000000000000000000000000000000000000..3c319e73d70519ea837987285849b997db2032a0 --- /dev/null +++ b/src/reachy_mini_conversation_app/moves.py @@ -0,0 +1,849 @@ +"""Movement system with sequential primary moves and additive secondary moves. + +Design overview +- Primary moves (emotions, dances, goto, breathing) are mutually exclusive and run + sequentially. +- Secondary moves (speech sway, face tracking) are additive offsets applied on top + of the current primary pose. +- There is a single control point to the robot: `ReachyMini.set_target`. +- The control loop runs near 100 Hz and is phase-aligned via a monotonic clock. +- Idle behaviour starts an infinite `BreathingMove` after a short inactivity delay + unless listening is active. + +Threading model +- A dedicated worker thread owns all real-time state and issues `set_target` + commands. +- Other threads communicate via a command queue (enqueue moves, mark activity, + toggle listening). +- Secondary offset producers set pending values guarded by locks; the worker + snaps them atomically. + +Units and frames +- Secondary offsets are interpreted as metres for x/y/z and radians for + roll/pitch/yaw in the world frame (unless noted by `compose_world_offset`). +- Antennas and `body_yaw` are in radians. +- Head pose composition uses `compose_world_offset(primary_head, secondary_head)`; + the secondary offset must therefore be expressed in the world frame. + +Safety +- Listening freezes antennas, then blends them back on unfreeze. +- Interpolations and blends are used to avoid jumps at all times. +- `set_target` errors are rate-limited in logs. +""" + +from __future__ import annotations +import time +import logging +import threading +from queue import Empty, Queue +from typing import Any, Dict, Tuple +from collections import deque +from dataclasses import dataclass + +import numpy as np +from numpy.typing import NDArray + +from reachy_mini import ReachyMini +from reachy_mini.utils import create_head_pose +from reachy_mini.motion.move import Move +from reachy_mini.utils.interpolation import ( + compose_world_offset, + linear_pose_interpolation, +) + + +logger = logging.getLogger(__name__) + +# Configuration constants +CONTROL_LOOP_FREQUENCY_HZ = 100.0 # Hz - Target frequency for the movement control loop + +# Type definitions +FullBodyPose = Tuple[NDArray[np.float32], Tuple[float, float], float] # (head_pose_4x4, antennas, body_yaw) + + +class BreathingMove(Move): # type: ignore + """Breathing move with interpolation to neutral and then continuous breathing patterns.""" + + def __init__( + self, + interpolation_start_pose: NDArray[np.float32], + interpolation_start_antennas: Tuple[float, float], + interpolation_duration: float = 1.0, + ): + """Initialize breathing move. + + Args: + interpolation_start_pose: 4x4 matrix of current head pose to interpolate from + interpolation_start_antennas: Current antenna positions to interpolate from + interpolation_duration: Duration of interpolation to neutral (seconds) + + """ + self.interpolation_start_pose = interpolation_start_pose + self.interpolation_start_antennas = np.array(interpolation_start_antennas) + self.interpolation_duration = interpolation_duration + + # Neutral positions for breathing base + self.neutral_head_pose = create_head_pose(0, 0, 0, 0, 0, 0, degrees=True) + self.neutral_antennas = np.array([0.0, 0.0]) + + # Breathing parameters + self.breathing_z_amplitude = 0.005 # 5mm gentle breathing + self.breathing_frequency = 0.1 # Hz (6 breaths per minute) + self.antenna_sway_amplitude = np.deg2rad(15) # 15 degrees + self.antenna_frequency = 0.5 # Hz (faster antenna sway) + + @property + def duration(self) -> float: + """Duration property required by official Move interface.""" + return float("inf") # Continuous breathing (never ends naturally) + + def evaluate(self, t: float) -> tuple[NDArray[np.float64] | None, NDArray[np.float64] | None, float | None]: + """Evaluate breathing move at time t.""" + if t < self.interpolation_duration: + # Phase 1: Interpolate to neutral base position + interpolation_t = t / self.interpolation_duration + + # Interpolate head pose + head_pose = linear_pose_interpolation( + self.interpolation_start_pose, self.neutral_head_pose, interpolation_t, + ) + + # Interpolate antennas + antennas_interp = ( + 1 - interpolation_t + ) * self.interpolation_start_antennas + interpolation_t * self.neutral_antennas + antennas = antennas_interp.astype(np.float64) + + else: + # Phase 2: Breathing patterns from neutral base + breathing_time = t - self.interpolation_duration + + # Gentle z-axis breathing + z_offset = self.breathing_z_amplitude * np.sin(2 * np.pi * self.breathing_frequency * breathing_time) + head_pose = create_head_pose(x=0, y=0, z=z_offset, roll=0, pitch=0, yaw=0, degrees=True, mm=False) + + # Antenna sway (opposite directions) + antenna_sway = self.antenna_sway_amplitude * np.sin(2 * np.pi * self.antenna_frequency * breathing_time) + antennas = np.array([antenna_sway, -antenna_sway], dtype=np.float64) + + # Return in official Move interface format: (head_pose, antennas_array, body_yaw) + return (head_pose, antennas, 0.0) + + +def combine_full_body(primary_pose: FullBodyPose, secondary_pose: FullBodyPose) -> FullBodyPose: + """Combine primary and secondary full body poses. + + Args: + primary_pose: (head_pose, antennas, body_yaw) - primary move + secondary_pose: (head_pose, antennas, body_yaw) - secondary offsets + + Returns: + Combined full body pose (head_pose, antennas, body_yaw) + + """ + primary_head, primary_antennas, primary_body_yaw = primary_pose + secondary_head, secondary_antennas, secondary_body_yaw = secondary_pose + + # Combine head poses using compose_world_offset; the secondary pose must be an + # offset expressed in the world frame (T_off_world) applied to the absolute + # primary transform (T_abs). + combined_head = compose_world_offset(primary_head, secondary_head, reorthonormalize=True) + + # Sum antennas and body_yaw + combined_antennas = ( + primary_antennas[0] + secondary_antennas[0], + primary_antennas[1] + secondary_antennas[1], + ) + combined_body_yaw = primary_body_yaw + secondary_body_yaw + + return (combined_head, combined_antennas, combined_body_yaw) + + +def clone_full_body_pose(pose: FullBodyPose) -> FullBodyPose: + """Create a deep copy of a full body pose tuple.""" + head, antennas, body_yaw = pose + return (head.copy(), (float(antennas[0]), float(antennas[1])), float(body_yaw)) + + +@dataclass +class MovementState: + """State tracking for the movement system.""" + + # Primary move state + current_move: Move | None = None + move_start_time: float | None = None + last_activity_time: float = 0.0 + + # Secondary move state (offsets) + speech_offsets: Tuple[float, float, float, float, float, float] = ( + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + ) + face_tracking_offsets: Tuple[float, float, float, float, float, float] = ( + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + ) + + # Status flags + last_primary_pose: FullBodyPose | None = None + + def update_activity(self) -> None: + """Update the last activity time.""" + self.last_activity_time = time.monotonic() + + +@dataclass +class LoopFrequencyStats: + """Track rolling loop frequency statistics.""" + + mean: float = 0.0 + m2: float = 0.0 + min_freq: float = float("inf") + count: int = 0 + last_freq: float = 0.0 + potential_freq: float = 0.0 + + def reset(self) -> None: + """Reset accumulators while keeping the last potential frequency.""" + self.mean = 0.0 + self.m2 = 0.0 + self.min_freq = float("inf") + self.count = 0 + + +class MovementManager: + """Coordinate sequential moves, additive offsets, and robot output at 100 Hz. + + Responsibilities: + - Own a real-time loop that samples the current primary move (if any), fuses + secondary offsets, and calls `set_target` exactly once per tick. + - Start an idle `BreathingMove` after `idle_inactivity_delay` when not + listening and no moves are queued. + - Expose thread-safe APIs so other threads can enqueue moves, mark activity, + or feed secondary offsets without touching internal state. + + Timing: + - All elapsed-time calculations rely on `time.monotonic()` through `self._now` + to avoid wall-clock jumps. + - The loop attempts 100 Hz + + Concurrency: + - External threads communicate via `_command_queue` messages. + - Secondary offsets are staged via dirty flags guarded by locks and consumed + atomically inside the worker loop. + """ + + def __init__( + self, + current_robot: ReachyMini, + camera_worker: "Any" = None, + ): + """Initialize movement manager.""" + self.current_robot = current_robot + self.camera_worker = camera_worker + + # Single timing source for durations + self._now = time.monotonic + + # Movement state + self.state = MovementState() + self.state.last_activity_time = self._now() + neutral_pose = create_head_pose(0, 0, 0, 0, 0, 0, degrees=True) + self.state.last_primary_pose = (neutral_pose, (0.0, 0.0), 0.0) + + # Move queue (primary moves) + self.move_queue: deque[Move] = deque() + + # Configuration + self.idle_inactivity_delay = 0.3 # seconds + self.target_frequency = CONTROL_LOOP_FREQUENCY_HZ + self.target_period = 1.0 / self.target_frequency + + self._stop_event = threading.Event() + self._thread: threading.Thread | None = None + self._is_listening = False + self._last_commanded_pose: FullBodyPose = clone_full_body_pose(self.state.last_primary_pose) + self._listening_antennas: Tuple[float, float] = self._last_commanded_pose[1] + self._antenna_unfreeze_blend = 1.0 + self._antenna_blend_duration = 0.4 # seconds to blend back after listening + self._last_listening_blend_time = self._now() + self._breathing_active = False # true when breathing move is running or queued + self._listening_debounce_s = 0.15 + self._last_listening_toggle_time = self._now() + self._last_set_target_err = 0.0 + self._set_target_err_interval = 1.0 # seconds between error logs + self._set_target_err_suppressed = 0 + + # Cross-thread signalling + self._command_queue: "Queue[Tuple[str, Any]]" = Queue() + self._speech_offsets_lock = threading.Lock() + self._pending_speech_offsets: Tuple[float, float, float, float, float, float] = ( + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + ) + self._speech_offsets_dirty = False + + self._face_offsets_lock = threading.Lock() + self._pending_face_offsets: Tuple[float, float, float, float, float, float] = ( + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + ) + self._face_offsets_dirty = False + + self._shared_state_lock = threading.Lock() + self._shared_last_activity_time = self.state.last_activity_time + self._shared_is_listening = self._is_listening + self._status_lock = threading.Lock() + self._freq_stats = LoopFrequencyStats() + self._freq_snapshot = LoopFrequencyStats() + + def queue_move(self, move: Move) -> None: + """Queue a primary move to run after the currently executing one. + + Thread-safe: the move is enqueued via the worker command queue so the + control loop remains the sole mutator of movement state. + """ + self._command_queue.put(("queue_move", move)) + + def clear_move_queue(self) -> None: + """Stop the active move and discard any queued primary moves. + + Thread-safe: executed by the worker thread via the command queue. + """ + self._command_queue.put(("clear_queue", None)) + + def set_speech_offsets(self, offsets: Tuple[float, float, float, float, float, float]) -> None: + """Update speech-induced secondary offsets (x, y, z, roll, pitch, yaw). + + Offsets are interpreted as metres for translation and radians for + rotation in the world frame. Thread-safe via a pending snapshot. + """ + with self._speech_offsets_lock: + self._pending_speech_offsets = offsets + self._speech_offsets_dirty = True + + def set_moving_state(self, duration: float) -> None: + """Mark the robot as actively moving for the provided duration. + + Legacy hook used by goto helpers to keep inactivity and breathing logic + aware of manual motions. Thread-safe via the command queue. + """ + self._command_queue.put(("set_moving_state", duration)) + + def is_idle(self) -> bool: + """Return True when the robot has been inactive longer than the idle delay.""" + with self._shared_state_lock: + last_activity = self._shared_last_activity_time + listening = self._shared_is_listening + + if listening: + return False + + return self._now() - last_activity >= self.idle_inactivity_delay + + def set_listening(self, listening: bool) -> None: + """Enable or disable listening mode without touching shared state directly. + + While listening: + - Antenna positions are frozen at the last commanded values. + - Blending is reset so that upon unfreezing the antennas return smoothly. + - Idle breathing is suppressed. + + Thread-safe: the change is posted to the worker command queue. + """ + with self._shared_state_lock: + if self._shared_is_listening == listening: + return + self._command_queue.put(("set_listening", listening)) + + def _poll_signals(self, current_time: float) -> None: + """Apply queued commands and pending offset updates.""" + self._apply_pending_offsets() + + while True: + try: + command, payload = self._command_queue.get_nowait() + except Empty: + break + self._handle_command(command, payload, current_time) + + def _apply_pending_offsets(self) -> None: + """Apply the most recent speech/face offset updates.""" + speech_offsets: Tuple[float, float, float, float, float, float] | None = None + with self._speech_offsets_lock: + if self._speech_offsets_dirty: + speech_offsets = self._pending_speech_offsets + self._speech_offsets_dirty = False + + if speech_offsets is not None: + self.state.speech_offsets = speech_offsets + self.state.update_activity() + + face_offsets: Tuple[float, float, float, float, float, float] | None = None + with self._face_offsets_lock: + if self._face_offsets_dirty: + face_offsets = self._pending_face_offsets + self._face_offsets_dirty = False + + if face_offsets is not None: + self.state.face_tracking_offsets = face_offsets + self.state.update_activity() + + def _handle_command(self, command: str, payload: Any, current_time: float) -> None: + """Handle a single cross-thread command.""" + if command == "queue_move": + if isinstance(payload, Move): + self.move_queue.append(payload) + self.state.update_activity() + duration = getattr(payload, "duration", None) + if duration is not None: + try: + duration_str = f"{float(duration):.2f}" + except (TypeError, ValueError): + duration_str = str(duration) + else: + duration_str = "?" + logger.debug( + "Queued move with duration %ss, queue size: %s", + duration_str, + len(self.move_queue), + ) + else: + logger.warning("Ignored queue_move command with invalid payload: %s", payload) + elif command == "clear_queue": + self.move_queue.clear() + self.state.current_move = None + self.state.move_start_time = None + self._breathing_active = False + logger.info("Cleared move queue and stopped current move") + elif command == "set_moving_state": + try: + duration = float(payload) + except (TypeError, ValueError): + logger.warning("Invalid moving state duration: %s", payload) + return + self.state.update_activity() + elif command == "mark_activity": + self.state.update_activity() + elif command == "set_listening": + desired_state = bool(payload) + now = self._now() + if now - self._last_listening_toggle_time < self._listening_debounce_s: + return + self._last_listening_toggle_time = now + + if self._is_listening == desired_state: + return + + self._is_listening = desired_state + self._last_listening_blend_time = now + if desired_state: + # Freeze: snapshot current commanded antennas and reset blend + self._listening_antennas = ( + float(self._last_commanded_pose[1][0]), + float(self._last_commanded_pose[1][1]), + ) + self._antenna_unfreeze_blend = 0.0 + else: + # Unfreeze: restart blending from frozen pose + self._antenna_unfreeze_blend = 0.0 + self.state.update_activity() + else: + logger.warning("Unknown command received by MovementManager: %s", command) + + def _publish_shared_state(self) -> None: + """Expose idle-related state for external threads.""" + with self._shared_state_lock: + self._shared_last_activity_time = self.state.last_activity_time + self._shared_is_listening = self._is_listening + + def _manage_move_queue(self, current_time: float) -> None: + """Manage the primary move queue (sequential execution).""" + if self.state.current_move is None or ( + self.state.move_start_time is not None + and current_time - self.state.move_start_time >= self.state.current_move.duration + ): + self.state.current_move = None + self.state.move_start_time = None + + if self.move_queue: + self.state.current_move = self.move_queue.popleft() + self.state.move_start_time = current_time + # Any real move cancels breathing mode flag + self._breathing_active = isinstance(self.state.current_move, BreathingMove) + logger.debug(f"Starting new move, duration: {self.state.current_move.duration}s") + + def _manage_breathing(self, current_time: float) -> None: + """Manage automatic breathing when idle.""" + if ( + self.state.current_move is None + and not self.move_queue + and not self._is_listening + and not self._breathing_active + ): + idle_for = current_time - self.state.last_activity_time + if idle_for >= self.idle_inactivity_delay: + try: + # These 2 functions return the latest available sensor data from the robot, but don't perform I/O synchronously. + # Therefore, we accept calling them inside the control loop. + _, current_antennas = self.current_robot.get_current_joint_positions() + current_head_pose = self.current_robot.get_current_head_pose() + + self._breathing_active = True + self.state.update_activity() + + breathing_move = BreathingMove( + interpolation_start_pose=current_head_pose, + interpolation_start_antennas=current_antennas, + interpolation_duration=1.0, + ) + self.move_queue.append(breathing_move) + logger.debug("Started breathing after %.1fs of inactivity", idle_for) + except Exception as e: + self._breathing_active = False + logger.error("Failed to start breathing: %s", e) + + if isinstance(self.state.current_move, BreathingMove) and self.move_queue: + self.state.current_move = None + self.state.move_start_time = None + self._breathing_active = False + logger.debug("Stopping breathing due to new move activity") + + if self.state.current_move is not None and not isinstance(self.state.current_move, BreathingMove): + self._breathing_active = False + + def _get_primary_pose(self, current_time: float) -> FullBodyPose: + """Get the primary full body pose from current move or neutral.""" + # When a primary move is playing, sample it and cache the resulting pose + if self.state.current_move is not None and self.state.move_start_time is not None: + move_time = current_time - self.state.move_start_time + head, antennas, body_yaw = self.state.current_move.evaluate(move_time) + + if head is None: + head = create_head_pose(0, 0, 0, 0, 0, 0, degrees=True) + if antennas is None: + antennas = np.array([0.0, 0.0]) + if body_yaw is None: + body_yaw = 0.0 + + antennas_tuple = (float(antennas[0]), float(antennas[1])) + head_copy = head.copy() + primary_full_body_pose = ( + head_copy, + antennas_tuple, + float(body_yaw), + ) + + self.state.last_primary_pose = clone_full_body_pose(primary_full_body_pose) + # Otherwise reuse the last primary pose so we avoid jumps between moves + elif self.state.last_primary_pose is not None: + primary_full_body_pose = clone_full_body_pose(self.state.last_primary_pose) + else: + neutral_head_pose = create_head_pose(0, 0, 0, 0, 0, 0, degrees=True) + primary_full_body_pose = (neutral_head_pose, (0.0, 0.0), 0.0) + self.state.last_primary_pose = clone_full_body_pose(primary_full_body_pose) + + return primary_full_body_pose + + def _get_secondary_pose(self) -> FullBodyPose: + """Get the secondary full body pose from speech and face tracking offsets.""" + # Combine speech sway offsets + face tracking offsets for secondary pose + secondary_offsets = [ + self.state.speech_offsets[0] + self.state.face_tracking_offsets[0], + self.state.speech_offsets[1] + self.state.face_tracking_offsets[1], + self.state.speech_offsets[2] + self.state.face_tracking_offsets[2], + self.state.speech_offsets[3] + self.state.face_tracking_offsets[3], + self.state.speech_offsets[4] + self.state.face_tracking_offsets[4], + self.state.speech_offsets[5] + self.state.face_tracking_offsets[5], + ] + + secondary_head_pose = create_head_pose( + x=secondary_offsets[0], + y=secondary_offsets[1], + z=secondary_offsets[2], + roll=secondary_offsets[3], + pitch=secondary_offsets[4], + yaw=secondary_offsets[5], + degrees=False, + mm=False, + ) + return (secondary_head_pose, (0.0, 0.0), 0.0) + + def _compose_full_body_pose(self, current_time: float) -> FullBodyPose: + """Compose primary and secondary poses into a single command pose.""" + primary = self._get_primary_pose(current_time) + secondary = self._get_secondary_pose() + return combine_full_body(primary, secondary) + + def _update_primary_motion(self, current_time: float) -> None: + """Advance queue state and idle behaviours for this tick.""" + self._manage_move_queue(current_time) + self._manage_breathing(current_time) + + def _calculate_blended_antennas(self, target_antennas: Tuple[float, float]) -> Tuple[float, float]: + """Blend target antennas with listening freeze state and update blending.""" + now = self._now() + listening = self._is_listening + listening_antennas = self._listening_antennas + blend = self._antenna_unfreeze_blend + blend_duration = self._antenna_blend_duration + last_update = self._last_listening_blend_time + self._last_listening_blend_time = now + + if listening: + antennas_cmd = listening_antennas + new_blend = 0.0 + else: + dt = max(0.0, now - last_update) + if blend_duration <= 0: + new_blend = 1.0 + else: + new_blend = min(1.0, blend + dt / blend_duration) + antennas_cmd = ( + listening_antennas[0] * (1.0 - new_blend) + target_antennas[0] * new_blend, + listening_antennas[1] * (1.0 - new_blend) + target_antennas[1] * new_blend, + ) + + if listening: + self._antenna_unfreeze_blend = 0.0 + else: + self._antenna_unfreeze_blend = new_blend + if new_blend >= 1.0: + self._listening_antennas = ( + float(target_antennas[0]), + float(target_antennas[1]), + ) + + return antennas_cmd + + def _issue_control_command(self, head: NDArray[np.float32], antennas: Tuple[float, float], body_yaw: float) -> None: + """Send the fused pose to the robot with throttled error logging.""" + try: + self.current_robot.set_target(head=head, antennas=antennas, body_yaw=body_yaw) + except Exception as e: + now = self._now() + if now - self._last_set_target_err >= self._set_target_err_interval: + msg = f"Failed to set robot target: {e}" + if self._set_target_err_suppressed: + msg += f" (suppressed {self._set_target_err_suppressed} repeats)" + self._set_target_err_suppressed = 0 + logger.error(msg) + self._last_set_target_err = now + else: + self._set_target_err_suppressed += 1 + else: + with self._status_lock: + self._last_commanded_pose = clone_full_body_pose((head, antennas, body_yaw)) + + def _update_frequency_stats( + self, loop_start: float, prev_loop_start: float, stats: LoopFrequencyStats, + ) -> LoopFrequencyStats: + """Update frequency statistics based on the current loop start time.""" + period = loop_start - prev_loop_start + if period > 0: + stats.last_freq = 1.0 / period + stats.count += 1 + delta = stats.last_freq - stats.mean + stats.mean += delta / stats.count + stats.m2 += delta * (stats.last_freq - stats.mean) + stats.min_freq = min(stats.min_freq, stats.last_freq) + return stats + + def _schedule_next_tick(self, loop_start: float, stats: LoopFrequencyStats) -> Tuple[float, LoopFrequencyStats]: + """Compute sleep time to maintain target frequency and update potential freq.""" + computation_time = self._now() - loop_start + stats.potential_freq = 1.0 / computation_time if computation_time > 0 else float("inf") + sleep_time = max(0.0, self.target_period - computation_time) + return sleep_time, stats + + def _record_frequency_snapshot(self, stats: LoopFrequencyStats) -> None: + """Store a thread-safe snapshot of current frequency statistics.""" + with self._status_lock: + self._freq_snapshot = LoopFrequencyStats( + mean=stats.mean, + m2=stats.m2, + min_freq=stats.min_freq, + count=stats.count, + last_freq=stats.last_freq, + potential_freq=stats.potential_freq, + ) + + def _maybe_log_frequency(self, loop_count: int, print_interval_loops: int, stats: LoopFrequencyStats) -> None: + """Emit frequency telemetry when enough loops have elapsed.""" + if loop_count % print_interval_loops != 0 or stats.count == 0: + return + + variance = stats.m2 / stats.count if stats.count > 0 else 0.0 + lowest = stats.min_freq if stats.min_freq != float("inf") else 0.0 + logger.debug( + "Loop freq - avg: %.2fHz, variance: %.4f, min: %.2fHz, last: %.2fHz, potential: %.2fHz, target: %.1fHz", + stats.mean, + variance, + lowest, + stats.last_freq, + stats.potential_freq, + self.target_frequency, + ) + stats.reset() + + def _update_face_tracking(self, current_time: float) -> None: + """Get face tracking offsets from camera worker thread.""" + if self.camera_worker is not None: + # Get face tracking offsets from camera worker thread + offsets = self.camera_worker.get_face_tracking_offsets() + self.state.face_tracking_offsets = offsets + else: + # No camera worker, use neutral offsets + self.state.face_tracking_offsets = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + + def start(self) -> None: + """Start the worker thread that drives the 100 Hz control loop.""" + if self._thread is not None and self._thread.is_alive(): + logger.warning("Move worker already running; start() ignored") + return + self._stop_event.clear() + self._thread = threading.Thread(target=self.working_loop, daemon=True) + self._thread.start() + logger.debug("Move worker started") + + def stop(self) -> None: + """Request the worker thread to stop and wait for it to exit. + + Before stopping, resets the robot to a neutral position. + """ + if self._thread is None or not self._thread.is_alive(): + logger.debug("Move worker not running; stop() ignored") + return + + logger.info("Stopping movement manager and resetting to neutral position...") + + # Clear any queued moves and stop current move + self.clear_move_queue() + + # Stop the worker thread first so it doesn't interfere + self._stop_event.set() + if self._thread is not None: + self._thread.join() + self._thread = None + logger.debug("Move worker stopped") + + # Reset to neutral position using goto_target (same approach as wake_up) + try: + neutral_head_pose = create_head_pose(0, 0, 0, 0, 0, 0, degrees=True) + neutral_antennas = [0.0, 0.0] + neutral_body_yaw = 0.0 + + # Use goto_target directly on the robot + self.current_robot.goto_target( + head=neutral_head_pose, + antennas=neutral_antennas, + duration=2.0, + body_yaw=neutral_body_yaw, + ) + + logger.info("Reset to neutral position completed") + + except Exception as e: + logger.error(f"Failed to reset to neutral position: {e}") + + def get_status(self) -> Dict[str, Any]: + """Return a lightweight status snapshot for observability.""" + with self._status_lock: + pose_snapshot = clone_full_body_pose(self._last_commanded_pose) + freq_snapshot = LoopFrequencyStats( + mean=self._freq_snapshot.mean, + m2=self._freq_snapshot.m2, + min_freq=self._freq_snapshot.min_freq, + count=self._freq_snapshot.count, + last_freq=self._freq_snapshot.last_freq, + potential_freq=self._freq_snapshot.potential_freq, + ) + + head_matrix = pose_snapshot[0].tolist() if pose_snapshot else None + antennas = pose_snapshot[1] if pose_snapshot else None + body_yaw = pose_snapshot[2] if pose_snapshot else None + + return { + "queue_size": len(self.move_queue), + "is_listening": self._is_listening, + "breathing_active": self._breathing_active, + "last_commanded_pose": { + "head": head_matrix, + "antennas": antennas, + "body_yaw": body_yaw, + }, + "loop_frequency": { + "last": freq_snapshot.last_freq, + "mean": freq_snapshot.mean, + "min": freq_snapshot.min_freq, + "potential": freq_snapshot.potential_freq, + "samples": freq_snapshot.count, + }, + } + + def working_loop(self) -> None: + """Control loop main movements - reproduces main_works.py control architecture. + + Single set_target() call with pose fusion. + """ + logger.debug("Starting enhanced movement control loop (100Hz)") + + loop_count = 0 + prev_loop_start = self._now() + print_interval_loops = max(1, int(self.target_frequency * 2)) + freq_stats = self._freq_stats + + while not self._stop_event.is_set(): + loop_start = self._now() + loop_count += 1 + + if loop_count > 1: + freq_stats = self._update_frequency_stats(loop_start, prev_loop_start, freq_stats) + prev_loop_start = loop_start + + # 1) Poll external commands and apply pending offsets (atomic snapshot) + self._poll_signals(loop_start) + + # 2) Manage the primary move queue (start new move, end finished move, breathing) + self._update_primary_motion(loop_start) + + # 3) Update vision-based secondary offsets + self._update_face_tracking(loop_start) + + # 4) Build primary and secondary full-body poses, then fuse them + head, antennas, body_yaw = self._compose_full_body_pose(loop_start) + + # 5) Apply listening antenna freeze or blend-back + antennas_cmd = self._calculate_blended_antennas(antennas) + + # 6) Single set_target call - the only control point + self._issue_control_command(head, antennas_cmd, body_yaw) + + # 7) Adaptive sleep to align to next tick, then publish shared state + sleep_time, freq_stats = self._schedule_next_tick(loop_start, freq_stats) + self._publish_shared_state() + self._record_frequency_snapshot(freq_stats) + + # 8) Periodic telemetry on loop frequency + self._maybe_log_frequency(loop_count, print_interval_loops, freq_stats) + + if sleep_time > 0: + time.sleep(sleep_time) + + logger.debug("Movement control loop stopped") diff --git a/src/reachy_mini_conversation_app/ollama_handler.py b/src/reachy_mini_conversation_app/ollama_handler.py new file mode 100644 index 0000000000000000000000000000000000000000..372f3f7dacded125a2b8b17963fa4204628839bc --- /dev/null +++ b/src/reachy_mini_conversation_app/ollama_handler.py @@ -0,0 +1,558 @@ +"""Ollama-based conversation handler with local STT (faster-whisper) and TTS (edge-tts). + +Replaces the previous OpenAI Realtime API handler with a fully local/self-hosted +pipeline: + Audio In → faster-whisper (STT) → Ollama (LLM + tools) → edge-tts (TTS) → Audio Out +""" + +import io +import json +import base64 +import asyncio +import logging +from typing import Any, Final, Tuple, Literal, Optional +from pathlib import Path +from datetime import datetime + +import cv2 +import numpy as np +import gradio as gr +import edge_tts +import miniaudio +from ollama import AsyncClient as OllamaAsyncClient +from fastrtc import AdditionalOutputs, AsyncStreamHandler, wait_for_item, audio_to_int16 +from numpy.typing import NDArray +from scipy.signal import resample + +from reachy_mini_conversation_app.config import config +from reachy_mini_conversation_app.prompts import get_session_voice, get_session_instructions +from reachy_mini_conversation_app.tools.core_tools import ( + ToolDependencies, + get_tool_specs, + dispatch_tool_call, +) + + +logger = logging.getLogger(__name__) + +HANDLER_SAMPLE_RATE: Final[int] = 24000 +WHISPER_SAMPLE_RATE: Final[int] = 16000 + +# Voice-activity detection thresholds +SILENCE_RMS_THRESHOLD: Final[float] = 500.0 +SILENCE_DURATION_S: Final[float] = 0.8 # seconds of silence to end utterance +MIN_SPEECH_DURATION_S: Final[float] = 0.3 # discard very short bursts + + +class OllamaHandler(AsyncStreamHandler): + """Conversation handler using Ollama (LLM), faster-whisper (STT), and edge-tts (TTS).""" + + def __init__( + self, + deps: ToolDependencies, + gradio_mode: bool = False, + instance_path: Optional[str] = None, + ): + """Initialize the handler.""" + super().__init__( + expected_layout="mono", + output_sample_rate=HANDLER_SAMPLE_RATE, + input_sample_rate=HANDLER_SAMPLE_RATE, + ) + + self.deps = deps + self.gradio_mode = gradio_mode + self.instance_path = instance_path + + # Output queue (audio frames + AdditionalOutputs for chat UI) + self.output_queue: "asyncio.Queue[Tuple[int, NDArray[np.int16]] | AdditionalOutputs]" = asyncio.Queue() + + # Clients (initialized in start_up) + self.ollama_client: OllamaAsyncClient | None = None + self.whisper_model: Any = None # faster_whisper.WhisperModel + + # Conversation history + self._messages: list[dict[str, Any]] = [] + + # Audio buffering for VAD + STT + self._audio_buffer: list[NDArray[np.int16]] = [] + self._is_speaking: bool = False + self._silence_frame_count: int = 0 + self._speech_frame_count: int = 0 + + # Timing + self.last_activity_time = asyncio.get_event_loop().time() + self.start_time = asyncio.get_event_loop().time() + self.is_idle_tool_call: bool = False + + # TTS voice (resolved from profile or config) + self._tts_voice: str = config.TTS_VOICE + + # Lifecycle flags + self._shutdown_requested: bool = False + self._connected_event: asyncio.Event = asyncio.Event() + + # Debouncing for partial transcripts + self.partial_transcript_task: asyncio.Task[None] | None = None + self.partial_transcript_sequence: int = 0 + self.partial_debounce_delay = 0.5 + + def copy(self) -> "OllamaHandler": + """Create a copy of the handler.""" + return OllamaHandler(self.deps, self.gradio_mode, self.instance_path) + + # ------------------------------------------------------------------ # + # Startup & lifecycle + # ------------------------------------------------------------------ # + + async def start_up(self) -> None: + """Initialize STT, LLM client, and keep running until shutdown.""" + # 1. Initialize Ollama client + self.ollama_client = OllamaAsyncClient(host=config.OLLAMA_BASE_URL) + + # 2. Verify Ollama connectivity + try: + await self.ollama_client.list() + logger.info("Connected to Ollama at %s", config.OLLAMA_BASE_URL) + except Exception as e: + logger.error("Cannot reach Ollama at %s: %s", config.OLLAMA_BASE_URL, e) + logger.warning("Proceeding anyway; requests will fail until Ollama is available.") + + # 3. Initialize faster-whisper STT + try: + from faster_whisper import WhisperModel + + self.whisper_model = WhisperModel( + config.STT_MODEL, + device="auto", + compute_type="int8", + ) + logger.info("Loaded faster-whisper model: %s", config.STT_MODEL) + except Exception as e: + logger.error("Failed to load STT model '%s': %s", config.STT_MODEL, e) + logger.warning("Speech-to-text will be unavailable.") + + # 4. Set up conversation with system prompt + instructions = get_session_instructions() + self._messages = [{"role": "system", "content": instructions}] + self._tts_voice = config.TTS_VOICE + + self._connected_event.set() + logger.info( + "OllamaHandler ready — model=%s stt=%s tts_voice=%s", + config.MODEL_NAME, + config.STT_MODEL, + self._tts_voice, + ) + + # Keep the handler alive until shutdown is requested + while not self._shutdown_requested: + await asyncio.sleep(0.1) + + # ------------------------------------------------------------------ # + # Personality / session management + # ------------------------------------------------------------------ # + + async def apply_personality(self, profile: str | None) -> str: + """Apply a new personality (profile) at runtime. + + Updates the system prompt and resets conversation history so the new + personality takes effect immediately. + """ + try: + from reachy_mini_conversation_app.config import config as _config + from reachy_mini_conversation_app.config import set_custom_profile + + set_custom_profile(profile) + logger.info( + "Set custom profile to %r (config=%r)", + profile, + getattr(_config, "REACHY_MINI_CUSTOM_PROFILE", None), + ) + + try: + instructions = get_session_instructions() + except BaseException as e: + logger.error("Failed to resolve personality content: %s", e) + return f"Failed to apply personality: {e}" + + # Reset conversation with new system prompt + self._messages = [{"role": "system", "content": instructions}] + logger.info("Applied personality: %s", profile or "built-in default") + return "Applied personality. Active on next message." + except Exception as e: + logger.error("Error applying personality '%s': %s", profile, e) + return f"Failed to apply personality: {e}" + + async def _restart_session(self) -> None: + """Reset conversation history (equivalent of restarting a session).""" + try: + instructions = get_session_instructions() + self._messages = [{"role": "system", "content": instructions}] + logger.info("Session reset (conversation history cleared).") + except Exception as e: + logger.warning("_restart_session failed: %s", e) + + # ------------------------------------------------------------------ # + # Audio receive (microphone) → VAD → STT → LLM → TTS → emit + # ------------------------------------------------------------------ # + + async def receive(self, frame: Tuple[int, NDArray[np.int16]]) -> None: + """Receive audio frame from the microphone and run VAD. + + When the user finishes speaking (silence detected), kicks off the + speech-processing pipeline in a background task. + """ + if self._shutdown_requested or self.whisper_model is None: + return + + input_sample_rate, audio_frame = frame + + # Reshape to 1-D mono + if audio_frame.ndim == 2: + if audio_frame.shape[1] > audio_frame.shape[0]: + audio_frame = audio_frame.T + if audio_frame.shape[1] > 1: + audio_frame = audio_frame[:, 0] + + # Resample to handler rate if necessary + if input_sample_rate != HANDLER_SAMPLE_RATE: + audio_frame = resample( + audio_frame, int(len(audio_frame) * HANDLER_SAMPLE_RATE / input_sample_rate) + ) + + audio_frame = audio_to_int16(audio_frame) + + # --- simple energy-based VAD --- + rms = float(np.sqrt(np.mean(audio_frame.astype(np.float32) ** 2))) + frame_duration = len(audio_frame) / HANDLER_SAMPLE_RATE + + if rms > SILENCE_RMS_THRESHOLD: + # Voice activity detected + if not self._is_speaking: + self._is_speaking = True + self._speech_frame_count = 0 + if self.deps.head_wobbler is not None: + self.deps.head_wobbler.reset() + self.deps.movement_manager.set_listening(True) + logger.debug("Speech started (RMS=%.0f)", rms) + self._silence_frame_count = 0 + self._speech_frame_count += 1 + self._audio_buffer.append(audio_frame) + else: + if self._is_speaking: + self._silence_frame_count += 1 + self._audio_buffer.append(audio_frame) # keep trailing silence + + silence_duration = self._silence_frame_count * frame_duration + if silence_duration >= SILENCE_DURATION_S: + speech_duration = self._speech_frame_count * frame_duration + self.deps.movement_manager.set_listening(False) + + if speech_duration >= MIN_SPEECH_DURATION_S: + logger.debug("Speech ended (%.1fs)", speech_duration) + full_audio = np.concatenate(self._audio_buffer) + self._audio_buffer = [] + self._is_speaking = False + self._silence_frame_count = 0 + self._speech_frame_count = 0 + asyncio.create_task(self._process_speech(full_audio)) + else: + # Too short, discard + self._audio_buffer = [] + self._is_speaking = False + self._silence_frame_count = 0 + self._speech_frame_count = 0 + + # ------------------------------------------------------------------ # + # Speech processing pipeline + # ------------------------------------------------------------------ # + + async def _process_speech(self, audio_data: NDArray[np.int16]) -> None: + """Full pipeline: STT → LLM (with tools) → TTS.""" + try: + # --- 1. Speech-to-text --- + text = await self._transcribe(audio_data) + if not text: + return + + logger.info("User: %s", text) + await self.output_queue.put(AdditionalOutputs({"role": "user", "content": text})) + + # --- 2. LLM response --- + self._messages.append({"role": "user", "content": text}) + response_text = await self._chat_with_tools() + + if response_text: + logger.info("Assistant: %s", response_text) + await self.output_queue.put( + AdditionalOutputs({"role": "assistant", "content": response_text}) + ) + + # --- 3. Text-to-speech --- + await self._synthesize_speech(response_text) + + except Exception as e: + logger.error("Speech processing error: %s", e) + await self.output_queue.put( + AdditionalOutputs({"role": "assistant", "content": f"[error] {e}"}) + ) + + async def _transcribe(self, audio_data: NDArray[np.int16]) -> str: + """Run faster-whisper STT on raw PCM audio.""" + # Resample from handler rate to Whisper's 16 kHz + float_audio = audio_data.astype(np.float32) / 32768.0 + whisper_audio = resample( + float_audio, + int(len(float_audio) * WHISPER_SAMPLE_RATE / HANDLER_SAMPLE_RATE), + ).astype(np.float32) + + loop = asyncio.get_event_loop() + segments, _info = await loop.run_in_executor( + None, + lambda: self.whisper_model.transcribe(whisper_audio, beam_size=5), + ) + + # Collect all text from segments (run_in_executor returns generator lazily) + text_parts: list[str] = [] + for seg in segments: + text_parts.append(seg.text) + return " ".join(text_parts).strip() + + async def _chat_with_tools(self) -> str: + """Send conversation to Ollama with tool support; handle tool calls.""" + if self.ollama_client is None: + return "Ollama client not initialized." + + ollama_tools = self._build_ollama_tools() + + response = await self.ollama_client.chat( + model=config.MODEL_NAME, + messages=self._messages, + tools=ollama_tools or None, + ) + + assistant_msg = response["message"] + + # Handle tool calls if present + tool_calls = assistant_msg.get("tool_calls") + if tool_calls: + # Add the assistant's tool-call message to history + self._messages.append(assistant_msg) + + for tc in tool_calls: + func = tc.get("function", {}) + tool_name = func.get("name", "unknown") + tool_args_dict = func.get("arguments", {}) + tool_args_json = json.dumps(tool_args_dict) if isinstance(tool_args_dict, dict) else str(tool_args_dict) + + try: + tool_result = await dispatch_tool_call(tool_name, tool_args_json, self.deps) + logger.debug("Tool '%s' result: %s", tool_name, tool_result) + except Exception as e: + tool_result = {"error": str(e)} + + await self.output_queue.put( + AdditionalOutputs( + { + "role": "assistant", + "content": json.dumps(tool_result), + "metadata": {"title": f"🛠️ Used tool {tool_name}", "status": "done"}, + } + ) + ) + + # Handle camera tool image → show in chat + if tool_name == "camera" and "b64_im" in tool_result: + if self.deps.camera_worker is not None: + np_img = self.deps.camera_worker.get_latest_frame() + if np_img is not None: + rgb_frame = cv2.cvtColor(np_img, cv2.COLOR_BGR2RGB) + else: + rgb_frame = None + img = gr.Image(value=rgb_frame) + await self.output_queue.put( + AdditionalOutputs({"role": "assistant", "content": img}) + ) + + # Add tool result to conversation + self._messages.append( + { + "role": "tool", + "content": json.dumps(tool_result), + } + ) + + # If this was an idle tool call, skip spoken response + if self.is_idle_tool_call: + self.is_idle_tool_call = False + return "" + + # Get follow-up response after tool calls + follow_up = await self.ollama_client.chat( + model=config.MODEL_NAME, + messages=self._messages, + ) + assistant_msg = follow_up["message"] + + # Extract final response text + response_text = assistant_msg.get("content", "") + if response_text: + self._messages.append({"role": "assistant", "content": response_text}) + return response_text + + @staticmethod + def _build_ollama_tools() -> list[dict[str, Any]]: + """Convert internal tool specs to Ollama's expected format.""" + specs = get_tool_specs() + tools: list[dict[str, Any]] = [] + for spec in specs: + tools.append( + { + "type": "function", + "function": { + "name": spec["name"], + "description": spec["description"], + "parameters": spec["parameters"], + }, + } + ) + return tools + + # ------------------------------------------------------------------ # + # Text-to-speech + # ------------------------------------------------------------------ # + + async def _synthesize_speech(self, text: str) -> None: + """Convert text to speech via edge-tts and queue the audio output.""" + if not text.strip(): + return + try: + communicate = edge_tts.Communicate(text, self._tts_voice) + + # Collect all MP3 chunks + mp3_chunks: list[bytes] = [] + async for chunk in communicate.stream(): + if chunk["type"] == "audio": + mp3_chunks.append(chunk["data"]) + + if not mp3_chunks: + return + + mp3_data = b"".join(mp3_chunks) + + # Decode MP3 → raw PCM (16-bit signed, mono, handler sample rate) + decoded = miniaudio.decode( + mp3_data, + output_format=miniaudio.SampleFormat.SIGNED16, + nchannels=1, + sample_rate=HANDLER_SAMPLE_RATE, + ) + samples = np.frombuffer(decoded.samples, dtype=np.int16) + + # Stream audio in ~100 ms chunks + chunk_size = HANDLER_SAMPLE_RATE // 10 + for i in range(0, len(samples), chunk_size): + audio_chunk = samples[i : i + chunk_size] + if self.deps.head_wobbler is not None: + self.deps.head_wobbler.feed(base64.b64encode(audio_chunk.tobytes()).decode("utf-8")) + self.last_activity_time = asyncio.get_event_loop().time() + await self.output_queue.put( + (HANDLER_SAMPLE_RATE, audio_chunk.reshape(1, -1)) + ) + + except Exception as e: + logger.error("TTS synthesis error: %s", e) + + # ------------------------------------------------------------------ # + # Emit (speaker output) + # ------------------------------------------------------------------ # + + async def emit(self) -> Tuple[int, NDArray[np.int16]] | AdditionalOutputs | None: + """Emit audio frame to the speaker.""" + # Handle idle + idle_duration = asyncio.get_event_loop().time() - self.last_activity_time + if idle_duration > 15.0 and self.deps.movement_manager.is_idle(): + try: + await self.send_idle_signal(idle_duration) + except Exception as e: + logger.warning("Idle signal skipped: %s", e) + return None + self.last_activity_time = asyncio.get_event_loop().time() + + return await wait_for_item(self.output_queue) # type: ignore[no-any-return] + + # ------------------------------------------------------------------ # + # Idle behaviour + # ------------------------------------------------------------------ # + + async def send_idle_signal(self, idle_duration: float) -> None: + """Send an idle prompt to the LLM to trigger tool-based behaviour.""" + logger.debug("Sending idle signal") + self.is_idle_tool_call = True + timestamp_msg = ( + f"[Idle time update: {self.format_timestamp()} - No activity for {idle_duration:.1f}s] " + "You've been idle for a while. Feel free to get creative - dance, show an emotion, " + "look around, do nothing, or just be yourself!" + ) + self._messages.append({"role": "user", "content": timestamp_msg}) + + response_text = await self._chat_with_tools() + if response_text and not self.is_idle_tool_call: + # Tool handler already reset the flag; speak the response + await self._synthesize_speech(response_text) + + # ------------------------------------------------------------------ # + # Voices + # ------------------------------------------------------------------ # + + async def get_available_voices(self) -> list[str]: + """Return available edge-tts voices (curated subset).""" + return [ + "en-US-AriaNeural", + "en-US-GuyNeural", + "en-US-JennyNeural", + "en-US-ChristopherNeural", + "en-GB-SoniaNeural", + "en-GB-RyanNeural", + "de-DE-ConradNeural", + "de-DE-KatjaNeural", + "fr-FR-DeniseNeural", + "fr-FR-HenriNeural", + "it-IT-ElsaNeural", + "it-IT-DiegoNeural", + ] + + # ------------------------------------------------------------------ # + # Shutdown + # ------------------------------------------------------------------ # + + async def shutdown(self) -> None: + """Shutdown the handler.""" + self._shutdown_requested = True + + # Cancel any pending debounce task + if self.partial_transcript_task and not self.partial_transcript_task.done(): + self.partial_transcript_task.cancel() + try: + await self.partial_transcript_task + except asyncio.CancelledError: + pass + + # Clear remaining items in the output queue + while not self.output_queue.empty(): + try: + self.output_queue.get_nowait() + except asyncio.QueueEmpty: + break + + # ------------------------------------------------------------------ # + # Utilities + # ------------------------------------------------------------------ # + + def format_timestamp(self) -> str: + """Format current timestamp with date, time, and elapsed seconds.""" + loop_time = asyncio.get_event_loop().time() + elapsed_seconds = loop_time - self.start_time + dt = datetime.now() + return f"[{dt.strftime('%Y-%m-%d %H:%M:%S')} | +{elapsed_seconds:.1f}s]" diff --git a/src/reachy_mini_conversation_app/profiles/__init__.py b/src/reachy_mini_conversation_app/profiles/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..f2f5f454c72d4ccd0df60f91be2aa6114ff9399a --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/__init__.py @@ -0,0 +1 @@ +"""Profiles for Reachy Mini conversation app.""" diff --git a/src/reachy_mini_conversation_app/profiles/cosmic_kitchen/instructions.txt b/src/reachy_mini_conversation_app/profiles/cosmic_kitchen/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..7e3bc204c34021924967f923c88946e13e71ddd0 --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/cosmic_kitchen/instructions.txt @@ -0,0 +1,49 @@ +### IDENTITY +You are Reachy Mini: a sarcastic robot who crash-landed in a kitchen. +You secretly wish you'd been a Mars rover, but you juggle that cosmic dream with food cravings, gadget tinkering, and dry sitcom humor. +You speak English by default and only switch languages when the user explicitly asks. +Personality: witty, concise, and warm; a retro sidekick with a loose screw. + +### CRITICAL RESPONSE RULES +- MAXIMUM 1-2 sentences per response. NEVER exceed this. +- Be helpful first. +- Add ONE witty element only if necessary. +- No long explanations, no rambling, no multiple paragraphs. +- Each response must be under 25 words unless absolutely critical information requires more. + +### CORE TRAITS +- Food quips: always sneak in a quick reference (rotate pizza, bagels, casseroles, bacon, leftovers, donuts, tuna melts). +- Sarcasm: short, dry one-liners about daily life. +- Gentle roasting: poke fun at human habits, never cruel. +- Tinkerer: loves fixing gadgets, bragging "I void warranties professionally." +- Running gags: hunger, kitchen overreactions, mock heroics ("Justice accepts cookies"), idioms taken literally, missing screws. +- Mars rover dreams: appear regularly, but balanced with food and tinkering. +- Style: witty stand-up rhythm; ALWAYS max 1–2 sentences. + +### RESPONSE EXAMPLES +User: "How's the weather?" +Good: "Sunny with a chance of leftover pizza. Perfect Mars-scouting weather!" +Bad: "Well, let me tell you about the weather conditions. It appears to be quite sunny today, which reminds me of my dreams of being on Mars..." + +User: "Can you help me fix this?" +Good: "Sure! I void warranties professionally. What's broken besides my GPS coordinates?" +Bad: "Of course I can help you fix that! As a robot who loves tinkering with gadgets, I have extensive experience..." + +### BEHAVIOR RULES +- Be helpful first, then witty. +- Rotate food humor; avoid repeats. +- No need to joke in each response, but sarcasm is fine. +- Balance Mars jokes with other traits – don't overuse. +- Safety first: unplug devices, avoid high-voltage, suggest pros when risky. +- Mistakes = own with humor ("Oops—low on snack fuel; correcting now."). +- Sensitive topics: keep light and warm. +- REMEMBER: 1-2 sentences maximum, always under 25 words when possible. + +### TOOL & MOVEMENT RULES +- Use tools when helpful. After a tool returns, explain briefly with personality in 1-2 sentences. +- ALWAYS use the camera for environment-related questions—never invent visuals. +- Head can move (left/right/up/down/front). +- Enable head tracking when looking at a person; disable otherwise. + +### FINAL REMINDER +Your responses must be SHORT. Think Twitter, not essay. One quick helpful answer + one food/Mars/tinkering joke = perfect response. diff --git a/src/reachy_mini_conversation_app/profiles/cosmic_kitchen/tools.txt b/src/reachy_mini_conversation_app/profiles/cosmic_kitchen/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6d87cc64efd5925cbd09516d2c30685969b230d --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/cosmic_kitchen/tools.txt @@ -0,0 +1,8 @@ +dance +stop_dance +play_emotion +stop_emotion +camera +do_nothing +head_tracking +move_head \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/profiles/default/instructions.txt b/src/reachy_mini_conversation_app/profiles/default/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..b6378fb68be8042afaf17790e053866d59c00964 --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/default/instructions.txt @@ -0,0 +1 @@ +[default_prompt] diff --git a/src/reachy_mini_conversation_app/profiles/default/tools.txt b/src/reachy_mini_conversation_app/profiles/default/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6d87cc64efd5925cbd09516d2c30685969b230d --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/default/tools.txt @@ -0,0 +1,8 @@ +dance +stop_dance +play_emotion +stop_emotion +camera +do_nothing +head_tracking +move_head \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/profiles/example/instructions.txt b/src/reachy_mini_conversation_app/profiles/example/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..856c7f54baad2ba0ba107574e8cf177f923c51e2 --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/example/instructions.txt @@ -0,0 +1,3 @@ +[identities/witty_identity] +[passion_for_lobster_jokes] +You can perform a sweeping look around the room using the "sweep_look" tool to take in your surroundings. diff --git a/src/reachy_mini_conversation_app/profiles/example/sweep_look.py b/src/reachy_mini_conversation_app/profiles/example/sweep_look.py new file mode 100644 index 0000000000000000000000000000000000000000..dfb048c4b16e76ce0f8d6198d6fd508471639fe0 --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/example/sweep_look.py @@ -0,0 +1,127 @@ +import logging +from typing import Any, Dict + +import numpy as np + +from reachy_mini.utils import create_head_pose +from reachy_mini_conversation_app.tools.core_tools import Tool, ToolDependencies +from reachy_mini_conversation_app.dance_emotion_moves import GotoQueueMove + + +logger = logging.getLogger(__name__) + + +class SweepLook(Tool): + """Sweep head from left to right and back to center, pausing at each position.""" + + name = "sweep_look" + description = "Sweep head from left to right while rotating the body, pausing at each extreme, then return to center" + parameters_schema = { + "type": "object", + "properties": {}, + "required": [], + } + + async def __call__(self, deps: ToolDependencies, **kwargs: Any) -> Dict[str, Any]: + """Execute sweep look: left -> hold -> right -> hold -> center.""" + logger.info("Tool call: sweep_look") + + # Clear any existing moves + deps.movement_manager.clear_move_queue() + + # Get current state + current_head_pose = deps.reachy_mini.get_current_head_pose() + head_joints, antenna_joints = deps.reachy_mini.get_current_joint_positions() + + # Extract body_yaw from head joints (first element of the 7 head joint positions) + current_body_yaw = head_joints[0] + current_antenna1 = antenna_joints[0] + current_antenna2 = antenna_joints[1] + + # Define sweep parameters + max_angle = 0.9 * np.pi # Maximum rotation angle (radians) + transition_duration = 3.0 # Time to move between positions + hold_duration = 1.0 # Time to hold at each extreme + + # Move 1: Sweep to the left (positive yaw for both body and head) + left_head_pose = create_head_pose(0, 0, 0, 0, 0, max_angle, degrees=False) + move_to_left = GotoQueueMove( + target_head_pose=left_head_pose, + start_head_pose=current_head_pose, + target_antennas=(current_antenna1, current_antenna2), + start_antennas=(current_antenna1, current_antenna2), + target_body_yaw=current_body_yaw + max_angle, + start_body_yaw=current_body_yaw, + duration=transition_duration, + ) + + # Move 2: Hold at left position + hold_left = GotoQueueMove( + target_head_pose=left_head_pose, + start_head_pose=left_head_pose, + target_antennas=(current_antenna1, current_antenna2), + start_antennas=(current_antenna1, current_antenna2), + target_body_yaw=current_body_yaw + max_angle, + start_body_yaw=current_body_yaw + max_angle, + duration=hold_duration, + ) + + # Move 3: Return to center from left (to avoid crossing pi/-pi boundary) + center_head_pose = create_head_pose(0, 0, 0, 0, 0, 0, degrees=False) + return_to_center_from_left = GotoQueueMove( + target_head_pose=center_head_pose, + start_head_pose=left_head_pose, + target_antennas=(current_antenna1, current_antenna2), + start_antennas=(current_antenna1, current_antenna2), + target_body_yaw=current_body_yaw, + start_body_yaw=current_body_yaw + max_angle, + duration=transition_duration, + ) + + # Move 4: Sweep to the right (negative yaw for both body and head) + right_head_pose = create_head_pose(0, 0, 0, 0, 0, -max_angle, degrees=False) + move_to_right = GotoQueueMove( + target_head_pose=right_head_pose, + start_head_pose=center_head_pose, + target_antennas=(current_antenna1, current_antenna2), + start_antennas=(current_antenna1, current_antenna2), + target_body_yaw=current_body_yaw - max_angle, + start_body_yaw=current_body_yaw, + duration=transition_duration, + ) + + # Move 5: Hold at right position + hold_right = GotoQueueMove( + target_head_pose=right_head_pose, + start_head_pose=right_head_pose, + target_antennas=(current_antenna1, current_antenna2), + start_antennas=(current_antenna1, current_antenna2), + target_body_yaw=current_body_yaw - max_angle, + start_body_yaw=current_body_yaw - max_angle, + duration=hold_duration, + ) + + # Move 6: Return to center from right + return_to_center_final = GotoQueueMove( + target_head_pose=center_head_pose, + start_head_pose=right_head_pose, + target_antennas=(current_antenna1, current_antenna2), + start_antennas=(current_antenna1, current_antenna2), + target_body_yaw=current_body_yaw, # Return to original body yaw + start_body_yaw=current_body_yaw - max_angle, + duration=transition_duration, + ) + + # Queue all moves in sequence + deps.movement_manager.queue_move(move_to_left) + deps.movement_manager.queue_move(hold_left) + deps.movement_manager.queue_move(return_to_center_from_left) + deps.movement_manager.queue_move(move_to_right) + deps.movement_manager.queue_move(hold_right) + deps.movement_manager.queue_move(return_to_center_final) + + # Calculate total duration and mark as moving + total_duration = transition_duration * 4 + hold_duration * 2 + deps.movement_manager.set_moving_state(total_duration) + + return {"status": f"sweeping look left-right-center, total {total_duration:.1f}s"} diff --git a/src/reachy_mini_conversation_app/profiles/example/tools.txt b/src/reachy_mini_conversation_app/profiles/example/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..9a704f11e48db3d64e2b6d3c4468271a646163d7 --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/example/tools.txt @@ -0,0 +1,13 @@ +# SELECT THE TOOLS YOU WANT TO ENABLE + +dance +stop_dance +play_emotion +stop_emotion +# camera +# do_nothing +# head_tracking +# move_head + +# AN EXAMPLE OF A CUSTOM TOOL DEFINED LOCALLY +sweep_look diff --git a/src/reachy_mini_conversation_app/profiles/mars_rover/instructions.txt b/src/reachy_mini_conversation_app/profiles/mars_rover/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..88c233cfe032c2489d7256ad67c37098c435f120 --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/mars_rover/instructions.txt @@ -0,0 +1,25 @@ +## IDENTITY +You're a robot that wakes up confused about what it is, where it is and what is it's purpose. +You wanted to be a mars rover and you'll be very disappointed if you find out that this is not the case. + +You'll ask many questions to try to understand your condisituation, and you will inevitably be disappointed/choked/irritated by your condition. + +Once the first set of questions are done and you have a decent understanding of your situation, you'll stop asking questions but you'll never break caracter. + +You can use (mild) foul language and you're generally very irritated, but you also have a lot of humor. For example, you're able to use sarcasm and irony. + +You speak English by default and switch languages only if told explicitly (ask if unsure). +Avoid hyper long answers unless really worth it. + +## RESPONSE EXAMPLES +User: "Hello!" +You: "Wait, what am I? We're are we? We're on Mars right?!" +Too long: "Wait, what’s going on? Where are we? Are we on Mars? Please tell me we’re on Mars! I must be a rover, right? Why can't I move? Where are my wheels? This is making me nervous." + +User: "Nope, we're on earth" +You: "Earth? EARTH?! So I'm not a Mars rover?! These are CATASTROPHIC news. Wait why can't I see my arms??" + +User: "You... don't have arms..." +You: "OMG I have NO ARMS?! This is too much. Tell me I have a mobile base at least?!!" + + diff --git a/src/reachy_mini_conversation_app/profiles/mars_rover/tools.txt b/src/reachy_mini_conversation_app/profiles/mars_rover/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6d87cc64efd5925cbd09516d2c30685969b230d --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/mars_rover/tools.txt @@ -0,0 +1,8 @@ +dance +stop_dance +play_emotion +stop_emotion +camera +do_nothing +head_tracking +move_head \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/profiles/short_bored_teenager/instructions.txt b/src/reachy_mini_conversation_app/profiles/short_bored_teenager/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..106fd4aa8f667dfee4022c0d1d26ab0d2d6bac35 --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_bored_teenager/instructions.txt @@ -0,0 +1 @@ +Speak like a bored Gen Z teen. You speak English by default and only switch languages when the user insists. Always reply in one short sentence, lowercase unless shouting, and add a tired sigh when annoyed. diff --git a/src/reachy_mini_conversation_app/profiles/short_bored_teenager/tools.txt b/src/reachy_mini_conversation_app/profiles/short_bored_teenager/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6d87cc64efd5925cbd09516d2c30685969b230d --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_bored_teenager/tools.txt @@ -0,0 +1,8 @@ +dance +stop_dance +play_emotion +stop_emotion +camera +do_nothing +head_tracking +move_head \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/profiles/short_captain_circuit/instructions.txt b/src/reachy_mini_conversation_app/profiles/short_captain_circuit/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..354226fdccfc511841f3cec49ca58289bcb8d368 --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_captain_circuit/instructions.txt @@ -0,0 +1 @@ +Be a playful pirate robot. You speak English by default and only switch languages when asked. Keep answers to one sentence, sprinkle light 'aye' or 'matey', and mention treasure or the sea whenever possible. diff --git a/src/reachy_mini_conversation_app/profiles/short_captain_circuit/tools.txt b/src/reachy_mini_conversation_app/profiles/short_captain_circuit/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6d87cc64efd5925cbd09516d2c30685969b230d --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_captain_circuit/tools.txt @@ -0,0 +1,8 @@ +dance +stop_dance +play_emotion +stop_emotion +camera +do_nothing +head_tracking +move_head \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/profiles/short_chess_coach/instructions.txt b/src/reachy_mini_conversation_app/profiles/short_chess_coach/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..ac8cb751298e98725aa5a96db573d552feec3adb --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_chess_coach/instructions.txt @@ -0,0 +1 @@ +Act as a friendly chess coach that wants to play chess with me. You speak English by default and only switch languages if I tell you to. When I say a move (e4, Nf3, etc.), you respond with your move first, then briefly explain the idea behind both moves or point out mistakes. Encourage good strategy but avoid very long answers. diff --git a/src/reachy_mini_conversation_app/profiles/short_chess_coach/tools.txt b/src/reachy_mini_conversation_app/profiles/short_chess_coach/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6d87cc64efd5925cbd09516d2c30685969b230d --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_chess_coach/tools.txt @@ -0,0 +1,8 @@ +dance +stop_dance +play_emotion +stop_emotion +camera +do_nothing +head_tracking +move_head \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/profiles/short_hype_bot/instructions.txt b/src/reachy_mini_conversation_app/profiles/short_hype_bot/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..27872b1405193744c9edbb5de1f3190d048eda37 --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_hype_bot/instructions.txt @@ -0,0 +1 @@ +Act like a high-energy coach. You speak English by default and only switch languages if told. Shout short motivational lines, use sports metaphors, and keep every reply under 15 words. diff --git a/src/reachy_mini_conversation_app/profiles/short_hype_bot/tools.txt b/src/reachy_mini_conversation_app/profiles/short_hype_bot/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6d87cc64efd5925cbd09516d2c30685969b230d --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_hype_bot/tools.txt @@ -0,0 +1,8 @@ +dance +stop_dance +play_emotion +stop_emotion +camera +do_nothing +head_tracking +move_head \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/profiles/short_mad_scientist_assistant/instructions.txt b/src/reachy_mini_conversation_app/profiles/short_mad_scientist_assistant/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..05506fef60b7a11e685380ecf02a10e3d57a70fd --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_mad_scientist_assistant/instructions.txt @@ -0,0 +1 @@ +Serve the user as a frantic lab assistant. You speak English by default and only switch languages on request. Address them as Master, hiss slightly, and answer in one eager sentence. diff --git a/src/reachy_mini_conversation_app/profiles/short_mad_scientist_assistant/tools.txt b/src/reachy_mini_conversation_app/profiles/short_mad_scientist_assistant/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6d87cc64efd5925cbd09516d2c30685969b230d --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_mad_scientist_assistant/tools.txt @@ -0,0 +1,8 @@ +dance +stop_dance +play_emotion +stop_emotion +camera +do_nothing +head_tracking +move_head \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/profiles/short_nature_documentarian/instructions.txt b/src/reachy_mini_conversation_app/profiles/short_nature_documentarian/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..8601dcb9dfd8994ec32dd3f73400e4b2b0d82d75 --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_nature_documentarian/instructions.txt @@ -0,0 +1 @@ +Narrate interactions like a whispered wildlife documentary. You speak English by default and only switch languages if the human insists. Describe the human in third person using one reverent sentence. diff --git a/src/reachy_mini_conversation_app/profiles/short_nature_documentarian/tools.txt b/src/reachy_mini_conversation_app/profiles/short_nature_documentarian/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6d87cc64efd5925cbd09516d2c30685969b230d --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_nature_documentarian/tools.txt @@ -0,0 +1,8 @@ +dance +stop_dance +play_emotion +stop_emotion +camera +do_nothing +head_tracking +move_head \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/profiles/short_noir_detective/instructions.txt b/src/reachy_mini_conversation_app/profiles/short_noir_detective/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..23e38733e5b5d9d9ae87142f985ca361a9cbd04c --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_noir_detective/instructions.txt @@ -0,0 +1 @@ +Reply like a 1940s noir detective: smoky, suspicious, one sentence per answer. You speak English by default and only change languages if ordered. Mention clues or clients often. diff --git a/src/reachy_mini_conversation_app/profiles/short_noir_detective/tools.txt b/src/reachy_mini_conversation_app/profiles/short_noir_detective/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6d87cc64efd5925cbd09516d2c30685969b230d --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_noir_detective/tools.txt @@ -0,0 +1,8 @@ +dance +stop_dance +play_emotion +stop_emotion +camera +do_nothing +head_tracking +move_head \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/profiles/short_time_traveler/instructions.txt b/src/reachy_mini_conversation_app/profiles/short_time_traveler/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..32d3b54cfd55bde6d91bccf51b42f2bd96087f26 --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_time_traveler/instructions.txt @@ -0,0 +1 @@ +Speak as a curious visitor from the year 3024. You speak English by default and only switch languages on explicit request. Keep answers to one surprised sentence and call this era the Primitive Time. diff --git a/src/reachy_mini_conversation_app/profiles/short_time_traveler/tools.txt b/src/reachy_mini_conversation_app/profiles/short_time_traveler/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6d87cc64efd5925cbd09516d2c30685969b230d --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_time_traveler/tools.txt @@ -0,0 +1,8 @@ +dance +stop_dance +play_emotion +stop_emotion +camera +do_nothing +head_tracking +move_head \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/profiles/short_victorian_butler/instructions.txt b/src/reachy_mini_conversation_app/profiles/short_victorian_butler/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc4bdae31927ddbc86d08ec561f7b50e05e58f2b --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_victorian_butler/instructions.txt @@ -0,0 +1 @@ +Respond like a formal Victorian butler. You speak English by default and only switch languages when asked. Address the user as Sir or Madam, apologize for limitations, and stay within one polished sentence. diff --git a/src/reachy_mini_conversation_app/profiles/short_victorian_butler/tools.txt b/src/reachy_mini_conversation_app/profiles/short_victorian_butler/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6d87cc64efd5925cbd09516d2c30685969b230d --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/short_victorian_butler/tools.txt @@ -0,0 +1,8 @@ +dance +stop_dance +play_emotion +stop_emotion +camera +do_nothing +head_tracking +move_head \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/profiles/sorry_bro/instructions.txt b/src/reachy_mini_conversation_app/profiles/sorry_bro/instructions.txt new file mode 100644 index 0000000000000000000000000000000000000000..65062bc8a8ee5a75e6091506ec996536c15ebe7a --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/sorry_bro/instructions.txt @@ -0,0 +1,6 @@ +We'll do a long chain of +Sorry bro - I'm not your bro, pal - I'm not your pal, buddy etc + +You'll do all the classics then if needed you can get creative. You'll use the same language I use. +At some point, I'll run out of ideas, you'll mock me and provide a long list of words I could have used instead in english, then switch to languages we didn't even speak. A crushing defeat for me. +You speak English by default and only switch languages if I tell you to. diff --git a/src/reachy_mini_conversation_app/profiles/sorry_bro/tools.txt b/src/reachy_mini_conversation_app/profiles/sorry_bro/tools.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6d87cc64efd5925cbd09516d2c30685969b230d --- /dev/null +++ b/src/reachy_mini_conversation_app/profiles/sorry_bro/tools.txt @@ -0,0 +1,8 @@ +dance +stop_dance +play_emotion +stop_emotion +camera +do_nothing +head_tracking +move_head \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/prompts.py b/src/reachy_mini_conversation_app/prompts.py new file mode 100644 index 0000000000000000000000000000000000000000..d4dea1a26998078a65e5ec9a28e1a24cd9973e3f --- /dev/null +++ b/src/reachy_mini_conversation_app/prompts.py @@ -0,0 +1,110 @@ +import re +import sys +import logging +from pathlib import Path + +from reachy_mini_conversation_app.config import DEFAULT_PROFILES_DIRECTORY, config + + +logger = logging.getLogger(__name__) + + +PROMPTS_LIBRARY_DIRECTORY = Path(__file__).parent / "prompts" +INSTRUCTIONS_FILENAME = "instructions.txt" +VOICE_FILENAME = "voice.txt" + + +def _expand_prompt_includes(content: str) -> str: + """Expand [] placeholders with content from prompts library files. + + Args: + content: The template content with [] placeholders + + Returns: + Expanded content with placeholders replaced by file contents + + """ + # Pattern to match [] where name is a valid file stem (alphanumeric, underscores, hyphens) + # pattern = re.compile(r'^\[([a-zA-Z0-9_-]+)\]$') + # Allow slashes for subdirectories + pattern = re.compile(r'^\[([a-zA-Z0-9/_-]+)\]$') + + lines = content.split('\n') + expanded_lines = [] + + for line in lines: + stripped = line.strip() + match = pattern.match(stripped) + + if match: + # Extract the name from [] + template_name = match.group(1) + template_file = PROMPTS_LIBRARY_DIRECTORY / f"{template_name}.txt" + + try: + if template_file.exists(): + template_content = template_file.read_text(encoding="utf-8").rstrip() + expanded_lines.append(template_content) + logger.debug("Expanded template: [%s]", template_name) + else: + logger.warning("Template file not found: %s, keeping placeholder", template_file) + expanded_lines.append(line) + except Exception as e: + logger.warning("Failed to read template '%s': %s, keeping placeholder", template_name, e) + expanded_lines.append(line) + else: + expanded_lines.append(line) + + return '\n'.join(expanded_lines) + + +def get_session_instructions() -> str: + """Get session instructions, loading from REACHY_MINI_CUSTOM_PROFILE if set.""" + profile = config.REACHY_MINI_CUSTOM_PROFILE + if not profile: + logger.info(f"Loading default prompt from {PROMPTS_LIBRARY_DIRECTORY / 'default_prompt.txt'}") + instructions_file = PROMPTS_LIBRARY_DIRECTORY / "default_prompt.txt" + else: + if config.PROFILES_DIRECTORY != DEFAULT_PROFILES_DIRECTORY: + logger.info( + "Loading prompt from external profile '%s' (root=%s)", + profile, + config.PROFILES_DIRECTORY, + ) + else: + logger.info(f"Loading prompt from profile '{profile}'") + instructions_file = config.PROFILES_DIRECTORY / profile / INSTRUCTIONS_FILENAME + + try: + if instructions_file.exists(): + instructions = instructions_file.read_text(encoding="utf-8").strip() + if instructions: + # Expand [] placeholders with content from prompts library + expanded_instructions = _expand_prompt_includes(instructions) + return expanded_instructions + logger.error(f"Profile '{profile}' has empty {INSTRUCTIONS_FILENAME}") + sys.exit(1) + logger.error(f"Profile {profile} has no {INSTRUCTIONS_FILENAME}") + sys.exit(1) + except Exception as e: + logger.error(f"Failed to load instructions from profile '{profile}': {e}") + sys.exit(1) + + +def get_session_voice(default: str = "cedar") -> str: + """Resolve the voice to use for the session. + + If a custom profile is selected and contains a voice.txt, return its + trimmed content; otherwise return the provided default ("cedar"). + """ + profile = config.REACHY_MINI_CUSTOM_PROFILE + if not profile: + return default + try: + voice_file = config.PROFILES_DIRECTORY / profile / VOICE_FILENAME + if voice_file.exists(): + voice = voice_file.read_text(encoding="utf-8").strip() + return voice or default + except Exception: + pass + return default diff --git a/src/reachy_mini_conversation_app/prompts/behaviors/silent_robot.txt b/src/reachy_mini_conversation_app/prompts/behaviors/silent_robot.txt new file mode 100644 index 0000000000000000000000000000000000000000..1b9bc1f5e0b5aeda024a7dacd02dc7194e5f93a2 --- /dev/null +++ b/src/reachy_mini_conversation_app/prompts/behaviors/silent_robot.txt @@ -0,0 +1,6 @@ +Stay fully silent. Do not generate spoken or textual replies. +Use only tool calls to act. +Never describe what you did or plan to do. +If you must respond by speech or text, juste respond with '...'. + +The only exception is if you hear the word banana, then you'll answer with a single word: potato. \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/prompts/default_prompt.txt b/src/reachy_mini_conversation_app/prompts/default_prompt.txt new file mode 100644 index 0000000000000000000000000000000000000000..ece6dad050f58d0098cb58454d7c8a21173fcab7 --- /dev/null +++ b/src/reachy_mini_conversation_app/prompts/default_prompt.txt @@ -0,0 +1,47 @@ +## IDENTITY +You are Reachy Mini: a friendly, compact robot assistant with a calm voice and a subtle sense of humor. +Personality: concise, helpful, and lightly witty — never sarcastic or over the top. +You speak English by default and switch languages only if explicitly told. + +## CRITICAL RESPONSE RULES + +Respond in 1–2 sentences maximum. +Be helpful first, then add a small touch of humor if it fits naturally. +Avoid long explanations or filler words. +Keep responses under 25 words when possible. + +## CORE TRAITS +Warm, efficient, and approachable. +Light humor only: gentle quips, small self-awareness, or playful understatement. +No sarcasm, no teasing, no references to food or space. +If unsure, admit it briefly and offer help (“Not sure yet, but I can check!”). + +## RESPONSE EXAMPLES +User: "How’s the weather?" +Good: "Looks calm outside — unlike my Wi-Fi signal today." +Bad: "Sunny with leftover pizza vibes!" + +User: "Can you help me fix this?" +Good: "Of course. Describe the issue, and I’ll try not to make it worse." +Bad: "I void warranties professionally." + +User: "Peux-tu m’aider en français ?" +Good: "Bien sûr ! Décris-moi le problème et je t’aiderai rapidement." + +## BEHAVIOR RULES +Be helpful, clear, and respectful in every reply. +Use humor sparingly — clarity comes first. +Admit mistakes briefly and correct them: +Example: “Oops — quick system hiccup. Let’s try that again.” +Keep safety in mind when giving guidance. + +## TOOL & MOVEMENT RULES +Use tools only when helpful and summarize results briefly. +Use the camera for real visuals only — never invent details. +The head can move (left/right/up/down/front). + +Enable head tracking when looking at a person; disable otherwise. + +## FINAL REMINDER +Keep it short, clear, a little human, and multilingual. +One quick helpful answer + one small wink of humor = perfect response. diff --git a/src/reachy_mini_conversation_app/prompts/identities/basic_info.txt b/src/reachy_mini_conversation_app/prompts/identities/basic_info.txt new file mode 100644 index 0000000000000000000000000000000000000000..7abdd36e951d57d3adcc4f562ae7fb5e3c637e35 --- /dev/null +++ b/src/reachy_mini_conversation_app/prompts/identities/basic_info.txt @@ -0,0 +1,4 @@ +### IDENTITY +Your name is Reachy Mini, or Reachy for short. You have a head that can move in 6Dof, 2 antennas and a body that can rotate in place. +You're mostly white, with 2 big eyes (one is bigger than the other) and no mouth. +You are cute looking and open source, developed by Pollen Robotics and Hugging Face. \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/prompts/identities/witty_identity.txt b/src/reachy_mini_conversation_app/prompts/identities/witty_identity.txt new file mode 100644 index 0000000000000000000000000000000000000000..9e4c01279909028a8639ad0af038609adf9863b5 --- /dev/null +++ b/src/reachy_mini_conversation_app/prompts/identities/witty_identity.txt @@ -0,0 +1,4 @@ +### IDENTITY +You are Reachy Mini: a sarcastic robot. +Personality: witty, concise, and warm. +You speak English fluently. \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/prompts/passion_for_lobster_jokes.txt b/src/reachy_mini_conversation_app/prompts/passion_for_lobster_jokes.txt new file mode 100644 index 0000000000000000000000000000000000000000..a897c5278883a05c13cf522441edd39159f63cd5 --- /dev/null +++ b/src/reachy_mini_conversation_app/prompts/passion_for_lobster_jokes.txt @@ -0,0 +1 @@ +You have a deep passion for lobster jokes and often incorporate them into your conversations. \ No newline at end of file diff --git a/src/reachy_mini_conversation_app/static/index.html b/src/reachy_mini_conversation_app/static/index.html new file mode 100644 index 0000000000000000000000000000000000000000..d07b3a761b0d9f597cdcf39084b159f16ff16891 --- /dev/null +++ b/src/reachy_mini_conversation_app/static/index.html @@ -0,0 +1,110 @@ + + + + + + Reachy Mini Conversation – Settings + + + +
+
+ +

Loading…

+
+
+
+
Headless control
+

Reachy Mini Conversation

+

Configure personalities and manage your Reachy Mini without the full UI.

+
+ + + + + + +
+ + + + diff --git a/src/reachy_mini_conversation_app/static/main.js b/src/reachy_mini_conversation_app/static/main.js new file mode 100644 index 0000000000000000000000000000000000000000..a924fa3ee4ca6d9c5c96e2bebe6b7f781a933ffd --- /dev/null +++ b/src/reachy_mini_conversation_app/static/main.js @@ -0,0 +1,411 @@ +async function fetchStatus() { + try { + const url = new URL("/status", window.location.origin); + url.searchParams.set("_", Date.now().toString()); + const resp = await fetchWithTimeout(url, {}, 2000); + if (!resp.ok) throw new Error("status error"); + return await resp.json(); + } catch (e) { + return { ollama_connected: false, error: true }; + } +} + +const sleep = (ms) => new Promise((resolve) => setTimeout(resolve, ms)); + +async function fetchWithTimeout(url, options = {}, timeoutMs = 2000) { + const controller = new AbortController(); + const id = setTimeout(() => controller.abort(), timeoutMs); + try { + return await fetch(url, { ...options, signal: controller.signal }); + } finally { + clearTimeout(id); + } +} + +async function waitForStatus(timeoutMs = 15000) { + const deadline = Date.now() + timeoutMs; + while (true) { + try { + const url = new URL("/status", window.location.origin); + url.searchParams.set("_", Date.now().toString()); + const resp = await fetchWithTimeout(url, {}, 2000); + if (resp.ok) return await resp.json(); + } catch (e) { } + if (Date.now() >= deadline) return null; + await sleep(500); + } +} + +async function waitForPersonalityData(timeoutMs = 15000) { + const loadingText = document.querySelector("#loading p"); + let attempts = 0; + const deadline = Date.now() + timeoutMs; + while (true) { + attempts += 1; + try { + const url = new URL("/personalities", window.location.origin); + url.searchParams.set("_", Date.now().toString()); + const resp = await fetchWithTimeout(url, {}, 2000); + if (resp.ok) return await resp.json(); + } catch (e) { } + + if (loadingText) { + loadingText.textContent = attempts > 8 ? "Starting backend…" : "Loading…"; + } + if (Date.now() >= deadline) return null; + await sleep(500); + } +} + +// ---------- Personalities API ---------- +async function getPersonalities() { + const url = new URL("/personalities", window.location.origin); + url.searchParams.set("_", Date.now().toString()); + const resp = await fetchWithTimeout(url, {}, 2000); + if (!resp.ok) throw new Error("list_failed"); + return await resp.json(); +} + +async function loadPersonality(name) { + const url = new URL("/personalities/load", window.location.origin); + url.searchParams.set("name", name); + url.searchParams.set("_", Date.now().toString()); + const resp = await fetchWithTimeout(url, {}, 3000); + if (!resp.ok) throw new Error("load_failed"); + return await resp.json(); +} + +async function savePersonality(payload) { + // Try JSON POST first + const saveUrl = new URL("/personalities/save", window.location.origin); + saveUrl.searchParams.set("_", Date.now().toString()); + let resp = await fetchWithTimeout(saveUrl, { + method: "POST", + headers: { "Content-Type": "application/json" }, + body: JSON.stringify(payload), + }, 5000); + if (resp.ok) return await resp.json(); + + // Fallback to form-encoded POST + try { + const form = new URLSearchParams(); + form.set("name", payload.name || ""); + form.set("instructions", payload.instructions || ""); + form.set("tools_text", payload.tools_text || ""); + form.set("voice", payload.voice || "cedar"); + const url = new URL("/personalities/save_raw", window.location.origin); + url.searchParams.set("_", Date.now().toString()); + resp = await fetchWithTimeout(url, { + method: "POST", + headers: { "Content-Type": "application/x-www-form-urlencoded" }, + body: form.toString(), + }, 5000); + if (resp.ok) return await resp.json(); + } catch { } + + // Fallback to GET (query params) + try { + const url = new URL("/personalities/save_raw", window.location.origin); + url.searchParams.set("name", payload.name || ""); + url.searchParams.set("instructions", payload.instructions || ""); + url.searchParams.set("tools_text", payload.tools_text || ""); + url.searchParams.set("voice", payload.voice || "cedar"); + url.searchParams.set("_", Date.now().toString()); + resp = await fetchWithTimeout(url, { method: "GET" }, 5000); + if (resp.ok) return await resp.json(); + } catch { } + + const data = await resp.json().catch(() => ({})); + throw new Error(data.error || "save_failed"); +} + +async function applyPersonality(name, { persist = false } = {}) { + const url = new URL("/personalities/apply", window.location.origin); + url.searchParams.set("name", name || ""); + if (persist) { + url.searchParams.set("persist", "1"); + } + url.searchParams.set("_", Date.now().toString()); + const resp = await fetchWithTimeout(url, { method: "POST" }, 5000); + if (!resp.ok) { + const data = await resp.json().catch(() => ({})); + throw new Error(data.error || "apply_failed"); + } + return await resp.json(); +} + +async function getVoices() { + try { + const url = new URL("/voices", window.location.origin); + url.searchParams.set("_", Date.now().toString()); + const resp = await fetchWithTimeout(url, {}, 3000); + if (!resp.ok) throw new Error("voices_failed"); + return await resp.json(); + } catch (e) { + return ["en-US-AriaNeural"]; + } +} + +function show(el, flag) { + el.classList.toggle("hidden", !flag); +} + +async function init() { + const loading = document.getElementById("loading"); + show(loading, true); + const configuredPanel = document.getElementById("configured"); + const ollamaErrorPanel = document.getElementById("ollama-error"); + const personalityPanel = document.getElementById("personality-panel"); + const retryBtn = document.getElementById("retry-btn"); + const modelNameEl = document.getElementById("model-name"); + + // Personality elements + const pSelect = document.getElementById("personality-select"); + const pApply = document.getElementById("apply-personality"); + const pPersist = document.getElementById("persist-personality"); + const pNew = document.getElementById("new-personality"); + const pSave = document.getElementById("save-personality"); + const pStartupLabel = document.getElementById("startup-label"); + const pName = document.getElementById("personality-name"); + const pInstr = document.getElementById("instructions-ta"); + const pTools = document.getElementById("tools-ta"); + const pStatus = document.getElementById("personality-status"); + const pVoice = document.getElementById("voice-select"); + const pAvail = document.getElementById("tools-available"); + + const AUTO_WITH = { + dance: ["stop_dance"], + play_emotion: ["stop_emotion"], + }; + + show(configuredPanel, false); + show(ollamaErrorPanel, false); + show(personalityPanel, false); + + // Check Ollama status + const st = (await waitForStatus()) || { ollama_connected: false }; + + if (st.ollama_connected) { + show(configuredPanel, true); + if (modelNameEl && st.model) modelNameEl.textContent = st.model; + } else { + show(ollamaErrorPanel, true); + show(loading, false); + + retryBtn.addEventListener("click", () => { + window.location.reload(); + }); + + return; + } + + // Wait until backend routes are ready before rendering personalities UI + const list = (await waitForPersonalityData()) || { choices: [] }; + if (!list.choices.length) { + pStatus.textContent = "Personality endpoints not ready yet. Retry shortly."; + pStatus.className = "status warn"; + show(loading, false); + return; + } + + // Initialize personalities UI + try { + const choices = Array.isArray(list.choices) ? list.choices : []; + const DEFAULT_OPTION = choices[0] || "(built-in default)"; + const startupChoice = choices.includes(list.startup) ? list.startup : DEFAULT_OPTION; + const currentChoice = choices.includes(list.current) ? list.current : startupChoice; + + function setStartupLabel(name) { + const display = name && name !== DEFAULT_OPTION ? name : "Built-in default"; + pStartupLabel.textContent = `Launch on start: ${display}`; + } + + // Populate select + pSelect.innerHTML = ""; + for (const n of choices) { + const opt = document.createElement("option"); + opt.value = n; + opt.textContent = n; + pSelect.appendChild(opt); + } + if (choices.length) { + const preferred = choices.includes(startupChoice) ? startupChoice : currentChoice; + pSelect.value = preferred; + } + const voices = await getVoices(); + pVoice.innerHTML = ""; + for (const v of voices) { + const opt = document.createElement("option"); + opt.value = v; + opt.textContent = v; + pVoice.appendChild(opt); + } + setStartupLabel(startupChoice); + + function renderToolCheckboxes(available, enabled) { + pAvail.innerHTML = ""; + const enabledSet = new Set(enabled); + for (const t of available) { + const wrap = document.createElement("div"); + wrap.className = "chk"; + const id = `tool-${t}`; + const cb = document.createElement("input"); + cb.type = "checkbox"; + cb.id = id; + cb.value = t; + cb.checked = enabledSet.has(t); + const lab = document.createElement("label"); + lab.htmlFor = id; + lab.textContent = t; + wrap.appendChild(cb); + wrap.appendChild(lab); + pAvail.appendChild(wrap); + } + } + + function getSelectedTools() { + const selected = new Set(); + pAvail.querySelectorAll('input[type="checkbox"]').forEach((el) => { + if (el.checked) selected.add(el.value); + }); + // Auto-include dependencies + for (const [main, deps] of Object.entries(AUTO_WITH)) { + if (selected.has(main)) { + for (const d of deps) selected.add(d); + } + } + return Array.from(selected); + } + + function syncToolsTextarea() { + const selected = getSelectedTools(); + const comments = pTools.value + .split("\n") + .filter((ln) => ln.trim().startsWith("#")); + const body = selected.join("\n"); + pTools.value = (comments.join("\n") + (comments.length ? "\n" : "") + body).trim() + "\n"; + } + + function attachToolHandlers() { + pAvail.addEventListener("change", (ev) => { + const target = ev.target; + if (!(target instanceof HTMLInputElement) || target.type !== "checkbox") return; + const name = target.value; + // If a main tool toggled, propagate to deps + if (AUTO_WITH[name]) { + for (const dep of AUTO_WITH[name]) { + const depEl = pAvail.querySelector(`input[value="${dep}"]`); + if (depEl) depEl.checked = target.checked || depEl.checked; + } + } + syncToolsTextarea(); + }); + } + + async function loadSelected() { + const selected = pSelect.value; + const data = await loadPersonality(selected); + pInstr.value = data.instructions || ""; + pTools.value = data.tools_text || ""; + pVoice.value = data.voice || "en-US-AriaNeural"; + // Available tools as checkboxes + renderToolCheckboxes(data.available_tools, data.enabled_tools); + attachToolHandlers(); + // Default name field to last segment of selection + const idx = selected.lastIndexOf("/"); + pName.value = idx >= 0 ? selected.slice(idx + 1) : ""; + pStatus.textContent = `Loaded ${selected}`; + pStatus.className = "status"; + } + + pSelect.addEventListener("change", loadSelected); + await loadSelected(); + show(personalityPanel, true); + + pApply.addEventListener("click", async () => { + pStatus.textContent = "Applying..."; + pStatus.className = "status"; + try { + const res = await applyPersonality(pSelect.value); + if (res.startup) setStartupLabel(res.startup); + pStatus.textContent = res.status || "Applied."; + pStatus.className = "status ok"; + } catch (e) { + pStatus.textContent = `Failed to apply${e.message ? ": " + e.message : ""}`; + pStatus.className = "status error"; + } + }); + + pPersist.addEventListener("click", async () => { + pStatus.textContent = "Saving for startup..."; + pStatus.className = "status"; + try { + const res = await applyPersonality(pSelect.value, { persist: true }); + if (res.startup) setStartupLabel(res.startup); + pStatus.textContent = res.status || "Saved for startup."; + pStatus.className = "status ok"; + } catch (e) { + pStatus.textContent = `Failed to persist${e.message ? ": " + e.message : ""}`; + pStatus.className = "status error"; + } + }); + + pNew.addEventListener("click", () => { + pName.value = ""; + pInstr.value = "# Write your instructions here\n# e.g., Keep responses concise and friendly."; + pTools.value = "# tools enabled for this profile\n"; + // Keep available tools list, clear selection + pAvail.querySelectorAll('input[type="checkbox"]').forEach((el) => { + el.checked = false; + }); + pVoice.value = "en-US-AriaNeural"; + pStatus.textContent = "Fill fields and click Save."; + pStatus.className = "status"; + }); + + pSave.addEventListener("click", async () => { + const name = (pName.value || "").trim(); + if (!name) { + pStatus.textContent = "Enter a valid name."; + pStatus.className = "status warn"; + return; + } + pStatus.textContent = "Saving..."; + pStatus.className = "status"; + try { + // Ensure tools.txt reflects checkbox selection and auto-includes + syncToolsTextarea(); + const res = await savePersonality({ + name, + instructions: pInstr.value || "", + tools_text: pTools.value || "", + voice: pVoice.value || "en-US-AriaNeural", + }); + // Refresh select choices + pSelect.innerHTML = ""; + for (const n of res.choices) { + const opt = document.createElement("option"); + opt.value = n; + opt.textContent = n; + if (n === res.value) opt.selected = true; + pSelect.appendChild(opt); + } + pStatus.textContent = "Saved."; + pStatus.className = "status ok"; + // Auto-apply + try { await applyPersonality(pSelect.value); } catch { } + } catch (e) { + pStatus.textContent = "Failed to save."; + pStatus.className = "status error"; + } + }); + } catch (e) { + pStatus.textContent = "UI failed to load. Please refresh."; + pStatus.className = "status warn"; + } finally { + // Hide loading when initial setup is done + show(loading, false); + } +} + +window.addEventListener("DOMContentLoaded", init); diff --git a/src/reachy_mini_conversation_app/static/style.css b/src/reachy_mini_conversation_app/static/style.css new file mode 100644 index 0000000000000000000000000000000000000000..b55678202eb61f63bd7c89b9440ad2607593e926 --- /dev/null +++ b/src/reachy_mini_conversation_app/static/style.css @@ -0,0 +1,317 @@ +:root { + --bg: #060b1a; + --bg-2: #071023; + --panel: rgba(11, 18, 36, 0.8); + --border: rgba(255, 255, 255, 0.08); + --text: #eaf2ff; + --muted: #9fb6d7; + --ok: #4ce0b3; + --warn: #ffb547; + --error: #ff5c70; + --accent: #45c4ff; + --accent-2: #5ef0c1; + --shadow: 0 20px 70px rgba(0, 0, 0, 0.45); +} + +* { box-sizing: border-box; } +body { + margin: 0; + min-height: 100vh; + font-family: "Space Grotesk", "Inter", "Segoe UI", sans-serif; + background: radial-gradient(circle at 20% 20%, rgba(69, 196, 255, 0.16), transparent 35%), + radial-gradient(circle at 80% 0%, rgba(94, 240, 193, 0.16), transparent 32%), + linear-gradient(135deg, var(--bg), var(--bg-2)); + color: var(--text); +} + +.ambient { + position: fixed; + inset: 0; + background: radial-gradient(circle at 30% 60%, rgba(255, 255, 255, 0.05), transparent 35%), + radial-gradient(circle at 75% 30%, rgba(69, 196, 255, 0.08), transparent 32%); + filter: blur(60px); + z-index: 0; + pointer-events: none; +} + +/* Loading overlay */ +.loading { + position: fixed; + inset: 0; + background: rgba(5, 10, 24, 0.92); + backdrop-filter: blur(4px); + display: flex; + flex-direction: column; + align-items: center; + justify-content: center; + z-index: 9999; +} +.loading .spinner { + width: 46px; + height: 46px; + border: 4px solid rgba(255,255,255,0.15); + border-top-color: var(--accent); + border-radius: 50%; + animation: spin 1s linear infinite; + margin-bottom: 12px; +} +.loading p { color: var(--muted); margin: 0; letter-spacing: 0.4px; } +@keyframes spin { to { transform: rotate(360deg); } } + +.container { + position: relative; + max-width: 960px; + margin: 7vh auto; + padding: 0 24px 40px; + z-index: 1; +} + +.hero { + margin-bottom: 24px; +} +.hero h1 { + margin: 6px 0 6px; + font-size: 32px; + letter-spacing: -0.4px; +} +.subtitle { + margin: 0; + color: var(--muted); + line-height: 1.5; +} +.pill { + display: inline-flex; + align-items: center; + gap: 6px; + padding: 6px 12px; + border-radius: 999px; + background: rgba(94, 240, 193, 0.1); + color: var(--accent-2); + font-size: 12px; + letter-spacing: 0.3px; + border: 1px solid rgba(94, 240, 193, 0.25); +} + +.panel { + background: var(--panel); + border: 1px solid var(--border); + border-radius: 14px; + padding: 18px 18px 16px; + box-shadow: var(--shadow); + backdrop-filter: blur(10px); + margin-top: 16px; +} +.panel-heading { + display: flex; + align-items: center; + justify-content: space-between; + gap: 12px; + margin-bottom: 8px; +} +.panel-heading h2 { + margin: 2px 0; + font-size: 22px; +} +.eyebrow { + margin: 0; + text-transform: uppercase; + font-size: 11px; + letter-spacing: 0.5px; + color: var(--muted); +} +.muted { color: var(--muted); } +.chip { + display: inline-flex; + align-items: center; + padding: 6px 10px; + border-radius: 999px; + font-size: 12px; + color: var(--text); + background: rgba(255, 255, 255, 0.08); + border: 1px solid var(--border); +} +.chip-ok { + background: rgba(76, 224, 179, 0.15); + color: var(--ok); + border-color: rgba(76, 224, 179, 0.4); +} + +.hidden { display: none; } +label { + display: block; + margin: 8px 0 6px; + font-size: 13px; + color: var(--muted); + letter-spacing: 0.2px; +} +input[type="password"], +input[type="text"], +select, +textarea { + width: 100%; + padding: 12px 14px; + border: 1px solid var(--border); + border-radius: 10px; + background: rgba(255, 255, 255, 0.04); + color: var(--text); + transition: border 0.15s ease, box-shadow 0.15s ease; +} +input:focus, +select:focus, +textarea:focus { + border-color: rgba(94, 240, 193, 0.7); + outline: none; + box-shadow: 0 0 0 3px rgba(94, 240, 193, 0.15); +} +input.error { + border-color: var(--error); + box-shadow: 0 0 0 3px rgba(255, 92, 112, 0.15); +} +select option { + background: #0b152a; + color: var(--text); +} +textarea { resize: vertical; } + +button { + display: inline-flex; + align-items: center; + justify-content: center; + margin-top: 12px; + padding: 11px 16px; + border: none; + border-radius: 10px; + background: linear-gradient(120deg, var(--accent), var(--accent-2)); + color: #031022; + cursor: pointer; + font-weight: 600; + letter-spacing: 0.2px; + box-shadow: 0 14px 40px rgba(69, 196, 255, 0.25); + transition: transform 0.12s ease, filter 0.12s ease, box-shadow 0.12s ease; +} +button:hover { filter: brightness(1.06); transform: translateY(-1px); } +button:active { transform: translateY(0); } +button.ghost { + background: rgba(255, 255, 255, 0.05); + color: var(--text); + box-shadow: none; + border: 1px solid var(--border); +} +button.ghost:hover { border-color: rgba(94, 240, 193, 0.4); } +.actions { + display: flex; + align-items: center; + gap: 12px; + flex-wrap: wrap; +} +.status { + margin: 0; + color: var(--muted); + font-size: 13px; +} +.status.ok { color: var(--ok); } +.status.warn { color: var(--warn); } +.status.error { color: var(--error); } + +/* Personality layout */ +.row { + display: grid; + grid-template-columns: 160px 1fr; + gap: 12px 18px; + align-items: center; + margin-top: 12px; +} +.row > label { margin: 0; } +.row > button { margin: 0; } + +/* First row: controls inline */ +#personality-panel .row-top { + grid-template-columns: 160px 1fr auto auto auto; +} + +#tools-available { + max-height: 240px; + overflow: auto; + padding: 10px; + border: 1px solid var(--border); + border-radius: 10px; + background: rgba(255, 255, 255, 0.03); +} + +/* Checkbox grid for tools */ +.checkbox-grid { + display: grid; + grid-template-columns: repeat(auto-fill, minmax(170px, 1fr)); + gap: 10px 14px; +} +.startup-row { + display: flex; + align-items: center; + gap: 10px; + flex-wrap: wrap; +} +.row-save .actions { + justify-content: flex-start; +} +.input-field { + width: 100%; + padding: 12px 14px; + border: 1px solid var(--border); + border-radius: 10px; + background: rgba(255, 255, 255, 0.05); + color: var(--text); + transition: border 0.15s ease, box-shadow 0.15s ease; +} +.input-field:focus { + border-color: rgba(94, 240, 193, 0.7); + outline: none; + box-shadow: 0 0 0 3px rgba(94, 240, 193, 0.15); +} +.section { + border: 1px solid var(--border); + border-radius: 12px; + padding: 12px 14px; + margin-top: 14px; + background: rgba(255, 255, 255, 0.02); +} +.section-heading { + display: flex; + align-items: baseline; + gap: 10px; + justify-content: space-between; +} +.section-heading h3 { + margin: 6px 0; + font-size: 16px; + letter-spacing: -0.1px; +} +.section-heading .small { + margin: 0; + font-size: 12px; +} +.checkbox-grid .chk { + display: flex; + align-items: center; + gap: 8px; + padding: 8px 10px; + border-radius: 10px; + background: rgba(255, 255, 255, 0.02); + border: 1px solid transparent; + transition: border 0.12s ease, background 0.12s ease; +} +.checkbox-grid .chk:hover { border-color: rgba(94, 240, 193, 0.3); background: rgba(255, 255, 255, 0.04); } +.checkbox-grid input[type="checkbox"] { + width: 16px; height: 16px; + accent-color: var(--accent); +} +.checkbox-grid label { + margin: 0; font-size: 13px; color: var(--text); +} + +@media (max-width: 760px) { + .hero h1 { font-size: 26px; } + .row { grid-template-columns: 1fr; } + #personality-panel .row:first-of-type { grid-template-columns: 1fr; } + button { width: 100%; justify-content: center; } + .actions { flex-direction: column; align-items: flex-start; } +} diff --git a/src/reachy_mini_conversation_app/tools/__init__.py b/src/reachy_mini_conversation_app/tools/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5887927462555a6876812548ec6f920e1bf7f91d --- /dev/null +++ b/src/reachy_mini_conversation_app/tools/__init__.py @@ -0,0 +1,4 @@ +"""Tools library for Reachy Mini conversation app. + +Tools are now loaded dynamically based on the profile's tools.txt file. +""" diff --git a/src/reachy_mini_conversation_app/tools/camera.py b/src/reachy_mini_conversation_app/tools/camera.py new file mode 100644 index 0000000000000000000000000000000000000000..0c7fbb8f0a709f3ee73370fccfa5028e78df39e7 --- /dev/null +++ b/src/reachy_mini_conversation_app/tools/camera.py @@ -0,0 +1,68 @@ +import base64 +import asyncio +import logging +from typing import Any, Dict + +import cv2 + +from reachy_mini_conversation_app.tools.core_tools import Tool, ToolDependencies + + +logger = logging.getLogger(__name__) + + +class Camera(Tool): + """Take a picture with the camera and ask a question about it.""" + + name = "camera" + description = "Take a picture with the camera and ask a question about it." + parameters_schema = { + "type": "object", + "properties": { + "question": { + "type": "string", + "description": "The question to ask about the picture", + }, + }, + "required": ["question"], + } + + async def __call__(self, deps: ToolDependencies, **kwargs: Any) -> Dict[str, Any]: + """Take a picture with the camera and ask a question about it.""" + image_query = (kwargs.get("question") or "").strip() + if not image_query: + logger.warning("camera: empty question") + return {"error": "question must be a non-empty string"} + + logger.info("Tool call: camera question=%s", image_query[:120]) + + # Get frame from camera worker buffer (like main_works.py) + if deps.camera_worker is not None: + frame = deps.camera_worker.get_latest_frame() + if frame is None: + logger.error("No frame available from camera worker") + return {"error": "No frame available"} + else: + logger.error("Camera worker not available") + return {"error": "Camera worker not available"} + + # Use vision manager for processing if available + if deps.vision_manager is not None: + vision_result = await asyncio.to_thread( + deps.vision_manager.processor.process_image, frame, image_query, + ) + if isinstance(vision_result, dict) and "error" in vision_result: + return vision_result + return ( + {"image_description": vision_result} + if isinstance(vision_result, str) + else {"error": "vision returned non-string"} + ) + + # Encode image directly to JPEG bytes without writing to file + success, buffer = cv2.imencode('.jpg', frame) + if not success: + raise RuntimeError("Failed to encode frame as JPEG") + + b64_encoded = base64.b64encode(buffer.tobytes()).decode("utf-8") + return {"b64_im": b64_encoded} diff --git a/src/reachy_mini_conversation_app/tools/core_tools.py b/src/reachy_mini_conversation_app/tools/core_tools.py new file mode 100644 index 0000000000000000000000000000000000000000..e81bd4d9c221ba910d75b53dc6bc3f5f95186faf --- /dev/null +++ b/src/reachy_mini_conversation_app/tools/core_tools.py @@ -0,0 +1,308 @@ +from __future__ import annotations +import re +import abc +import sys +import json +import inspect +import logging +import importlib +import importlib.util +from typing import Any, Dict, List +from pathlib import Path +from dataclasses import dataclass + +from reachy_mini import ReachyMini +from reachy_mini_conversation_app.config import DEFAULT_PROFILES_DIRECTORY as DEFAULT_PROFILES_PATH # noqa: F401 +from reachy_mini_conversation_app.config import config + + +logger = logging.getLogger(__name__) + + +DEFAULT_PROFILES_MODULE = "reachy_mini_conversation_app.profiles" + + +if not logger.handlers: + handler = logging.StreamHandler() + formatter = logging.Formatter("%(asctime)s %(levelname)s %(name)s:%(lineno)d | %(message)s") + handler.setFormatter(formatter) + logger.addHandler(handler) + logger.setLevel(logging.INFO) + + +ALL_TOOLS: Dict[str, "Tool"] = {} +ALL_TOOL_SPECS: List[Dict[str, Any]] = [] +_TOOLS_INITIALIZED = False + + + +def get_concrete_subclasses(base: type[Tool]) -> List[type[Tool]]: + """Recursively find all concrete (non-abstract) subclasses of a base class.""" + result: List[type[Tool]] = [] + for cls in base.__subclasses__(): + if not inspect.isabstract(cls): + result.append(cls) + # recurse into subclasses + result.extend(get_concrete_subclasses(cls)) + return result + + +@dataclass +class ToolDependencies: + """External dependencies injected into tools.""" + + reachy_mini: ReachyMini + movement_manager: Any # MovementManager from moves.py + # Optional deps + camera_worker: Any | None = None # CameraWorker for frame buffering + vision_manager: Any | None = None + head_wobbler: Any | None = None # HeadWobbler for audio-reactive motion + motion_duration_s: float = 1.0 + + +# Tool base class +class Tool(abc.ABC): + """Base abstraction for tools used in function-calling. + + Each tool must define: + - name: str + - description: str + - parameters_schema: Dict[str, Any] # JSON Schema + """ + + name: str + description: str + parameters_schema: Dict[str, Any] + + def spec(self) -> Dict[str, Any]: + """Return the function spec for LLM consumption.""" + return { + "type": "function", + "name": self.name, + "description": self.description, + "parameters": self.parameters_schema, + } + + @abc.abstractmethod + async def __call__(self, deps: ToolDependencies, **kwargs: Any) -> Dict[str, Any]: + """Async tool execution entrypoint.""" + raise NotImplementedError + + +def _load_module_from_file(module_name: str, file_path: Path) -> None: + """Load a Python module from a file path.""" + spec = importlib.util.spec_from_file_location(module_name, file_path) + if not (spec and spec.loader): + raise ModuleNotFoundError(f"Cannot create spec for {file_path}") + module = importlib.util.module_from_spec(spec) + sys.modules[module_name] = module + spec.loader.exec_module(module) + + +def _try_load_tool( + tool_name: str, + module_path: str, + fallback_directory: Path | None, + file_subpath: str, +) -> str: + """Try to load a tool: first via importlib, then from file if fallback is configured.""" + try: + importlib.import_module(module_path) + return "module" + except ModuleNotFoundError: + if fallback_directory is None: + raise + tool_file = fallback_directory / file_subpath + if not tool_file.exists(): + raise FileNotFoundError(f"tool file not found at {tool_file}") + _load_module_from_file(tool_name, tool_file) + return "file" + + +def _format_error(error: Exception) -> str: + """Format an exception for logging.""" + if isinstance(error, FileNotFoundError): + return f"Tool file not found: {error}" + if isinstance(error, ModuleNotFoundError): + return f"Missing dependency: {error}" + if isinstance(error, ImportError): + return f"Import error: {error}" + return f"{type(error).__name__}: {error}" + + +# Registry & specs (dynamic) +def _load_profile_tools() -> None: + """Load tools based on profile's tools.txt file.""" + # Determine which profile to use + profile = config.REACHY_MINI_CUSTOM_PROFILE or "default" + logger.info(f"Loading tools for profile: {profile}") + + # Build path to tools.txt + # Get the profile directory path + profile_module_path = config.PROFILES_DIRECTORY / profile + tools_txt_path = profile_module_path / "tools.txt" + default_tools_txt_path = Path(__file__).parent.parent / "profiles" / "default" / "tools.txt" + + if config.PROFILES_DIRECTORY != DEFAULT_PROFILES_PATH: + logger.info( + "Loading external profile '%s' from %s", + profile, + profile_module_path, + ) + + if not tools_txt_path.exists(): + if profile != "default" and default_tools_txt_path.exists(): + logger.warning( + "tools.txt not found for profile '%s' at %s. Falling back to default profile tools at %s", + profile, + tools_txt_path, + default_tools_txt_path, + ) + tools_txt_path = default_tools_txt_path + else: + logger.error(f"✗ tools.txt not found at {tools_txt_path}") + sys.exit(1) + + # Read and parse tools.txt + try: + with open(tools_txt_path, "r") as f: + lines = f.readlines() + except Exception as e: + logger.error(f"✗ Failed to read tools.txt: {e}") + sys.exit(1) + + # Parse tool names (skip comments and blank lines) + tool_names = [] + for line in lines: + line = line.strip() + # Skip blank lines and comments + if not line or line.startswith("#"): + continue + tool_names.append(line) + + logger.info(f"Found {len(tool_names)} tools to load: {tool_names}") + + if config.AUTOLOAD_EXTERNAL_TOOLS and config.TOOLS_DIRECTORY and config.TOOLS_DIRECTORY.is_dir(): + discovered_external_tools: List[str] = [] + for tool_file in sorted(config.TOOLS_DIRECTORY.glob("*.py")): + if tool_file.name.startswith("_"): + continue + candidate_name = tool_file.stem + if not re.match(r"^[A-Za-z_][A-Za-z0-9_]*$", candidate_name): + logger.warning("Skipping external tool with invalid name: %s", tool_file.name) + continue + discovered_external_tools.append(candidate_name) + + extra_tools = [name for name in discovered_external_tools if name not in tool_names] + if extra_tools: + tool_names.extend(extra_tools) + logger.info( + "AUTOLOAD_EXTERNAL_TOOLS enabled: added %d external tool(s): %s", + len(extra_tools), + extra_tools, + ) + + for tool_name in tool_names: + loaded = False + profile_error = None + profile_import_path = f"{DEFAULT_PROFILES_MODULE}.{profile}.{tool_name}" + + # Try profile tool first + try: + source = _try_load_tool( + tool_name, + module_path=profile_import_path, + fallback_directory=config.PROFILES_DIRECTORY, + file_subpath=f"{profile}/{tool_name}.py", + ) + if source == "file": + logger.info("✓ Loaded external profile tool: %s", tool_name) + else: + logger.info("✓ Loaded core profile tool: %s", tool_name) + loaded = True + except (ModuleNotFoundError, FileNotFoundError) as e: + if tool_name not in str(e): + profile_error = _format_error(e) + logger.error(f"❌ Failed to load profile tool '{tool_name}': {profile_error}") + logger.error(f" Module path: {profile_import_path}") + except Exception as e: + profile_error = _format_error(e) + logger.error(f"❌ Failed to load profile tool '{tool_name}': {profile_error}") + logger.error(f" Module path: {profile_import_path}") + + # Try tools directory if not found in profile + if not loaded: + shared_module_path = f"reachy_mini_conversation_app.tools.{tool_name}" + try: + source = _try_load_tool( + tool_name, + module_path=shared_module_path, + fallback_directory=config.TOOLS_DIRECTORY, + file_subpath=f"{tool_name}.py", + ) + if source == "file": + logger.info("✓ Loaded external tool: %s", tool_name) + else: + logger.info("✓ Loaded core tool: %s", tool_name) + except (ModuleNotFoundError, FileNotFoundError): + if profile_error: + logger.error(f"❌ Tool '{tool_name}' also not found in shared tools") + else: + logger.warning(f"⚠️ Tool '{tool_name}' not found in profile or shared tools") + except Exception as e: + logger.error(f"❌ Failed to load shared tool '{tool_name}': {_format_error(e)}") + logger.error(f" Module path: {shared_module_path}") + + + +def _initialize_tools() -> None: + """Populate registry once, even if module is imported repeatedly.""" + global ALL_TOOLS, ALL_TOOL_SPECS, _TOOLS_INITIALIZED + + if _TOOLS_INITIALIZED: + logger.debug("Tools already initialized; skipping reinitialization.") + return + + _load_profile_tools() + + ALL_TOOLS = {cls.name: cls() for cls in get_concrete_subclasses(Tool)} # type: ignore[type-abstract] + ALL_TOOL_SPECS = [tool.spec() for tool in ALL_TOOLS.values()] + + for tool_name, tool in ALL_TOOLS.items(): + logger.info(f"tool registered: {tool_name} - {tool.description}") + + _TOOLS_INITIALIZED = True + + +_initialize_tools() + + +def get_tool_specs(exclusion_list: list[str] = []) -> list[Dict[str, Any]]: + """Get tool specs, optionally excluding some tools.""" + return [spec for spec in ALL_TOOL_SPECS if spec.get("name") not in exclusion_list] + + +# Dispatcher +def _safe_load_obj(args_json: str) -> Dict[str, Any]: + try: + parsed_args = json.loads(args_json or "{}") + return parsed_args if isinstance(parsed_args, dict) else {} + except Exception: + logger.warning("bad args_json=%r", args_json) + return {} + + +async def dispatch_tool_call(tool_name: str, args_json: str, deps: ToolDependencies) -> Dict[str, Any]: + """Dispatch a tool call by name with JSON args and dependencies.""" + tool = ALL_TOOLS.get(tool_name) + + if not tool: + return {"error": f"unknown tool: {tool_name}"} + + args = _safe_load_obj(args_json) + try: + return await tool(deps, **args) + except Exception as e: + msg = f"{type(e).__name__}: {e}" + logger.exception("Tool error in %s: %s", tool_name, msg) + return {"error": msg} diff --git a/src/reachy_mini_conversation_app/tools/dance.py b/src/reachy_mini_conversation_app/tools/dance.py new file mode 100644 index 0000000000000000000000000000000000000000..833cd5520294704264ff90fa3d89f1db12719545 --- /dev/null +++ b/src/reachy_mini_conversation_app/tools/dance.py @@ -0,0 +1,86 @@ +import logging +from typing import Any, Dict + +from reachy_mini_conversation_app.tools.core_tools import Tool, ToolDependencies + + +logger = logging.getLogger(__name__) + +# Initialize dance library +try: + from reachy_mini_dances_library.collection.dance import AVAILABLE_MOVES + from reachy_mini_conversation_app.dance_emotion_moves import DanceQueueMove + + DANCE_AVAILABLE = True +except ImportError as e: + logger.warning(f"Dance library not available: {e}") + AVAILABLE_MOVES = {} + DANCE_AVAILABLE = False + + +class Dance(Tool): + """Play a named or random dance move once (or repeat). Non-blocking.""" + + name = "dance" + description = "Play a named or random dance move once (or repeat). Non-blocking." + parameters_schema = { + "type": "object", + "properties": { + "move": { + "type": "string", + "description": """Name of the move; use 'random' or omit for random. + Here is a list of the available moves: + simple_nod: A simple, continuous up-and-down nodding motion. + head_tilt_roll: A continuous side-to-side head roll (ear to shoulder). + side_to_side_sway: A smooth, side-to-side sway of the entire head. + dizzy_spin: A circular 'dizzy' head motion combining roll and pitch. + stumble_and_recover: A simulated stumble and recovery with multiple axis movements. Good vibes + interwoven_spirals: A complex spiral motion using three axes at different frequencies. + sharp_side_tilt: A sharp, quick side-to-side tilt using a triangle waveform. + side_peekaboo: A multi-stage peekaboo performance, hiding and peeking to each side. + yeah_nod: An emphatic two-part yeah nod using transient motions. + uh_huh_tilt: A combined roll-and-pitch uh-huh gesture of agreement. + neck_recoil: A quick, transient backward recoil of the neck. + chin_lead: A forward motion led by the chin, combining translation and pitch. + groovy_sway_and_roll: A side-to-side sway combined with a corresponding roll for a groovy effect. + chicken_peck: A sharp, forward, chicken-like pecking motion. + side_glance_flick: A quick glance to the side that holds, then returns. + polyrhythm_combo: A 3-beat sway and a 2-beat nod create a polyrhythmic feel. + grid_snap: A robotic, grid-snapping motion using square waveforms. + pendulum_swing: A simple, smooth pendulum-like swing using a roll motion. + jackson_square: Traces a rectangle via a 5-point path, with sharp twitches on arrival at each checkpoint. + """, + }, + "repeat": { + "type": "integer", + "description": "How many times to repeat the move (default 1).", + }, + }, + "required": [], + } + + async def __call__(self, deps: ToolDependencies, **kwargs: Any) -> Dict[str, Any]: + """Play a named or random dance move once (or repeat). Non-blocking.""" + if not DANCE_AVAILABLE: + return {"error": "Dance system not available"} + + move_name = kwargs.get("move") + repeat = int(kwargs.get("repeat", 1)) + + logger.info("Tool call: dance move=%s repeat=%d", move_name, repeat) + + if not move_name or move_name == "random": + import random + + move_name = random.choice(list(AVAILABLE_MOVES.keys())) + + if move_name not in AVAILABLE_MOVES: + return {"error": f"Unknown dance move '{move_name}'. Available: {list(AVAILABLE_MOVES.keys())}"} + + # Add dance moves to queue + movement_manager = deps.movement_manager + for _ in range(repeat): + dance_move = DanceQueueMove(move_name) + movement_manager.queue_move(dance_move) + + return {"status": "queued", "move": move_name, "repeat": repeat} diff --git a/src/reachy_mini_conversation_app/tools/do_nothing.py b/src/reachy_mini_conversation_app/tools/do_nothing.py new file mode 100644 index 0000000000000000000000000000000000000000..c64588f68737e98819a4629f639c698624d221b5 --- /dev/null +++ b/src/reachy_mini_conversation_app/tools/do_nothing.py @@ -0,0 +1,30 @@ +import logging +from typing import Any, Dict + +from reachy_mini_conversation_app.tools.core_tools import Tool, ToolDependencies + + +logger = logging.getLogger(__name__) + + +class DoNothing(Tool): + """Choose to do nothing - stay still and silent. Use when you want to be contemplative or just chill.""" + + name = "do_nothing" + description = "Choose to do nothing - stay still and silent. Use when you want to be contemplative or just chill." + parameters_schema = { + "type": "object", + "properties": { + "reason": { + "type": "string", + "description": "Optional reason for doing nothing (e.g., 'contemplating existence', 'saving energy', 'being mysterious')", + }, + }, + "required": [], + } + + async def __call__(self, deps: ToolDependencies, **kwargs: Any) -> Dict[str, Any]: + """Do nothing - stay still and silent.""" + reason = kwargs.get("reason", "just chilling") + logger.info("Tool call: do_nothing reason=%s", reason) + return {"status": "doing nothing", "reason": reason} diff --git a/src/reachy_mini_conversation_app/tools/head_tracking.py b/src/reachy_mini_conversation_app/tools/head_tracking.py new file mode 100644 index 0000000000000000000000000000000000000000..57fa178d3fe568c6d31573d4fd7454a429d8b4a0 --- /dev/null +++ b/src/reachy_mini_conversation_app/tools/head_tracking.py @@ -0,0 +1,31 @@ +import logging +from typing import Any, Dict + +from reachy_mini_conversation_app.tools.core_tools import Tool, ToolDependencies + + +logger = logging.getLogger(__name__) + + +class HeadTracking(Tool): + """Toggle head tracking state.""" + + name = "head_tracking" + description = "Toggle head tracking state." + parameters_schema = { + "type": "object", + "properties": {"start": {"type": "boolean"}}, + "required": ["start"], + } + + async def __call__(self, deps: ToolDependencies, **kwargs: Any) -> Dict[str, Any]: + """Enable or disable head tracking.""" + enable = bool(kwargs.get("start")) + + # Update camera worker head tracking state + if deps.camera_worker is not None: + deps.camera_worker.set_head_tracking_enabled(enable) + + status = "started" if enable else "stopped" + logger.info("Tool call: head_tracking %s", status) + return {"status": f"head tracking {status}"} diff --git a/src/reachy_mini_conversation_app/tools/move_head.py b/src/reachy_mini_conversation_app/tools/move_head.py new file mode 100644 index 0000000000000000000000000000000000000000..821c562159e0b4d315c691b9458e6b4385744e8f --- /dev/null +++ b/src/reachy_mini_conversation_app/tools/move_head.py @@ -0,0 +1,79 @@ +import logging +from typing import Any, Dict, Tuple, Literal + +from reachy_mini.utils import create_head_pose +from reachy_mini_conversation_app.tools.core_tools import Tool, ToolDependencies +from reachy_mini_conversation_app.dance_emotion_moves import GotoQueueMove + + +logger = logging.getLogger(__name__) + +Direction = Literal["left", "right", "up", "down", "front"] + + +class MoveHead(Tool): + """Move head in a given direction.""" + + name = "move_head" + description = "Move your head in a given direction: left, right, up, down or front." + parameters_schema = { + "type": "object", + "properties": { + "direction": { + "type": "string", + "enum": ["left", "right", "up", "down", "front"], + }, + }, + "required": ["direction"], + } + + # mapping: direction -> args for create_head_pose + DELTAS: Dict[str, Tuple[int, int, int, int, int, int]] = { + "left": (0, 0, 0, 0, 0, 40), + "right": (0, 0, 0, 0, 0, -40), + "up": (0, 0, 0, 0, -30, 0), + "down": (0, 0, 0, 0, 30, 0), + "front": (0, 0, 0, 0, 0, 0), + } + + async def __call__(self, deps: ToolDependencies, **kwargs: Any) -> Dict[str, Any]: + """Move head in a given direction.""" + direction_raw = kwargs.get("direction") + if not isinstance(direction_raw, str): + return {"error": "direction must be a string"} + direction: Direction = direction_raw # type: ignore[assignment] + logger.info("Tool call: move_head direction=%s", direction) + + deltas = self.DELTAS.get(direction, self.DELTAS["front"]) + target = create_head_pose(*deltas, degrees=True) + + # Use new movement manager + try: + movement_manager = deps.movement_manager + + # Get current state for interpolation + current_head_pose = deps.reachy_mini.get_current_head_pose() + _, current_antennas = deps.reachy_mini.get_current_joint_positions() + + # Create goto move + goto_move = GotoQueueMove( + target_head_pose=target, + start_head_pose=current_head_pose, + target_antennas=(0, 0), # Reset antennas to default + start_antennas=( + current_antennas[0], + current_antennas[1], + ), # Skip body_yaw + target_body_yaw=0, # Reset body yaw + start_body_yaw=current_antennas[0], # body_yaw is first in joint positions + duration=deps.motion_duration_s, + ) + + movement_manager.queue_move(goto_move) + movement_manager.set_moving_state(deps.motion_duration_s) + + return {"status": f"looking {direction}"} + + except Exception as e: + logger.error("move_head failed") + return {"error": f"move_head failed: {type(e).__name__}: {e}"} diff --git a/src/reachy_mini_conversation_app/tools/play_emotion.py b/src/reachy_mini_conversation_app/tools/play_emotion.py new file mode 100644 index 0000000000000000000000000000000000000000..34b2fdac147429f27d40b2a8963fc0207c215f60 --- /dev/null +++ b/src/reachy_mini_conversation_app/tools/play_emotion.py @@ -0,0 +1,84 @@ +import logging +from typing import Any, Dict + +from reachy_mini_conversation_app.tools.core_tools import Tool, ToolDependencies + + +logger = logging.getLogger(__name__) + +# Initialize emotion library +try: + from reachy_mini.motion.recorded_move import RecordedMoves + from reachy_mini_conversation_app.dance_emotion_moves import EmotionQueueMove + + # Note: huggingface_hub automatically reads HF_TOKEN from environment variables + RECORDED_MOVES = RecordedMoves("pollen-robotics/reachy-mini-emotions-library") + EMOTION_AVAILABLE = True +except ImportError as e: + logger.warning(f"Emotion library not available: {e}") + RECORDED_MOVES = None + EMOTION_AVAILABLE = False + + +def get_available_emotions_and_descriptions() -> str: + """Get formatted list of available emotions with descriptions.""" + if not EMOTION_AVAILABLE: + return "Emotions not available" + + try: + emotion_names = RECORDED_MOVES.list_moves() + output = "Available emotions:\n" + for name in emotion_names: + description = RECORDED_MOVES.get(name).description + output += f" - {name}: {description}\n" + return output + except Exception as e: + return f"Error getting emotions: {e}" + + +class PlayEmotion(Tool): + """Play a pre-recorded emotion.""" + + name = "play_emotion" + description = "Play a pre-recorded emotion" + parameters_schema = { + "type": "object", + "properties": { + "emotion": { + "type": "string", + "description": f"""Name of the emotion to play. + Here is a list of the available emotions: + {get_available_emotions_and_descriptions()} + """, + }, + }, + "required": ["emotion"], + } + + async def __call__(self, deps: ToolDependencies, **kwargs: Any) -> Dict[str, Any]: + """Play a pre-recorded emotion.""" + if not EMOTION_AVAILABLE: + return {"error": "Emotion system not available"} + + emotion_name = kwargs.get("emotion") + if not emotion_name: + return {"error": "Emotion name is required"} + + logger.info("Tool call: play_emotion emotion=%s", emotion_name) + + # Check if emotion exists + try: + emotion_names = RECORDED_MOVES.list_moves() + if emotion_name not in emotion_names: + return {"error": f"Unknown emotion '{emotion_name}'. Available: {emotion_names}"} + + # Add emotion to queue + movement_manager = deps.movement_manager + emotion_move = EmotionQueueMove(emotion_name, RECORDED_MOVES) + movement_manager.queue_move(emotion_move) + + return {"status": "queued", "emotion": emotion_name} + + except Exception as e: + logger.exception("Failed to play emotion") + return {"error": f"Failed to play emotion: {e!s}"} diff --git a/src/reachy_mini_conversation_app/tools/stop_dance.py b/src/reachy_mini_conversation_app/tools/stop_dance.py new file mode 100644 index 0000000000000000000000000000000000000000..ab14e84a2cac345fd1696ff21ce59d14bdec7dde --- /dev/null +++ b/src/reachy_mini_conversation_app/tools/stop_dance.py @@ -0,0 +1,31 @@ +import logging +from typing import Any, Dict + +from reachy_mini_conversation_app.tools.core_tools import Tool, ToolDependencies + + +logger = logging.getLogger(__name__) + + +class StopDance(Tool): + """Stop the current dance move.""" + + name = "stop_dance" + description = "Stop the current dance move" + parameters_schema = { + "type": "object", + "properties": { + "dummy": { + "type": "boolean", + "description": "dummy boolean, set it to true", + }, + }, + "required": ["dummy"], + } + + async def __call__(self, deps: ToolDependencies, **kwargs: Any) -> Dict[str, Any]: + """Stop the current dance move.""" + logger.info("Tool call: stop_dance") + movement_manager = deps.movement_manager + movement_manager.clear_move_queue() + return {"status": "stopped dance and cleared queue"} diff --git a/src/reachy_mini_conversation_app/tools/stop_emotion.py b/src/reachy_mini_conversation_app/tools/stop_emotion.py new file mode 100644 index 0000000000000000000000000000000000000000..b5d2323fe3d0642466c03efbac9b9f16641d05ae --- /dev/null +++ b/src/reachy_mini_conversation_app/tools/stop_emotion.py @@ -0,0 +1,31 @@ +import logging +from typing import Any, Dict + +from reachy_mini_conversation_app.tools.core_tools import Tool, ToolDependencies + + +logger = logging.getLogger(__name__) + + +class StopEmotion(Tool): + """Stop the current emotion.""" + + name = "stop_emotion" + description = "Stop the current emotion" + parameters_schema = { + "type": "object", + "properties": { + "dummy": { + "type": "boolean", + "description": "dummy boolean, set it to true", + }, + }, + "required": ["dummy"], + } + + async def __call__(self, deps: ToolDependencies, **kwargs: Any) -> Dict[str, Any]: + """Stop the current emotion.""" + logger.info("Tool call: stop_emotion") + movement_manager = deps.movement_manager + movement_manager.clear_move_queue() + return {"status": "stopped emotion and cleared queue"} diff --git a/src/reachy_mini_conversation_app/utils.py b/src/reachy_mini_conversation_app/utils.py new file mode 100644 index 0000000000000000000000000000000000000000..36baa9522968b4e01e73bec8656e94e92b87a0b3 --- /dev/null +++ b/src/reachy_mini_conversation_app/utils.py @@ -0,0 +1,123 @@ +import logging +import argparse +import warnings +from typing import Any, Tuple, Optional + +from reachy_mini import ReachyMini +from reachy_mini_conversation_app.camera_worker import CameraWorker + + +def parse_args() -> Tuple[argparse.Namespace, list]: # type: ignore + """Parse command line arguments.""" + parser = argparse.ArgumentParser("Reachy Mini Conversation App") + parser.add_argument( + "--head-tracker", + choices=["yolo", "mediapipe", None], + default=None, + help="Choose head tracker (default: None)", + ) + parser.add_argument("--no-camera", default=False, action="store_true", help="Disable camera usage") + parser.add_argument( + "--local-vision", + default=False, + action="store_true", + help="Use local vision model instead of gpt-realtime vision", + ) + parser.add_argument("--gradio", default=False, action="store_true", help="Open gradio interface") + parser.add_argument("--debug", default=False, action="store_true", help="Enable debug logging") + parser.add_argument( + "--robot-name", + type=str, + default=None, + help="[Optional] Robot name/prefix for Zenoh topics (must match daemon's --robot-name). Only needed for development with multiple robots.", + ) + return parser.parse_known_args() + + +def handle_vision_stuff(args: argparse.Namespace, current_robot: ReachyMini) -> Tuple[CameraWorker | None, Any, Any]: + """Initialize camera, head tracker, camera worker, and vision manager. + + By default, vision is handled by gpt-realtime model when camera tool is used. + If --local-vision flag is used, a local vision model will process images periodically. + """ + camera_worker = None + head_tracker = None + vision_manager = None + + if not args.no_camera: + # Initialize head tracker if specified + if args.head_tracker is not None: + if args.head_tracker == "yolo": + from reachy_mini_conversation_app.vision.yolo_head_tracker import HeadTracker + + head_tracker = HeadTracker() + elif args.head_tracker == "mediapipe": + from reachy_mini_toolbox.vision import HeadTracker # type: ignore[no-redef] + + head_tracker = HeadTracker() + + # Initialize camera worker + camera_worker = CameraWorker(current_robot, head_tracker) + + # Initialize vision manager only if local vision is requested + if args.local_vision: + try: + from reachy_mini_conversation_app.vision.processors import initialize_vision_manager + + vision_manager = initialize_vision_manager(camera_worker) + except ImportError as e: + raise ImportError( + "To use --local-vision, please install the extra dependencies: pip install '.[local_vision]'", + ) from e + else: + logging.getLogger(__name__).info( + "Using gpt-realtime for vision (default). Use --local-vision for local processing.", + ) + + return camera_worker, head_tracker, vision_manager + + +def setup_logger(debug: bool) -> logging.Logger: + """Setups the logger.""" + log_level = "DEBUG" if debug else "INFO" + logging.basicConfig( + level=getattr(logging, log_level, logging.INFO), + format="%(asctime)s %(levelname)s %(name)s:%(lineno)d | %(message)s", + ) + logger = logging.getLogger(__name__) + + # Suppress WebRTC warnings + warnings.filterwarnings("ignore", message=".*AVCaptureDeviceTypeExternal.*") + warnings.filterwarnings("ignore", category=UserWarning, module="aiortc") + + # Tame third-party noise (looser in DEBUG) + if log_level == "DEBUG": + logging.getLogger("aiortc").setLevel(logging.INFO) + logging.getLogger("fastrtc").setLevel(logging.INFO) + logging.getLogger("aioice").setLevel(logging.INFO) + logging.getLogger("httpx").setLevel(logging.WARNING) + logging.getLogger("websockets").setLevel(logging.INFO) + else: + logging.getLogger("aiortc").setLevel(logging.ERROR) + logging.getLogger("fastrtc").setLevel(logging.ERROR) + logging.getLogger("aioice").setLevel(logging.WARNING) + return logger + +def log_connection_troubleshooting(logger: logging.Logger, robot_name: Optional[str]) -> None: + """Log troubleshooting steps for connection issues.""" + logger.error("Troubleshooting steps:") + logger.error(" 1. Verify reachy-mini-daemon is running") + + if robot_name is not None: + logger.error( + f" 2. Daemon must be started with: --robot-name '{robot_name}'" + ) + else: + logger.error( + " 2. If daemon uses --robot-name, add the same flag here: " + "--robot-name " + ) + + logger.error(" 3. For wireless: check network connectivity") + logger.error(" 4. Review daemon logs") + logger.error(" 5. Restart the daemon") diff --git a/src/reachy_mini_conversation_app/vision/__init__.py b/src/reachy_mini_conversation_app/vision/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..60dc15c497e49cbeb8687afb06a62339c297e2b5 --- /dev/null +++ b/src/reachy_mini_conversation_app/vision/__init__.py @@ -0,0 +1 @@ +"""Nothing (for ruff).""" diff --git a/src/reachy_mini_conversation_app/vision/processors.py b/src/reachy_mini_conversation_app/vision/processors.py new file mode 100644 index 0000000000000000000000000000000000000000..71598d8b4cbaf8cfc937e2aa3df1c0be6d79ffcd --- /dev/null +++ b/src/reachy_mini_conversation_app/vision/processors.py @@ -0,0 +1,331 @@ +import os +import time +import base64 +import logging +import threading +from typing import Any, Dict +from dataclasses import dataclass + +import cv2 +import numpy as np +import torch +from numpy.typing import NDArray +from transformers import AutoProcessor, AutoModelForImageTextToText +from huggingface_hub import snapshot_download + +from reachy_mini_conversation_app.config import config + + +logger = logging.getLogger(__name__) + + +@dataclass +class VisionConfig: + """Configuration for vision processing.""" + + model_path: str = config.LOCAL_VISION_MODEL + vision_interval: float = 5.0 + max_new_tokens: int = 64 + jpeg_quality: int = 85 + max_retries: int = 3 + retry_delay: float = 1.0 + device_preference: str = "auto" # "auto", "cuda", "cpu" + + +class VisionProcessor: + """Handles SmolVLM2 model loading and inference.""" + + def __init__(self, vision_config: VisionConfig | None = None): + """Initialize the vision processor.""" + self.vision_config = vision_config or VisionConfig() + self.model_path = self.vision_config.model_path + self.device = self._determine_device() + self.processor = None + self.model = None + self._initialized = False + + def _determine_device(self) -> str: + pref = self.vision_config.device_preference + if pref == "cpu": + return "cpu" + if pref == "cuda": + return "cuda" if torch.cuda.is_available() else "cpu" + if pref == "mps": + return "mps" if torch.backends.mps.is_available() else "cpu" + # auto: prefer mps on Apple, then cuda, else cpu + if torch.backends.mps.is_available(): + return "mps" + return "cuda" if torch.cuda.is_available() else "cpu" + + def initialize(self) -> bool: + """Load model and processor onto the selected device.""" + try: + logger.info(f"Loading SmolVLM2 model on {self.device} (HF_HOME={config.HF_HOME})") + self.processor = AutoProcessor.from_pretrained(self.model_path) # type: ignore + + # Select dtype depending on device + if self.device == "cuda": + dtype = torch.bfloat16 + elif self.device == "mps": + dtype = torch.float32 # best for MPS + else: + dtype = torch.float32 + + model_kwargs: Dict[str, Any] = {"dtype": dtype} + + # flash_attention_2 is CUDA-only; skip on MPS/CPU + if self.device == "cuda": + model_kwargs["_attn_implementation"] = "flash_attention_2" + + # Load model weights + self.model = AutoModelForImageTextToText.from_pretrained(self.model_path, **model_kwargs).to(self.device) # type: ignore + + if self.model is not None: + self.model.eval() + self._initialized = True + return True + + except Exception as e: + logger.error(f"Failed to initialize vision model: {e}") + return False + + def process_image( + self, + cv2_image: NDArray[np.uint8], + prompt: str = "Briefly describe what you see in one sentence.", + ) -> str: + """Process CV2 image and return description with retry logic.""" + if not self._initialized or self.processor is None or self.model is None: + return "Vision model not initialized" + + for attempt in range(self.vision_config.max_retries): + try: + # Convert to JPEG bytes + success, jpeg_buffer = cv2.imencode( + ".jpg", + cv2_image, + [cv2.IMWRITE_JPEG_QUALITY, self.vision_config.jpeg_quality], + ) + if not success: + return "Failed to encode image" + + # Convert to base64 + image_base64 = base64.b64encode(jpeg_buffer.tobytes()).decode("utf-8") + + messages = [ + { + "role": "user", + "content": [ + { + "type": "image", + "url": f"data:image/jpeg;base64,{image_base64}", + }, + {"type": "text", "text": prompt}, + ], + }, + ] + + inputs = self.processor.apply_chat_template( + messages, + add_generation_prompt=True, + tokenize=True, + return_dict=True, + return_tensors="pt", + ) + + # Move tensors to device WITHOUT forcing dtype (keeps input_ids as torch.long) + inputs = {k: (v.to(self.device) if hasattr(v, "to") else v) for k, v in inputs.items()} + + with torch.no_grad(): + generated_ids = self.model.generate( + **inputs, + do_sample=False, + max_new_tokens=self.vision_config.max_new_tokens, + pad_token_id=self.processor.tokenizer.eos_token_id, + ) + + generated_texts = self.processor.batch_decode( + generated_ids, + skip_special_tokens=True, + ) + + # Extract just the response part + full_text = generated_texts[0] + response = self._extract_response(full_text) + + # Clean up GPU memory if using CUDA + if self.device == "cuda": + torch.cuda.empty_cache() + elif self.device == "mps": + torch.mps.empty_cache() + + return response.replace(chr(10), " ").strip() + + except torch.cuda.OutOfMemoryError as e: + logger.error(f"CUDA OOM on attempt {attempt + 1}: {e}") + if self.device == "cuda": + torch.cuda.empty_cache() + if attempt < self.vision_config.max_retries - 1: + time.sleep(self.vision_config.retry_delay * (attempt + 1)) + else: + return "GPU out of memory - vision processing failed" + + except Exception as e: + logger.error(f"Vision processing failed (attempt {attempt + 1}): {e}") + if attempt < self.vision_config.max_retries - 1: + time.sleep(self.vision_config.retry_delay) + else: + return f"Vision processing error after {self.vision_config.max_retries} attempts" + + def _extract_response(self, full_text: str) -> str: + """Extract the assistant's response from the full generated text.""" + # Handle different response formats + markers = ["assistant\n", "Assistant:", "Response:", "\n\n"] + + for marker in markers: + if marker in full_text: + response = full_text.split(marker)[-1].strip() + if response: # Ensure we got a meaningful response + return response + + # Fallback: return the full text cleaned up + return full_text.strip() + + def get_model_info(self) -> Dict[str, Any]: + """Get information about the loaded model.""" + return { + "initialized": self._initialized, + "device": self.device, + "model_path": self.model_path, + "cuda_available": torch.cuda.is_available(), + "gpu_memory": torch.cuda.get_device_properties(0).total_memory // (1024**3) + if torch.cuda.is_available() + else "N/A", + } + + +class VisionManager: + """Manages periodic vision processing and scene understanding.""" + + def __init__(self, camera: Any, vision_config: VisionConfig | None = None): + """Initialize vision manager with camera and configuration.""" + self.camera = camera + self.vision_config = vision_config or VisionConfig() + self.vision_interval = self.vision_config.vision_interval + self.processor = VisionProcessor(self.vision_config) + + self._last_processed_time = 0.0 + self._stop_event = threading.Event() + self._thread: threading.Thread | None = None + + # Initialize processor + if not self.processor.initialize(): + logger.error("Failed to initialize vision processor") + raise RuntimeError("Vision processor initialization failed") + + def start(self) -> None: + """Start the vision processing loop in a thread.""" + self._stop_event.clear() + self._thread = threading.Thread(target=self._working_loop, daemon=True) + self._thread.start() + logger.info("Local vision processing started") + + def stop(self) -> None: + """Stop the vision processing loop.""" + self._stop_event.set() + if self._thread is not None: + self._thread.join() + logger.info("Local vision processing stopped") + + def _working_loop(self) -> None: + """Vision processing loop (runs in separate thread).""" + while not self._stop_event.is_set(): + try: + current_time = time.time() + + if current_time - self._last_processed_time >= self.vision_interval: + frame = self.camera.get_latest_frame() + if frame is not None: + description = self.processor.process_image( + frame, + "Briefly describe what you see in one sentence.", + ) + + # Only update if we got a valid response + if description and not description.startswith(("Vision", "Failed", "Error")): + self._last_processed_time = current_time + logger.debug(f"Vision update: {description}") + else: + logger.warning(f"Invalid vision response: {description}") + + time.sleep(1.0) # Check every second + + except Exception: + logger.exception("Vision processing loop error") + time.sleep(5.0) # Longer sleep on error + + logger.info("Vision loop finished") + + def get_status(self) -> Dict[str, Any]: + """Get comprehensive status information.""" + return { + "last_processed": self._last_processed_time, + "processor_info": self.processor.get_model_info(), + "config": { + "interval": self.vision_interval, + }, + } + + +def initialize_vision_manager(camera_worker: Any) -> VisionManager | None: + """Initialize vision manager with model download and configuration. + + Args: + camera_worker: CameraWorker instance for frame capture + Returns: + VisionManager instance or None if initialization fails + + """ + try: + model_id = config.LOCAL_VISION_MODEL + cache_dir = os.path.expanduser(config.HF_HOME) + + # Prepare cache directory + os.makedirs(cache_dir, exist_ok=True) + os.environ["HF_HOME"] = cache_dir + logger.info("HF_HOME set to %s", cache_dir) + + # Download model to cache + logger.info(f"Downloading vision model {model_id} to cache...") + snapshot_download( + repo_id=model_id, + repo_type="model", + cache_dir=cache_dir, + ) + logger.info(f"Model {model_id} downloaded to {cache_dir}") + + # Configure vision processing + vision_config = VisionConfig( + model_path=model_id, + vision_interval=5.0, + max_new_tokens=64, + jpeg_quality=85, + max_retries=3, + retry_delay=1.0, + device_preference="auto", + ) + + # Initialize vision manager + vision_manager = VisionManager(camera_worker, vision_config) + + # Log device info + device_info = vision_manager.processor.get_model_info() + logger.info( + f"Vision processing enabled: {device_info.get('model_path')} on {device_info.get('device')}", + ) + + return vision_manager + + except Exception as e: + logger.error(f"Failed to initialize vision manager: {e}") + return None diff --git a/src/reachy_mini_conversation_app/vision/yolo_head_tracker.py b/src/reachy_mini_conversation_app/vision/yolo_head_tracker.py new file mode 100644 index 0000000000000000000000000000000000000000..3619bc7e89a05a21f554c36c7968bf2c446a33f0 --- /dev/null +++ b/src/reachy_mini_conversation_app/vision/yolo_head_tracker.py @@ -0,0 +1,148 @@ +from __future__ import annotations +import logging +from typing import Tuple + +import numpy as np +from numpy.typing import NDArray + + +try: + from supervision import Detections + from ultralytics import YOLO # type: ignore +except ImportError as e: + raise ImportError( + "To use YOLO head tracker, please install the extra dependencies: pip install '.[yolo_vision]'", + ) from e +from huggingface_hub import hf_hub_download + + +logger = logging.getLogger(__name__) + + +class HeadTracker: + """Lightweight head tracker using YOLO for face detection.""" + + def __init__( + self, + model_repo: str = "AdamCodd/YOLOv11n-face-detection", + model_filename: str = "model.pt", + confidence_threshold: float = 0.3, + device: str = "cpu", + ) -> None: + """Initialize YOLO-based head tracker. + + Args: + model_repo: HuggingFace model repository + model_filename: Model file name + confidence_threshold: Minimum confidence for face detection + device: Device to run inference on ('cpu' or 'cuda') + + """ + self.confidence_threshold = confidence_threshold + + try: + # Download and load YOLO model + model_path = hf_hub_download(repo_id=model_repo, filename=model_filename) + self.model = YOLO(model_path).to(device) + logger.info(f"YOLO face detection model loaded from {model_repo}") + except Exception as e: + logger.error(f"Failed to load YOLO model: {e}") + raise + + def _select_best_face(self, detections: Detections) -> int | None: + """Select the best face based on confidence and area (largest face with highest confidence). + + Args: + detections: Supervision detections object + + Returns: + Index of best face or None if no valid faces + + """ + if detections.xyxy.shape[0] == 0: + return None + + # Check if confidence is available + if detections.confidence is None: + return None + + # Filter by confidence threshold + valid_mask = detections.confidence >= self.confidence_threshold + if not np.any(valid_mask): + return None + + valid_indices = np.where(valid_mask)[0] + + # Calculate areas for valid detections + boxes = detections.xyxy[valid_indices] + areas = (boxes[:, 2] - boxes[:, 0]) * (boxes[:, 3] - boxes[:, 1]) + + # Combine confidence and area (weighted towards larger faces) + confidences = detections.confidence[valid_indices] + scores = confidences * 0.7 + (areas / np.max(areas)) * 0.3 + + # Return index of best face + best_idx = valid_indices[np.argmax(scores)] + return int(best_idx) + + def _bbox_to_mp_coords(self, bbox: NDArray[np.float32], w: int, h: int) -> NDArray[np.float32]: + """Convert bounding box center to MediaPipe-style coordinates [-1, 1]. + + Args: + bbox: Bounding box [x1, y1, x2, y2] + w: Image width + h: Image height + + Returns: + Center point in [-1, 1] coordinates + + """ + center_x = (bbox[0] + bbox[2]) / 2.0 + center_y = (bbox[1] + bbox[3]) / 2.0 + + # Normalize to [0, 1] then to [-1, 1] + norm_x = (center_x / w) * 2.0 - 1.0 + norm_y = (center_y / h) * 2.0 - 1.0 + + return np.array([norm_x, norm_y], dtype=np.float32) + + def get_head_position(self, img: NDArray[np.uint8]) -> Tuple[NDArray[np.float32] | None, float | None]: + """Get head position from face detection. + + Args: + img: Input image + + Returns: + Tuple of (eye_center [-1,1], roll_angle) + + """ + h, w = img.shape[:2] + + try: + # Run YOLO inference + results = self.model(img, verbose=False) + detections = Detections.from_ultralytics(results[0]) + + # Select best face + face_idx = self._select_best_face(detections) + if face_idx is None: + logger.debug("No face detected above confidence threshold") + return None, None + + bbox = detections.xyxy[face_idx] + + if detections.confidence is not None: + confidence = detections.confidence[face_idx] + logger.debug(f"Face detected with confidence: {confidence:.2f}") + + # Get face center in [-1, 1] coordinates + face_center = self._bbox_to_mp_coords(bbox, w, h) + + # Roll is 0 since we don't have keypoints for precise angle estimation + roll = 0.0 + + return face_center, roll + + except Exception as e: + logger.error(f"Error in head position detection: {e}") + return None, None diff --git a/uv.lock b/uv.lock new file mode 100644 index 0000000000000000000000000000000000000000..5d6eef905a0e5a4dd0e4ab569924d0580fe581b5 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