Fix GStreamer 'no element' crash on paths with spaces (v1.0.1)

build/lib/monte_python_insult_robot/assets/coconuts.m4a

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48e5db3f97430adad06e5d9416e866bcd6a2e848edbb09ace1822f64f542e254
+size 330442

build/lib/monte_python_insult_robot/assets/coconuts.wav

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+version https://git-lfs.github.com/spec/v1
+oid sha256:32db8ba781d35ba0b5a47faeddc8959f4c4af4cdc9630b51abd5fade20d64c15
+size 7697052

build/lib/monte_python_insult_robot/assets/insults/suspicious_bridgeofdeath.wav

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+version https://git-lfs.github.com/spec/v1
+oid sha256:2d7c12fe58db361039f17b2029cbaa28554213a2d33adae747e9145c8dfa7763
+size 102934

build/lib/monte_python_insult_robot/assets/insults/suspicious_peril.wav

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1cfc8b2935b93c57ee8c61b90c85566779376d4db4858f9b168bbd359d7f23f1
+size 116538

build/lib/monte_python_insult_robot/attention.py

@@ -0,0 +1,167 @@
+"""Attention loop: auto-detects simulation vs real hardware at startup.
+
+Simulation (mockup_sim_enabled=True or hardware_id=None):
+    - Captures laptop mic via sounddevice at 16 kHz
+    - webrtcvad detects speech in 30 ms frames
+    - No direction info — robot looks straight ahead
+
+Real hardware (ReSpeaker present):
+    - Polls /api/state/doa at 5 Hz
+    - Turns head toward speaker immediately, body follows 1 second later
+"""
+
+import math
+import threading
+import time
+
+import requests
+
+from monte_python_insult_robot import audio
+
+DAEMON_URL = "http://localhost:8000"
+SPEECH_COOLDOWN = 3.0
+
+# --- Simulation mic sensitivity tuning -------------------------------------
+# Raise these to make the robot LESS sensitive to background noise.
+VAD_AGGRESSIVENESS = 3    # webrtcvad 0-3; 3 filters the most non-speech
+RMS_THRESHOLD = 500       # int16 RMS energy floor; frames quieter are ignored
+MIN_VOICED_FRAMES = 8     # consecutive 30 ms voiced frames (~240 ms) to trigger
+
+# --- Real-hardware DOA sensitivity tuning ----------------------------------
+DOA_POLL_HZ = 5           # how often to poll /api/state/doa
+MIN_VOICED_POLLS = 3      # consecutive speech_detected polls (~0.6 s) to trigger
+
+
+def is_simulation() -> bool:
+    try:
+        resp = requests.get(f"{DAEMON_URL}/api/daemon/status", timeout=2)
+        data = resp.json()
+        return data.get("mockup_sim_enabled", False) or data.get("hardware_id") is None
+    except Exception:
+        return True  # safe default
+
+
+class AttentionLoop:
+    def __init__(self, reachy, on_speech_detected):
+        self._reachy = reachy
+        self._on_speech_detected = on_speech_detected
+        self._running = False
+        self._thread = None
+        self._last_trigger = 0.0
+        self._sim = is_simulation()
+        audio._on_playback_done = lambda: setattr(self, "_last_trigger", time.time())
+
+        if self._sim:
+            print("Attention: simulation detected — using laptop mic")
+        else:
+            print("Attention: real hardware detected — using ReSpeaker DOA")
+
+    def start(self) -> None:
+        self._running = True
+        target = self._loop_sim if self._sim else self._loop_doa
+        self._thread = threading.Thread(target=target, daemon=True)
+        self._thread.start()
+
+    def stop(self) -> None:
+        self._running = False
+
+    # ------------------------------------------------------------------
+    # Simulation path — laptop mic + webrtcvad
+    # ------------------------------------------------------------------
+
+    def _loop_sim(self) -> None:
+        import numpy as np
+        import sounddevice as sd
+        import webrtcvad
+
+        SAMPLE_RATE = 16000
+        FRAME_SAMPLES = int(SAMPLE_RATE * 30 / 1000)  # 30 ms
+        vad = webrtcvad.Vad(VAD_AGGRESSIVENESS)
+        buffer = np.zeros(0, dtype=np.int16)
+        voiced_run = 0  # consecutive frames that passed the energy + VAD gates
+
+        def callback(indata, frames, time_info, status):
+            nonlocal buffer
+            buffer = np.append(buffer, (indata[:, 0] * 32767).astype(np.int16))
+
+        with sd.InputStream(samplerate=SAMPLE_RATE, channels=1,
+                            dtype="float32", callback=callback):
+            while self._running:
+                if len(buffer) >= FRAME_SAMPLES:
+                    frame_i16 = buffer[:FRAME_SAMPLES]
+                    buffer = buffer[FRAME_SAMPLES:]
+                    if audio.is_playing:
+                        voiced_run = 0
+                        continue
+                    # Energy gate first: cheap, and keeps quiet background hum
+                    # from ever reaching the VAD.
+                    rms = float(np.sqrt(np.mean(frame_i16.astype(np.float32) ** 2)))
+                    try:
+                        speech = rms >= RMS_THRESHOLD and vad.is_speech(
+                            frame_i16.tobytes(), SAMPLE_RATE
+                        )
+                    except Exception:
+                        speech = False
+                    # Require sustained speech, not a single transient blip.
+                    voiced_run = voiced_run + 1 if speech else 0
+                    if voiced_run >= MIN_VOICED_FRAMES:
+                        voiced_run = 0
+                        self._trigger(face_fn=self._face_forward)
+                else:
+                    time.sleep(0.005)
+
+    # ------------------------------------------------------------------
+    # Real hardware path — ReSpeaker DOA polling
+    # ------------------------------------------------------------------
+
+    def _loop_doa(self) -> None:
+        voiced_polls = 0  # consecutive polls reporting speech_detected
+        while self._running:
+            try:
+                resp = requests.get(f"{DAEMON_URL}/api/state/doa", timeout=1)
+                if resp.status_code == 200:
+                    data = resp.json()
+                    if data and data.get("speech_detected"):
+                        # Require sustained detection, not a single noisy poll.
+                        voiced_polls += 1
+                        if voiced_polls >= MIN_VOICED_POLLS:
+                            voiced_polls = 0
+                            angle = data["angle"]
+                            self._trigger(face_fn=lambda a=angle: self._face_speaker(a))
+                    else:
+                        voiced_polls = 0
+            except Exception:
+                pass  # dropped poll: keep the counter, don't treat as silence
+            time.sleep(1.0 / DOA_POLL_HZ)
+
+    # ------------------------------------------------------------------
+    # Shared trigger logic
+    # ------------------------------------------------------------------
+
+    def _trigger(self, face_fn) -> None:
+        if audio.is_playing:
+            return
+        now = time.time()
+        if now - self._last_trigger < SPEECH_COOLDOWN:
+            return
+        self._last_trigger = now
+        face_fn()
+        threading.Thread(target=self._on_speech_detected, daemon=True).start()
+
+    def _face_forward(self) -> None:
+        """Simulation: look straight ahead, body follows 1s later."""
+        self._reachy.look_at_world(1.0, 0.0, 0.05, duration=0.4)
+        threading.Thread(target=lambda: self._rotate_body(0.0), daemon=True).start()
+
+    def _face_speaker(self, angle_rad: float) -> None:
+        """Real hardware: turn head toward DOA angle, body follows 1s later."""
+        adjusted = angle_rad - math.pi / 2
+        x = math.cos(adjusted)
+        y = -math.sin(adjusted)
+        self._reachy.look_at_world(x, y, 0.05, duration=0.4)
+        body_yaw = max(-2.79, min(2.79, -adjusted))
+        threading.Thread(target=lambda: self._rotate_body(body_yaw), daemon=True).start()
+
+    def _rotate_body(self, yaw: float) -> None:
+        time.sleep(1.0)
+        self._reachy.goto_target(body_yaw=yaw, duration=0.8)

build/lib/monte_python_insult_robot/audio.py

@@ -0,0 +1,60 @@
+"""Insult audio player: picks a random WAV from assets/insults/ and plays it."""
+
+import os
+import random
+
+import threading
+
+import monte_python_insult_robot.expressions as expressions
+from monte_python_insult_robot.playback import play_file
+
+INSULTS_DIR = os.path.join(os.path.dirname(__file__), "assets", "insults")
+VOLUME = 0.5
+AUDIO_EXTS = (".wav", ".mp3")
+
+# Set by attention.py to suppress VAD triggers during playback
+is_playing = False
+_on_playback_done = None  # optional callback set by AttentionLoop
+_speak_lock = threading.Lock()
+_last_played = None
+
+
+def _tag_from_filename(filename: str) -> str:
+    """Parse expression tag from '{tag}_{name}.ext' convention. Falls back to 'contempt'."""
+    stem = os.path.splitext(filename)[0]
+    tag = stem.split("_")[0]
+    return tag
+
+
+def speak(reachy) -> None:
+    """Pick a random insult, loop matching expression for its duration, and play the audio."""
+    global is_playing, _last_played
+    if not _speak_lock.acquire(blocking=False):
+        return  # already playing, drop this call
+    try:
+        files = [f for f in os.listdir(INSULTS_DIR) if f.lower().endswith(AUDIO_EXTS)]
+        if not files:
+            print(f"No audio files found in {INSULTS_DIR}")
+            return
+        candidates = [f for f in files if f != _last_played] or files
+        filename = random.choice(candidates)
+        _last_played = filename
+        path = os.path.join(INSULTS_DIR, filename)
+        tag = _tag_from_filename(filename)
+        print(f"Playing: {filename} (expression: {tag})")
+        stop_event = threading.Event()
+        expr_thread = threading.Thread(
+            target=expressions.loop_expression, args=(reachy, tag, stop_event), daemon=True
+        )
+        expr_thread.start()
+        is_playing = True
+        try:
+            play_file(path, volume=VOLUME)
+        finally:
+            stop_event.set()
+            expr_thread.join(timeout=2.0)
+            is_playing = False
+            if _on_playback_done:
+                _on_playback_done()
+    finally:
+        _speak_lock.release()

build/lib/monte_python_insult_robot/expressions.py

@@ -0,0 +1,111 @@
+"""Physical expressions mapped to Monty Python insult tags.
+
+Each expression is a callable that takes a ReachyMini instance and performs
+the appropriate head/antenna movement.
+"""
+
+import math
+import numpy as np
+from scipy.spatial.transform import Rotation as R
+
+
+def _pose(roll_deg=0, pitch_deg=0, yaw_deg=0) -> np.ndarray:
+    pose = np.eye(4)
+    pose[:3, :3] = R.from_euler("xyz", [roll_deg, pitch_deg, yaw_deg], degrees=True).as_matrix()
+    return pose
+
+
+# Antenna positions [right_rad, left_rad]
+ANTENNAS_NEUTRAL   = [-0.1745,  0.1745]
+ANTENNAS_DROOP     = [-0.8,     0.8]     # drooping — dismissive
+ANTENNAS_PERK      = [ 0.3,    -0.3]     # perked up — mock shock
+ANTENNAS_RAGE      = [-1.2,     1.2]     # fully down — rage
+ANTENNAS_HAUGHTY   = [ 0.0,     0.0]     # straight up — haughty
+
+
+def contempt(reachy) -> None:
+    """Slow head tilt to one side, antennas droop slightly."""
+    reachy.goto_target(head=_pose(roll_deg=15, pitch_deg=-10), antennas=ANTENNAS_DROOP, duration=0.6)
+
+
+def dismissive(reachy) -> None:
+    """Head turns away then snaps back."""
+    reachy.goto_target(head=_pose(yaw_deg=40), antennas=ANTENNAS_DROOP, duration=0.5)
+    reachy.goto_target(head=_pose(), antennas=ANTENNAS_NEUTRAL, duration=0.4)
+
+
+def mock_shock(reachy) -> None:
+    """Head rears back, antennas perk up."""
+    reachy.goto_target(head=_pose(pitch_deg=20), antennas=ANTENNAS_PERK, duration=0.3)
+    reachy.goto_target(head=_pose(), antennas=ANTENNAS_NEUTRAL, duration=0.5)
+
+
+def haughty(reachy) -> None:
+    """Head tilts up, antennas straight — looking down the nose."""
+    reachy.goto_target(head=_pose(pitch_deg=-20), antennas=ANTENNAS_HAUGHTY, duration=0.7)
+
+
+def rage(reachy) -> None:
+    """Rapid head shake side to side, antennas slam down."""
+    reachy.goto_target(head=_pose(yaw_deg=20), antennas=ANTENNAS_RAGE, duration=0.2)
+    reachy.goto_target(head=_pose(yaw_deg=-20), duration=0.2)
+    reachy.goto_target(head=_pose(yaw_deg=20), duration=0.2)
+    reachy.goto_target(head=_pose(), antennas=ANTENNAS_NEUTRAL, duration=0.3)
+
+
+def sneer(reachy) -> None:
+    """Slow roll to one side, antenna droops — withering sneer."""
+    reachy.goto_target(head=_pose(roll_deg=-18, yaw_deg=-15), antennas=[-0.5, 0.2], duration=0.5)
+    reachy.goto_target(head=_pose(), antennas=ANTENNAS_NEUTRAL, duration=0.6)
+
+
+def exasperated(reachy) -> None:
+    """Head drops forward then snaps back up — long-suffering exasperation."""
+    reachy.goto_target(head=_pose(pitch_deg=25), antennas=ANTENNAS_DROOP, duration=0.4)
+    reachy.goto_target(head=_pose(), antennas=ANTENNAS_NEUTRAL, duration=0.5)
+
+
+def gleeful(reachy) -> None:
+    """Quick bouncy nod, antennas perk — delighted malice."""
+    reachy.goto_target(head=_pose(pitch_deg=-10), antennas=ANTENNAS_PERK, duration=0.2)
+    reachy.goto_target(head=_pose(pitch_deg=10), duration=0.2)
+    reachy.goto_target(head=_pose(), antennas=ANTENNAS_NEUTRAL, duration=0.3)
+
+
+def suspicious(reachy) -> None:
+    """Head tilts and leans forward — squinting suspicion."""
+    reachy.goto_target(head=_pose(roll_deg=10, pitch_deg=8), antennas=[-0.3, 0.3], duration=0.5)
+    reachy.goto_target(head=_pose(), antennas=ANTENNAS_NEUTRAL, duration=0.5)
+
+
+def pompous(reachy) -> None:
+    """Head sweeps up and holds — insufferable self-importance."""
+    reachy.goto_target(head=_pose(pitch_deg=-25, yaw_deg=10), antennas=ANTENNAS_HAUGHTY, duration=0.6)
+    reachy.goto_target(head=_pose(pitch_deg=-25, yaw_deg=-10), duration=0.4)
+    reachy.goto_target(head=_pose(), antennas=ANTENNAS_NEUTRAL, duration=0.5)
+
+
+EXPRESSIONS = {
+    "contempt":    contempt,
+    "dismissive":  dismissive,
+    "mock_shock":  mock_shock,
+    "haughty":     haughty,
+    "rage":        rage,
+    "sneer":       sneer,
+    "exasperated": exasperated,
+    "gleeful":     gleeful,
+    "suspicious":  suspicious,
+    "pompous":     pompous,
+}
+
+
+def perform(reachy, tag: str) -> None:
+    EXPRESSIONS.get(tag, contempt)(reachy)
+
+
+def loop_expression(reachy, tag: str, stop_event) -> None:
+    """Repeat the expression until stop_event is set, then return to neutral."""
+    fn = EXPRESSIONS.get(tag, contempt)
+    while not stop_event.is_set():
+        fn(reachy)
+    reachy.goto_target(head=_pose(), antennas=ANTENNAS_NEUTRAL, duration=0.4)

build/lib/monte_python_insult_robot/insults.py

@@ -0,0 +1,6 @@
+"""Insult library — expression tags are now encoded in WAV/MP3 filenames.
+
+Filename convention: {expression_tag}_{name}.{ext}
+Supported tags: contempt, dismissive, mock_shock, haughty, rage,
+                sneer, exasperated, gleeful, suspicious, pompous
+"""

build/lib/monte_python_insult_robot/main.py

@@ -0,0 +1,42 @@
+"""Monte Python Insult Robot — main entry point."""
+
+import threading
+
+from reachy_mini import ReachyMini, ReachyMiniApp
+
+from monte_python_insult_robot.audio import speak
+from monte_python_insult_robot.sounds import ensure_coconut, play_coconut
+from monte_python_insult_robot.attention import AttentionLoop
+
+
+class MontePythonInsultRobot(ReachyMiniApp):
+    custom_app_url: str | None = None
+    request_media_backend: str | None = None
+
+    def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+        reachy_mini.wake_up()
+        ensure_coconut()
+
+        def deliver_insult():
+            play_coconut(reachy_mini)
+            speak(reachy_mini)
+
+        attention = AttentionLoop(
+            reachy=reachy_mini,
+            on_speech_detected=deliver_insult,
+        )
+        attention.start()
+        print("Monte Python Insult Robot is ready. Waiting for victims...")
+
+        stop_event.wait()
+
+        attention.stop()
+        reachy_mini.goto_sleep()
+
+
+if __name__ == "__main__":
+    app = MontePythonInsultRobot()
+    try:
+        app.wrapped_run()
+    except KeyboardInterrupt:
+        app.stop()

build/lib/monte_python_insult_robot/playback.py

@@ -0,0 +1,67 @@
+"""Shared GStreamer audio playback helpers.
+
+Centralizes audio playback so audio.py and sounds.py share one code path.
+
+Playback is built around ``playbin`` with a proper ``file://`` URI rather than
+string-interpolating the path into a ``parse_launch`` pipeline. That matters
+because the installed app lives under a path with a space
+(``~/Library/Application Support/...``); a raw ``filesrc location=/a b/c.wav``
+makes GStreamer read ``location=/a`` and treat ``b`` as an element, failing with
+``no element "b"``. ``Gst.filename_to_uri`` escapes the path, so any spaces or
+special characters are handled correctly. ``playbin`` also auto-detects the
+container/codec, so wav and mp3 need no branching.
+"""
+
+import platform
+
+
+def _make_audio_sink(Gst):
+    """Return the platform audio sink element, or None to let playbin choose.
+
+    On macOS we pin the built-in speaker; on Linux (the robot) playbin's
+    default ``autoaudiosink`` is correct.
+    """
+    if platform.system() != "Darwin":
+        return None  # playbin defaults to autoaudiosink
+    sink = Gst.ElementFactory.make("osxaudiosink", None)
+    if sink is not None and sink.find_property("unique-id") is not None:
+        try:
+            sink.set_property("unique-id", "BuiltInSpeakerDevice")
+        except Exception:
+            pass  # fall back to the default output device
+    return sink
+
+
+def play_file(path: str, volume: float | None = None) -> None:
+    """Play an audio file synchronously via GStreamer, blocking until EOS/error.
+
+    Handles wav and mp3 transparently. If *volume* is given (0.0–1.0) it is
+    applied; otherwise playback is unattenuated. Paths with spaces or special
+    characters are safe — the path is passed as an escaped ``file://`` URI, not
+    interpolated into a pipeline string.
+    """
+    import gi
+    gi.require_version("Gst", "1.0")
+    from gi.repository import Gst
+    Gst.init(None)
+
+    playbin = Gst.ElementFactory.make("playbin", "player")
+    if playbin is None:
+        raise RuntimeError("GStreamer 'playbin' element is unavailable")
+    playbin.set_property("uri", Gst.filename_to_uri(path))
+    if volume is not None:
+        playbin.set_property("volume", float(volume))
+    sink = _make_audio_sink(Gst)
+    if sink is not None:
+        playbin.set_property("audio-sink", sink)
+
+    playbin.set_state(Gst.State.PLAYING)
+    bus = playbin.get_bus()
+    while True:
+        msg = bus.timed_pop_filtered(
+            100 * Gst.MSECOND,
+            Gst.MessageType.EOS | Gst.MessageType.ERROR,
+        )
+        if msg:
+            break
+    playbin.set_state(Gst.State.NULL)

build/lib/monte_python_insult_robot/requirements.txt

@@ -0,0 +1,7 @@
+reachy_mini>=1.8.4
+pydub>=0.25.1
+requests>=2.31.0
+sounddevice>=0.5.0
+webrtcvad-wheels>=2.0.14
+scipy>=1.10.0
+numpy>=1.24.0

build/lib/monte_python_insult_robot/sounds.py

@@ -0,0 +1,74 @@
+"""Coconut clip-clop sound: convert local M4A asset, play a random 2s slice directly via GStreamer."""
+
+import io
+import os
+import random
+from pydub import AudioSegment
+
+from monte_python_insult_robot.playback import play_file
+
+ASSET_M4A = os.path.join(os.path.dirname(__file__), "assets", "coconuts.m4a")
+ASSET_WAV = os.path.join(os.path.dirname(__file__), "assets", "coconuts.wav")
+CLIP_DURATION_MS = 2000
+
+
+def ensure_coconut() -> None:
+    """Convert M4A to WAV if needed."""
+    if not os.path.exists(ASSET_WAV):
+        print("Converting coconuts.m4a to WAV...")
+        AudioSegment.from_file(ASSET_M4A, format="m4a").export(ASSET_WAV, format="wav")
+        print(f"Saved to {ASSET_WAV}")
+
+
+def _bob_head(reachy, duration: float) -> None:
+    """Bounce head up/down for the given duration to mimic horse riding."""
+    import threading
+    import numpy as np
+    from scipy.spatial.transform import Rotation as R
+
+    BOB_INTERVAL = 0.25  # seconds per half-bob (~2 clops/sec)
+    BOB_PITCH    = 12    # degrees
+
+    def _pose(pitch_deg):
+        pose = np.eye(4)
+        pose[:3, :3] = R.from_euler("xyz", [0, pitch_deg, 0], degrees=True).as_matrix()
+        return pose
+
+    stop = threading.Event()
+    threading.Timer(duration, stop.set).start()
+
+    down = True
+    while not stop.is_set():
+        pitch = BOB_PITCH if down else -BOB_PITCH
+        reachy.goto_target(head=_pose(pitch), duration=BOB_INTERVAL)
+        down = not down
+
+    reachy.goto_target(head=_pose(0), duration=0.3)
+
+
+def play_coconut(reachy) -> None:
+    """Play a random 2s slice of the coconut sound with head bobbing."""
+    import tempfile
+    import threading
+
+    audio = AudioSegment.from_wav(ASSET_WAV)
+    max_start = len(audio) - CLIP_DURATION_MS
+    start_ms = random.randint(0, max_start)
+    clip = audio[start_ms : start_ms + CLIP_DURATION_MS]
+
+    buf = io.BytesIO()
+    clip.export(buf, format="wav")
+
+    with tempfile.NamedTemporaryFile(suffix=".wav", delete=False) as f:
+        f.write(buf.getvalue())
+        tmp_path = f.name
+
+    try:
+        duration_s = CLIP_DURATION_MS / 1000
+        bob_thread = threading.Thread(target=_bob_head, args=(reachy, duration_s), daemon=True)
+        bob_thread.start()
+
+        play_file(tmp_path)
+        bob_thread.join(timeout=1.0)
+    finally:
+        os.unlink(tmp_path)

build/lib/monte_python_insult_robot/static/index.html

@@ -0,0 +1,27 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+    <meta charset="UTF-8">
+    <title>Reachy Mini example app template</title>
+    <meta name="viewport" content="width=device-width, initial-scale=1">
+    <link rel="stylesheet" href="/static/style.css">
+</head>
+
+<body>
+    <h1>Reachy Mini – Control Panel</h1>
+
+    <div id="controls">
+        <label style="display:flex; align-items:center; gap:8px;">
+            <input type="checkbox" id="antenna-checkbox" checked>
+            Antennas
+        </label>
+
+        <button id="sound-btn">Play Sound</button>
+    </div>
+
+    <div id="status">Antennas status: running</div>
+    <script src="/static/main.js"></script>
+</body>
+
+</html>

build/lib/monte_python_insult_robot/static/main.js

@@ -0,0 +1,47 @@
+let antennasEnabled = true;
+
+async function updateAntennasState(enabled) {
+    try {
+        const resp = await fetch("/antennas", {
+            method: "POST",
+            headers: { "Content-Type": "application/json" },
+            body: JSON.stringify({ enabled }),
+        });
+        const data = await resp.json();
+        antennasEnabled = data.antennas_enabled;
+        updateUI();
+    } catch (e) {
+        document.getElementById("status").textContent = "Backend error";
+    }
+}
+
+async function playSound() {
+    try {
+        await fetch("/play_sound", { method: "POST" });
+    } catch (e) {
+        console.error("Error triggering sound:", e);
+    }
+}
+
+function updateUI() {
+    const checkbox = document.getElementById("antenna-checkbox");
+    const status = document.getElementById("status");
+
+    checkbox.checked = antennasEnabled;
+
+    if (antennasEnabled) {
+        status.textContent = "Antennas status: running";
+    } else {
+        status.textContent = "Antennas status: stopped";
+    }
+}
+
+document.getElementById("antenna-checkbox").addEventListener("change", (e) => {
+    updateAntennasState(e.target.checked);
+});
+
+document.getElementById("sound-btn").addEventListener("click", () => {
+    playSound();
+});
+
+updateUI();

build/lib/monte_python_insult_robot/static/style.css

@@ -0,0 +1,25 @@
+body {
+    font-family: sans-serif;
+    margin: 24px;
+}
+
+#sound-btn {
+    padding: 10px 20px;
+    border: none;
+    color: white;
+    cursor: pointer;
+    font-size: 16px;
+    border-radius: 6px;
+    background-color: #3498db;
+}
+
+#status {
+    margin-top: 16px;
+    font-weight: bold;
+}
+
+#controls {
+    display: flex;
+    align-items: center;
+    gap: 20px;
+}

monte_python_insult_robot.egg-info/PKG-INFO

@@ -0,0 +1,52 @@
+Metadata-Version: 2.4
+Name: monte_python_insult_robot
+Version: 1.0.1
+Summary: French castle guard insult robot — Monty Python style
+Keywords: reachy-mini-app
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+Requires-Dist: reachy-mini>=1.8.4
+Requires-Dist: pydub>=0.25.1
+Requires-Dist: requests>=2.31.0
+Requires-Dist: sounddevice>=0.5.0
+Requires-Dist: webrtcvad-wheels>=2.0.14
+Requires-Dist: scipy>=1.10.0
+Requires-Dist: numpy>=1.24.0
+
+---
+title: Monte Python Insult Robot
+emoji: 🏰
+colorFrom: yellow
+colorTo: green
+sdk: static
+pinned: false
+short_description: French castle guard insult robot — Monty Python style
+tags:
+  - reachy_mini
+  - reachy_mini_python_app
+---
+
+# Monte Python Insult Robot 🏰
+
+A Reachy Mini app that turns the robot into the French castle guard from Monty Python and the Holy Grail.
+
+## What it does
+
+- Listens for nearby speech using the ReSpeaker mic array (or laptop mic in simulation)
+- Plays coconut clip-clop sounds with head-bobbing horse riding animation
+- Delivers a random pre-recorded insult WAV with a matching physical expression
+- Turns head and body toward the speaker
+
+## Insult audio files
+
+Place WAV or MP3 files in `monte_python_insult_robot/assets/insults/` using the naming convention:
+
+```
+{expression_tag}_{name}.wav
+```
+
+Supported expression tags: `contempt`, `dismissive`, `mock_shock`, `haughty`, `rage`, `sneer`, `exasperated`, `gleeful`, `suspicious`, `pompous`
+
+## Requirements
+
+See `monte_python_insult_robot/requirements.txt`. Key dependencies: `pydub`, `sounddevice`, `webrtcvad-wheels`, `scipy`.

monte_python_insult_robot.egg-info/SOURCES.txt

@@ -0,0 +1,90 @@
+README.md
+pyproject.toml
+./monte_python_insult_robot/__init__.py
+./monte_python_insult_robot/attention.py
+./monte_python_insult_robot/audio.py
+./monte_python_insult_robot/expressions.py
+./monte_python_insult_robot/insults.py
+./monte_python_insult_robot/main.py
+./monte_python_insult_robot/playback.py
+./monte_python_insult_robot/requirements.txt
+./monte_python_insult_robot/sounds.py
+./monte_python_insult_robot/assets/coconuts.m4a
+./monte_python_insult_robot/assets/coconuts.wav
+./monte_python_insult_robot/assets/insults/contempt_hamster.wav
+./monte_python_insult_robot/assets/insults/contempt_wipe.wav
+./monte_python_insult_robot/assets/insults/dismissive_Looney.wav
+./monte_python_insult_robot/assets/insults/exasperated_bleed.wav
+./monte_python_insult_robot/assets/insults/exasperated_dead.wav
+./monte_python_insult_robot/assets/insults/exasperated_repressed.wav
+./monte_python_insult_robot/assets/insults/gleeful_bitelegs.wav
+./monte_python_insult_robot/assets/insults/gleeful_happy.wav
+./monte_python_insult_robot/assets/insults/gleeful_much_rejoicing.mp3
+./monte_python_insult_robot/assets/insults/gleeful_privparts.wav
+./monte_python_insult_robot/assets/insults/gleeful_spam.mp3
+./monte_python_insult_robot/assets/insults/haughty_french.wav
+./monte_python_insult_robot/assets/insults/haughty_mp_grail.wav
+./monte_python_insult_robot/assets/insults/mock_shock_Newt.wav
+./monte_python_insult_robot/assets/insults/mock_shock_runawayrun.wav
+./monte_python_insult_robot/assets/insults/pompous_King.wav
+./monte_python_insult_robot/assets/insults/pompous_britains.wav
+./monte_python_insult_robot/assets/insults/pompous_consult.mp3
+./monte_python_insult_robot/assets/insults/pompous_mustbe.wav
+./monte_python_insult_robot/assets/insults/rage_Ni.wav
+./monte_python_insult_robot/assets/insults/rage_fart.wav
+./monte_python_insult_robot/assets/insults/rage_fart_direction.mp3
+./monte_python_insult_robot/assets/insults/sneer_mp_taunt.mp3
+./monte_python_insult_robot/assets/insults/sneer_taunt.wav
+./monte_python_insult_robot/assets/insults/suspicious_bridgeofdeath.wav
+./monte_python_insult_robot/assets/insults/suspicious_duck.mp3
+./monte_python_insult_robot/assets/insults/suspicious_peril.wav
+./monte_python_insult_robot/static/index.html
+./monte_python_insult_robot/static/main.js
+./monte_python_insult_robot/static/style.css
+monte_python_insult_robot/__init__.py
+monte_python_insult_robot/attention.py
+monte_python_insult_robot/audio.py
+monte_python_insult_robot/expressions.py
+monte_python_insult_robot/insults.py
+monte_python_insult_robot/main.py
+monte_python_insult_robot/playback.py
+monte_python_insult_robot/requirements.txt
+monte_python_insult_robot/sounds.py
+monte_python_insult_robot.egg-info/PKG-INFO
+monte_python_insult_robot.egg-info/SOURCES.txt
+monte_python_insult_robot.egg-info/dependency_links.txt
+monte_python_insult_robot.egg-info/entry_points.txt
+monte_python_insult_robot.egg-info/requires.txt
+monte_python_insult_robot.egg-info/top_level.txt
+monte_python_insult_robot/assets/coconuts.m4a
+monte_python_insult_robot/assets/coconuts.wav
+monte_python_insult_robot/assets/insults/contempt_hamster.wav
+monte_python_insult_robot/assets/insults/contempt_wipe.wav
+monte_python_insult_robot/assets/insults/dismissive_Looney.wav
+monte_python_insult_robot/assets/insults/exasperated_bleed.wav
+monte_python_insult_robot/assets/insults/exasperated_dead.wav
+monte_python_insult_robot/assets/insults/exasperated_repressed.wav
+monte_python_insult_robot/assets/insults/gleeful_bitelegs.wav
+monte_python_insult_robot/assets/insults/gleeful_happy.wav
+monte_python_insult_robot/assets/insults/gleeful_much_rejoicing.mp3
+monte_python_insult_robot/assets/insults/gleeful_privparts.wav
+monte_python_insult_robot/assets/insults/gleeful_spam.mp3
+monte_python_insult_robot/assets/insults/haughty_french.wav
+monte_python_insult_robot/assets/insults/haughty_mp_grail.wav
+monte_python_insult_robot/assets/insults/mock_shock_Newt.wav
+monte_python_insult_robot/assets/insults/mock_shock_runawayrun.wav
+monte_python_insult_robot/assets/insults/pompous_King.wav
+monte_python_insult_robot/assets/insults/pompous_britains.wav
+monte_python_insult_robot/assets/insults/pompous_consult.mp3
+monte_python_insult_robot/assets/insults/pompous_mustbe.wav
+monte_python_insult_robot/assets/insults/rage_Ni.wav
+monte_python_insult_robot/assets/insults/rage_fart.wav
+monte_python_insult_robot/assets/insults/rage_fart_direction.mp3
+monte_python_insult_robot/assets/insults/sneer_mp_taunt.mp3
+monte_python_insult_robot/assets/insults/sneer_taunt.wav
+monte_python_insult_robot/assets/insults/suspicious_bridgeofdeath.wav
+monte_python_insult_robot/assets/insults/suspicious_duck.mp3
+monte_python_insult_robot/assets/insults/suspicious_peril.wav
+monte_python_insult_robot/static/index.html
+monte_python_insult_robot/static/main.js
+monte_python_insult_robot/static/style.css

monte_python_insult_robot.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

monte_python_insult_robot.egg-info/entry_points.txt

@@ -0,0 +1,2 @@
+[reachy_mini_apps]
+monte_python_insult_robot = monte_python_insult_robot.main:MontePythonInsultRobot

monte_python_insult_robot.egg-info/requires.txt

@@ -0,0 +1,7 @@
+reachy-mini>=1.8.4
+pydub>=0.25.1
+requests>=2.31.0
+sounddevice>=0.5.0
+webrtcvad-wheels>=2.0.14
+scipy>=1.10.0
+numpy>=1.24.0

monte_python_insult_robot.egg-info/top_level.txt

@@ -0,0 +1 @@
+monte_python_insult_robot

monte_python_insult_robot/playback.py

@@ -1,45 +1,62 @@
 """Shared GStreamer audio playback helpers.
 
-Centralizes the platform-specific sink selection and the play-until-EOS loop
-that were previously duplicated across audio.py, sounds.py, and tts.py.
+Centralizes audio playback so audio.py and sounds.py share one code path.
+
+Playback is built around ``playbin`` with a proper ``file://`` URI rather than
+string-interpolating the path into a ``parse_launch`` pipeline. That matters
+because the installed app lives under a path with a space
+(``~/Library/Application Support/...``); a raw ``filesrc location=/a b/c.wav``
+makes GStreamer read ``location=/a`` and treat ``b`` as an element, failing with
+``no element "b"``. ``Gst.filename_to_uri`` escapes the path, so any spaces or
+special characters are handled correctly. ``playbin`` also auto-detects the
+container/codec, so wav and mp3 need no branching.
 """
 
 import platform
 
 
-def get_audio_sink() -> str:
-    """Return a GStreamer sink pipeline fragment for the current platform."""
-    if platform.system() == "Darwin":
-        return "osxaudiosink unique-id=BuiltInSpeakerDevice"
-    return "autoaudiosink"
-
+def _make_audio_sink(Gst):
+    """Return the platform audio sink element, or None to let playbin choose.
 
-def _decoder_for(path: str) -> str:
-    """Return the GStreamer decode element for the file type."""
-    if path.lower().endswith(".mp3"):
-        return "decodebin"
-    return "wavparse"
+    On macOS we pin the built-in speaker; on Linux (the robot) playbin's
+    default ``autoaudiosink`` is correct.
+    """
+    if platform.system() != "Darwin":
+        return None  # playbin defaults to autoaudiosink
+    sink = Gst.ElementFactory.make("osxaudiosink", None)
+    if sink is not None and sink.find_property("unique-id") is not None:
+        try:
+            sink.set_property("unique-id", "BuiltInSpeakerDevice")
+        except Exception:
+            pass  # fall back to the default output device
+    return sink
 
 
 def play_file(path: str, volume: float | None = None) -> None:
     """Play an audio file synchronously via GStreamer, blocking until EOS/error.
 
-    Auto-selects the decoder from the file extension. If *volume* is given, a
-    ``volume`` element is inserted (0.0–1.0); otherwise playback is unattenuated.
+    Handles wav and mp3 transparently. If *volume* is given (0.0–1.0) it is
+    applied; otherwise playback is unattenuated. Paths with spaces or special
+    characters are safe — the path is passed as an escaped ``file://`` URI, not
+    interpolated into a pipeline string.
     """
     import gi
     gi.require_version("Gst", "1.0")
     from gi.repository import Gst
     Gst.init(None)
 
-    decoder = _decoder_for(path)
-    volume_stage = f"volume volume={volume} ! " if volume is not None else ""
-    pipeline = Gst.parse_launch(
-        f"filesrc location={path} ! {decoder} ! audioconvert ! audioresample "
-        f"! {volume_stage}{get_audio_sink()}"
-    )
-    pipeline.set_state(Gst.State.PLAYING)
-    bus = pipeline.get_bus()
+    playbin = Gst.ElementFactory.make("playbin", "player")
+    if playbin is None:
+        raise RuntimeError("GStreamer 'playbin' element is unavailable")
+    playbin.set_property("uri", Gst.filename_to_uri(path))
+    if volume is not None:
+        playbin.set_property("volume", float(volume))
+    sink = _make_audio_sink(Gst)
+    if sink is not None:
+        playbin.set_property("audio-sink", sink)
+
+    playbin.set_state(Gst.State.PLAYING)
+    bus = playbin.get_bus()
     while True:
         msg = bus.timed_pop_filtered(
             100 * Gst.MSECOND,
@@ -47,4 +64,4 @@ def play_file(path: str, volume: float | None = None) -> None:
         )
         if msg:
             break
-    pipeline.set_state(Gst.State.NULL)
+    playbin.set_state(Gst.State.NULL)

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "monte_python_insult_robot"
-version = "1.0.0"
+version = "1.0.1"
 description = "French castle guard insult robot — Monty Python style"
 readme = "README.md"
 requires-python = ">=3.10"