Update space

coquille/programme1.py

@@ -0,0 +1,96 @@
+import threading
+from reachy_mini import ReachyMini, ReachyMiniApp
+from reachy_mini.utils import create_head_pose
+import numpy as np
+import time
+from pydantic import BaseModel
+
+
+class Test(ReachyMiniApp):
+    # Optional: URL to a custom configuration page for the app
+    # eg. "http://localhost:8042"
+    custom_app_url: str | None = "http://0.0.0.0:8042"
+    # Optional: specify a media backend ("gstreamer", "gstreamer_no_video", "default", etc.)
+    # On the wireless, use gstreamer_no_video to optimise CPU usage if the app does not use video streaming
+    request_media_backend: str | None = None
+
+    def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+        t0 = time.time()
+
+        antennas_enabled = True
+        sound_play_requested = False
+
+        # You can ignore this part if you don't want to add settings to your app. If you set custom_app_url to None, you have to remove this part as well.
+        # === vvv ===
+        class AntennaState(BaseModel):
+            enabled: bool
+
+        @self.settings_app.post("/antennas")
+        def update_antennas_state(state: AntennaState):
+            nonlocal antennas_enabled
+            antennas_enabled = state.enabled
+            return {"antennas_enabled": antennas_enabled}
+
+        @self.settings_app.post("/play_sound")
+        def request_sound_play():
+            nonlocal sound_play_requested
+            sound_play_requested = True
+
+        # === ^^^ ===
+
+        # Main control loop
+        while not stop_event.is_set():
+            t_start = time.time()
+            while time.time() - t_start < 5:
+                t = time.time() - t0
+                roll_deg = 30.0 * np.sin(2.0 * np.pi * 0.2 * t)
+                head_pose = create_head_pose(roll=roll_deg, degrees=True)
+                reachy_mini.set_target(head=head_pose)
+                time.sleep(0.02)
+            t_start = time.time()
+            while time.time() - t_start < 5:
+                t = time.time() - t0
+                pitch_deg = 30.0 * np.sin(2.0 * np.pi * 0.2 * t)
+                head_pose = create_head_pose(pitch=pitch_deg, degrees=True)
+                reachy_mini.set_target(head=head_pose)
+                time.sleep(0.02)
+
+            t_start = time.time()
+            while time.time() - t_start < 5:
+                t = time.time() - t0
+                yaw_deg = 30.0 * np.sin(2.0 * np.pi * 0.2 * t)
+                head_pose = create_head_pose(yaw=yaw_deg, degrees=True)
+                reachy_mini.set_target(head=head_pose)
+                time.sleep(0.02)
+
+            t_start = time.time()
+            while time.time() - t_start < 5:
+                t = time.time() - t0
+                x_pos = 0.03 * np.sin(2.0 * np.pi * 0.2 * t)
+                head_pose = create_head_pose(x=x_pos)
+                reachy_mini.set_target(head=head_pose)
+                time.sleep(0.02)
+
+            t_start = time.time()
+            while time.time() - t_start < 5:
+                t = time.time() - t0
+                y_pos = 0.03 * np.sin(2.0 * np.pi * 0.2 * t)
+                head_pose = create_head_pose(y=y_pos)
+                reachy_mini.set_target(head=head_pose)
+                time.sleep(0.02)
+
+            t_start = time.time()
+            while time.time() - t_start < 5:
+                t = time.time() - t0
+                z_pos = 0.015 * np.sin(2.0 * np.pi * 0.2 * t)
+                head_pose = create_head_pose(z=z_pos)
+                reachy_mini.set_target(head=head_pose)
+                time.sleep(0.02)
+
+
+if __name__ == "__main__":
+    app = Test()
+    try:
+        app.wrapped_run()
+    except KeyboardInterrupt:
+        app.stop()

coquille/programme2.py

@@ -0,0 +1,70 @@
+import threading
+from reachy_mini import ReachyMini, ReachyMiniApp
+from reachy_mini.utils import create_head_pose
+import numpy as np
+import time
+from pydantic import BaseModel
+
+
+class Test(ReachyMiniApp):
+    # Optional: URL to a custom configuration page for the app
+    # eg. "http://localhost:8042"
+    custom_app_url: str | None = "http://0.0.0.0:8042"
+    # Optional: specify a media backend ("gstreamer", "gstreamer_no_video", "default", etc.)
+    # On the wireless, use gstreamer_no_video to optimise CPU usage if the app does not use video streaming
+    request_media_backend: str | None = None
+
+    def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+        t0 = time.time()
+
+        antennas_enabled = True
+        sound_play_requested = False
+
+        # You can ignore this part if you don't want to add settings to your app. If you set custom_app_url to None, you have to remove this part as well.
+        # === vvv ===
+        class AntennaState(BaseModel):
+            enabled: bool
+
+        @self.settings_app.post("/antennas")
+        def update_antennas_state(state: AntennaState):
+            nonlocal antennas_enabled
+            antennas_enabled = state.enabled
+            return {"antennas_enabled": antennas_enabled}
+
+        @self.settings_app.post("/play_sound")
+        def request_sound_play():
+            nonlocal sound_play_requested
+            sound_play_requested = True
+
+        # === ^^^ ===
+
+        # Main control loop
+        while not stop_event.is_set():
+
+            t_start = time.time()
+            while time.time() - t_start < 15.0:
+                t = time.time() - t0
+                y_m = 0.03 * np.sin(2.0 * np.pi * 0.2 * t)
+                pitch_deg = 30.0 * np.sin(2.0 * np.pi * 0.6 * t)
+                head_pose = create_head_pose(y=y_m, pitch=pitch_deg, degrees=True)
+                reachy_mini.set_target(head=head_pose)
+                time.sleep(0.01)
+
+            t_start = time.time()
+            while time.time() - t_start < 15.0:
+                t = time.time() - t0
+                x_m = 0.03 * np.cos(2.0 * np.pi * 0.2 * t)
+                y_m = 0.03 * np.sin(2.0 * np.pi * 0.2 * t)
+                z_m = 0.0
+                head_pose = create_head_pose(x=x_m, y=y_m, z=z_m, degrees=True)
+                reachy_mini.set_target(head=head_pose)
+                time.sleep(0.01)
+
+
+
+if __name__ == "__main__":
+    app = Test()
+    try:
+        app.wrapped_run()
+    except KeyboardInterrupt:
+        app.stop()