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rock_paper_scissors

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trtd56 commited on Feb 4

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.coverage +0 -0
README.md +15 -0
debug_gesture.py +202 -0
index.html +19 -0
pyproject.toml +46 -0
rock_paper_scissors.egg-info/PKG-INFO +31 -0
rock_paper_scissors.egg-info/SOURCES.txt +223 -0
rock_paper_scissors.egg-info/dependency_links.txt +1 -0
rock_paper_scissors.egg-info/entry_points.txt +2 -0
rock_paper_scissors.egg-info/requires.txt +10 -0
rock_paper_scissors.egg-info/top_level.txt +3 -0
rock_paper_scissors/__init__.py +1 -0
rock_paper_scissors/__pycache__/__init__.cpython-311.pyc +0 -0
rock_paper_scissors/__pycache__/main.cpython-311.pyc +0 -0
rock_paper_scissors/audio/__init__.py +8 -0
rock_paper_scissors/audio/__pycache__/__init__.cpython-311.pyc +0 -0
rock_paper_scissors/audio/__pycache__/sound_manager.cpython-311.pyc +0 -0
rock_paper_scissors/audio/__pycache__/sounds.cpython-311.pyc +0 -0
rock_paper_scissors/audio/sound_manager.py +209 -0
rock_paper_scissors/audio/sounds.py +89 -0
rock_paper_scissors/config/__init__.py +3 -0
rock_paper_scissors/config/__pycache__/__init__.cpython-311.pyc +0 -0
rock_paper_scissors/config/__pycache__/settings.cpython-311.pyc +0 -0
rock_paper_scissors/config/settings.py +126 -0
rock_paper_scissors/detection/__init__.py +14 -0
rock_paper_scissors/detection/__pycache__/__init__.cpython-311.pyc +0 -0
rock_paper_scissors/detection/__pycache__/gesture_detector.cpython-311.pyc +0 -0
rock_paper_scissors/detection/__pycache__/hand_detector.cpython-311.pyc +0 -0
rock_paper_scissors/detection/__pycache__/motion_detector.cpython-311.pyc +0 -0
rock_paper_scissors/detection/__pycache__/status.cpython-311.pyc +0 -0
rock_paper_scissors/detection/__pycache__/wave_detector.cpython-311.pyc +0 -0
rock_paper_scissors/detection/gesture_detector.py +376 -0
rock_paper_scissors/detection/hand_detector.py +131 -0
rock_paper_scissors/detection/motion_detector.py +73 -0
rock_paper_scissors/detection/status.py +38 -0
rock_paper_scissors/detection/wave_detector.py +189 -0
rock_paper_scissors/game/__init__.py +12 -0
rock_paper_scissors/game/__pycache__/__init__.cpython-311.pyc +0 -0
rock_paper_scissors/game/__pycache__/game_logic.cpython-311.pyc +0 -0
rock_paper_scissors/game/__pycache__/state_machine.cpython-311.pyc +0 -0
rock_paper_scissors/game/__pycache__/states.cpython-311.pyc +0 -0
rock_paper_scissors/game/game_logic.py +39 -0
rock_paper_scissors/game/state_machine.py +157 -0
rock_paper_scissors/game/states.py +28 -0
rock_paper_scissors/main.py +319 -0
rock_paper_scissors/robot/__init__.py +9 -0
rock_paper_scissors/robot/__pycache__/__init__.cpython-311.pyc +0 -0
rock_paper_scissors/robot/__pycache__/animations.cpython-311.pyc +0 -0
rock_paper_scissors/robot/__pycache__/antenna_poses.cpython-311.pyc +0 -0
rock_paper_scissors/robot/__pycache__/head_poses.cpython-311.pyc +0 -0

.coverage ADDED Viewed

Binary file (53.2 kB). View file

README.md ADDED Viewed

	@@ -0,0 +1,15 @@

+---
+title: Rock Paper Scissors
+emoji: ✊✌️🖐️
+colorFrom: pink
+colorTo: pink
+sdk: static
+pinned: false
+short_description:  An intuitive rock-paper-scissors game you play with Reachy Mini.
+tags:
+ - reachy_mini
+ - reachy_mini_python_app
+---
+Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference

debug_gesture.py ADDED Viewed

	@@ -0,0 +1,202 @@

+#!/usr/bin/env python3
+"""ジェスチャー認識のデバッグスクリプト
+カメラから手を検出し、各指の状態と判定結果をリアルタイムで表示します。
+"""
+import cv2
+import numpy as np
+from rock_paper_scissors.detection import HandDetector, GestureDetector
+from rock_paper_scissors.detection.gesture_detector import (
+    LandmarkIndex,
+    FINGER_EXTENDED_ANGLE_THRESHOLD,
+    FINGER_CURLED_ANGLE_THRESHOLD,
+)
+from rock_paper_scissors.game.states import Hand
+def calculate_finger_angle(landmarks: np.ndarray, mcp_idx: int, pip_idx: int, dip_idx: int) -> float:
+    """指の曲がり角度を計算"""
+    mcp = landmarks[mcp_idx][:2]
+    pip = landmarks[pip_idx][:2]
+    dip = landmarks[dip_idx][:2]
+    v1 = mcp - pip
+    v2 = dip - pip
+    norm1 = np.linalg.norm(v1)
+    norm2 = np.linalg.norm(v2)
+    if norm1 < 1e-10 or norm2 < 1e-10:
+        return 180.0
+    cos_angle = np.dot(v1, v2) / (norm1 * norm2)
+    angle = np.arccos(np.clip(cos_angle, -1.0, 1.0))
+    return np.degrees(angle)
+def get_finger_debug_info(landmarks: np.ndarray) -> dict:
+    """各指の詳細情報を取得"""
+    info = {}
+    # 各指の情報
+    fingers = {
+        "index": (LandmarkIndex.INDEX_MCP, LandmarkIndex.INDEX_PIP, LandmarkIndex.INDEX_DIP, LandmarkIndex.INDEX_TIP),
+        "middle": (LandmarkIndex.MIDDLE_MCP, LandmarkIndex.MIDDLE_PIP, LandmarkIndex.MIDDLE_DIP, LandmarkIndex.MIDDLE_TIP),
+        "ring": (LandmarkIndex.RING_MCP, LandmarkIndex.RING_PIP, LandmarkIndex.RING_DIP, LandmarkIndex.RING_TIP),
+        "pinky": (LandmarkIndex.PINKY_MCP, LandmarkIndex.PINKY_PIP, LandmarkIndex.PINKY_DIP, LandmarkIndex.PINKY_TIP),
+    }
+    for name, (mcp_idx, pip_idx, dip_idx, tip_idx) in fingers.items():
+        tip = landmarks[tip_idx]
+        pip = landmarks[pip_idx]
+        mcp = landmarks[mcp_idx]
+        # 距離計算
+        tip_to_mcp = np.linalg.norm(tip[:2] - mcp[:2])
+        pip_to_mcp = np.linalg.norm(pip[:2] - mcp[:2])
+        ratio = tip_to_mcp / pip_to_mcp if pip_to_mcp > 0 else 0
+        # 角度計算
+        angle = calculate_finger_angle(landmarks, mcp_idx, pip_idx, dip_idx)
+        # Y座標の比較
+        tip_above_pip = tip[1] < pip[1]
+        # 判定
+        distance_extended = tip_above_pip and ratio > 0.9
+        angle_curled = angle < FINGER_CURLED_ANGLE_THRESHOLD
+        # 最終判定（距離ベースで伸びていると判定されても、角度が小さければ閉じている）
+        is_extended = distance_extended and not angle_curled
+        info[name] = {
+            "tip_y": tip[1],
+            "pip_y": pip[1],
+            "tip_above_pip": tip_above_pip,
+            "distance_ratio": ratio,
+            "angle": angle,
+            "distance_extended": distance_extended,
+            "angle_curled": angle_curled,
+            "is_extended": is_extended,
+        }
+    # 親指
+    thumb_tip = landmarks[LandmarkIndex.THUMB_TIP]
+    thumb_ip = landmarks[LandmarkIndex.THUMB_IP]
+    thumb_mcp = landmarks[LandmarkIndex.THUMB_MCP]
+    tip_to_mcp = np.linalg.norm(thumb_tip[:2] - thumb_mcp[:2])
+    ip_to_mcp = np.linalg.norm(thumb_ip[:2] - thumb_mcp[:2])
+    thumb_extended = tip_to_mcp > ip_to_mcp * 1.2
+    info["thumb"] = {
+        "tip_to_mcp": tip_to_mcp,
+        "ip_to_mcp": ip_to_mcp,
+        "ratio": tip_to_mcp / ip_to_mcp if ip_to_mcp > 0 else 0,
+        "is_extended": thumb_extended,
+    }
+    return info
+def main():
+    print("=" * 60)
+    print("ジェスチャー認識デバッグツール")
+    print("=" * 60)
+    print(f"角度閾値: 伸びている >= {FINGER_EXTENDED_ANGLE_THRESHOLD}°, 曲がっている < {FINGER_CURLED_ANGLE_THRESHOLD}°")
+    print("距離閾値: 0.9 (tip_to_mcp / pip_to_mcp)")
+    print("'q' で終了")
+    print("=" * 60)
+    hand_detector = HandDetector()
+    gesture_detector = GestureDetector()
+    cap = cv2.VideoCapture(0)
+    if not cap.isOpened():
+        print("カメラを開けませんでした")
+        return
+    try:
+        while True:
+            ret, frame = cap.read()
+            if not ret:
+                break
+            # 左右反転（鏡像）
+            frame = cv2.flip(frame, 1)
+            # 手を検出
+            hand_data = hand_detector.detect(frame)
+            if hand_data is not None:
+                landmarks = hand_data.landmarks
+                # ジェスチャー判定
+                gesture, confidence = gesture_detector.detect(landmarks)
+                # デバッグ情報を取得
+                debug_info = get_finger_debug_info(landmarks)
+                # 画面に表示
+                y_offset = 30
+                # ジェスチャー結果
+                gesture_text = f"Gesture: {gesture.value} (conf: {confidence:.2f})"
+                color = (0, 255, 0) if gesture != Hand.UNKNOWN else (0, 0, 255)
+                cv2.putText(frame, gesture_text, (10, y_offset), cv2.FONT_HERSHEY_SIMPLEX, 0.8, color, 2)
+                y_offset += 35
+                # 拡張カウント
+                extended_count = sum(1 for name in ["thumb", "index", "middle", "ring", "pinky"]
+                                   if debug_info[name]["is_extended"])
+                cv2.putText(frame, f"Extended fingers: {extended_count}", (10, y_offset),
+                           cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 255), 2)
+                y_offset += 25
+                # 各指の情報
+                for finger_name in ["thumb", "index", "middle", "ring", "pinky"]:
+                    info = debug_info[finger_name]
+                    if finger_name == "thumb":
+                        text = f"{finger_name}: ext={info['is_extended']} (ratio={info['ratio']:.2f})"
+                    else:
+                        text = f"{finger_name}: ext={info['is_extended']} (ratio={info['distance_ratio']:.2f}, angle={info['angle']:.0f}°)"
+                    color = (0, 255, 0) if info["is_extended"] else (0, 0, 255)
+                    cv2.putText(frame, text, (10, y_offset), cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 1)
+                    y_offset += 20
+                # ランドマークを描画
+                for i, lm in enumerate(landmarks):
+                    x = int(lm[0] * frame.shape[1])
+                    y = int(lm[1] * frame.shape[0])
+                    cv2.circle(frame, (x, y), 3, (0, 255, 255), -1)
+                    cv2.putText(frame, str(i), (x + 5, y), cv2.FONT_HERSHEY_SIMPLEX, 0.3, (255, 255, 255), 1)
+                # コンソールにも出力（1秒に1回）
+                import time
+                if not hasattr(main, 'last_print') or time.time() - main.last_print > 1.0:
+                    main.last_print = time.time()
+                    print(f"\n--- {gesture.value} (conf: {confidence:.2f}) ---")
+                    for finger_name in ["thumb", "index", "middle", "ring", "pinky"]:
+                        info = debug_info[finger_name]
+                        ext_str = "○" if info["is_extended"] else "×"
+                        if finger_name == "thumb":
+                            print(f"  {finger_name}: {ext_str} (ratio={info['ratio']:.2f})")
+                        else:
+                            print(f"  {finger_name}: {ext_str} (ratio={info['distance_ratio']:.2f}, angle={info['angle']:.0f}°, tip_above={info['tip_above_pip']})")
+            else:
+                cv2.putText(frame, "No hand detected", (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 0, 255), 2)
+            cv2.imshow("Gesture Debug", frame)
+            if cv2.waitKey(1) & 0xFF == ord('q'):
+                break
+    finally:
+        cap.release()
+        cv2.destroyAllWindows()
+        hand_detector.close()
+if __name__ == "__main__":
+    main()

index.html ADDED Viewed

	@@ -0,0 +1,19 @@

+<!doctype html>
+<html>
+	<head>
+		<meta charset="utf-8" />
+		<meta name="viewport" content="width=device-width" />
+		<title>My static Space</title>
+		<link rel="stylesheet" href="style.css" />
+	</head>
+	<body>
+		<div class="card">
+			<h1>Welcome to your static Space!</h1>
+			<p>You can modify this app directly by editing <i>index.html</i> in the Files and versions tab.</p>
+			<p>
+				Also don't forget to check the
+				<a href="https://huggingface.co/docs/hub/spaces" target="_blank">Spaces documentation</a>.
+			</p>
+		</div>
+	</body>
+</html>

pyproject.toml ADDED Viewed

	@@ -0,0 +1,46 @@

+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+[project]
+name = "rock_paper_scissors"
+version = "0.1.0"
+description = "Rock Paper Scissors game for Reachy Mini - gesture-based interaction for children"
+readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+    "reachy-mini",
+    "mediapipe>=0.10.0",
+    "numpy>=1.24.0",
+]
+keywords = ["reachy-mini-app"]
+[project.optional-dependencies]
+dev = [
+    "pytest>=7.0.0",
+    "pytest-cov>=4.0.0",
+]
+audio = [
+    "ttastromech>=0.1.0",
+]
+[project.entry-points."reachy_mini_apps"]
+rock_paper_scissors = "rock_paper_scissors.main:RockPaperScissors"
+[tool.setuptools]
+package-dir = { "" = "." }
+include-package-data = true
+[tool.setuptools.packages.find]
+where = ["."]
+[tool.setuptools.package-data]
+rock_paper_scissors = ["**/*"]
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+python_files = ["test_*.py"]
+python_classes = ["Test*"]
+python_functions = ["test_*"]
+addopts = "-v --cov=rock_paper_scissors --cov-report=term-missing"

rock_paper_scissors.egg-info/PKG-INFO ADDED Viewed

	@@ -0,0 +1,31 @@

+Metadata-Version: 2.4
+Name: rock_paper_scissors
+Version: 0.1.0
+Summary: Rock Paper Scissors game for Reachy Mini - gesture-based interaction for children
+Keywords: reachy-mini-app
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+Requires-Dist: reachy-mini
+Requires-Dist: mediapipe>=0.10.0
+Requires-Dist: numpy>=1.24.0
+Provides-Extra: dev
+Requires-Dist: pytest>=7.0.0; extra == "dev"
+Requires-Dist: pytest-cov>=4.0.0; extra == "dev"
+Provides-Extra: audio
+Requires-Dist: ttastromech>=0.1.0; extra == "audio"
+---
+title: Rock Paper Scissors
+emoji: ✊✌️🖐️
+colorFrom: pink
+colorTo: pink
+sdk: static
+pinned: false
+short_description:  An intuitive rock-paper-scissors game you play with Reachy Mini.
+tags:
+ - reachy_mini
+ - reachy_mini_python_app
+---
+Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference

rock_paper_scissors.egg-info/SOURCES.txt ADDED Viewed

	@@ -0,0 +1,223 @@

+README.md
+pyproject.toml
+./build/lib/build/lib/build/lib/rock_paper_scissors/__init__.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/main.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/audio/__init__.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/audio/sound_manager.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/audio/sounds.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/config/__init__.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/config/settings.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/detection/__init__.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/detection/gesture_detector.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/detection/hand_detector.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/detection/motion_detector.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/detection/status.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/detection/wave_detector.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/game/__init__.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/game/game_logic.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/game/state_machine.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/game/states.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/robot/__init__.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/robot/animations.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/robot/antenna_poses.py
+./build/lib/build/lib/build/lib/rock_paper_scissors/robot/head_poses.py
+./build/lib/build/lib/build/lib/tests/__init__.py
+./build/lib/build/lib/build/lib/tests/test_animation_sound_sync.py
+./build/lib/build/lib/build/lib/tests/test_animation_speed.py
+./build/lib/build/lib/build/lib/tests/test_game_logic.py
+./build/lib/build/lib/build/lib/tests/test_gesture_detector.py
+./build/lib/build/lib/build/lib/tests/test_hand_detection_status.py
+./build/lib/build/lib/build/lib/tests/test_model_path.py
+./build/lib/build/lib/build/lib/tests/test_sad_animation.py
+./build/lib/build/lib/build/lib/tests/test_sound_manager.py
+./build/lib/build/lib/build/lib/tests/test_state_machine.py
+./build/lib/build/lib/build/lib/tests/test_ui_language.py
+./build/lib/build/lib/build/lib/tests/test_wave_detector.py
+./build/lib/build/lib/rock_paper_scissors/__init__.py
+./build/lib/build/lib/rock_paper_scissors/main.py
+./build/lib/build/lib/rock_paper_scissors/audio/__init__.py
+./build/lib/build/lib/rock_paper_scissors/audio/sound_manager.py
+./build/lib/build/lib/rock_paper_scissors/audio/sounds.py
+./build/lib/build/lib/rock_paper_scissors/config/__init__.py
+./build/lib/build/lib/rock_paper_scissors/config/settings.py
+./build/lib/build/lib/rock_paper_scissors/detection/__init__.py
+./build/lib/build/lib/rock_paper_scissors/detection/gesture_detector.py
+./build/lib/build/lib/rock_paper_scissors/detection/hand_detector.py
+./build/lib/build/lib/rock_paper_scissors/detection/motion_detector.py
+./build/lib/build/lib/rock_paper_scissors/detection/status.py
+./build/lib/build/lib/rock_paper_scissors/detection/wave_detector.py
+./build/lib/build/lib/rock_paper_scissors/game/__init__.py
+./build/lib/build/lib/rock_paper_scissors/game/game_logic.py
+./build/lib/build/lib/rock_paper_scissors/game/state_machine.py
+./build/lib/build/lib/rock_paper_scissors/game/states.py
+./build/lib/build/lib/rock_paper_scissors/robot/__init__.py
+./build/lib/build/lib/rock_paper_scissors/robot/animations.py
+./build/lib/build/lib/rock_paper_scissors/robot/antenna_poses.py
+./build/lib/build/lib/rock_paper_scissors/robot/head_poses.py
+./build/lib/build/lib/tests/__init__.py
+./build/lib/build/lib/tests/test_animation_sound_sync.py
+./build/lib/build/lib/tests/test_animation_speed.py
+./build/lib/build/lib/tests/test_game_logic.py
+./build/lib/build/lib/tests/test_gesture_detector.py
+./build/lib/build/lib/tests/test_hand_detection_status.py
+./build/lib/build/lib/tests/test_model_path.py
+./build/lib/build/lib/tests/test_sad_animation.py
+./build/lib/build/lib/tests/test_sound_manager.py
+./build/lib/build/lib/tests/test_state_machine.py
+./build/lib/build/lib/tests/test_ui_language.py
+./build/lib/build/lib/tests/test_wave_detector.py
+./build/lib/rock_paper_scissors/__init__.py
+./build/lib/rock_paper_scissors/main.py
+./build/lib/rock_paper_scissors/audio/__init__.py
+./build/lib/rock_paper_scissors/audio/sound_manager.py
+./build/lib/rock_paper_scissors/audio/sounds.py
+./build/lib/rock_paper_scissors/config/__init__.py
+./build/lib/rock_paper_scissors/config/settings.py
+./build/lib/rock_paper_scissors/detection/__init__.py
+./build/lib/rock_paper_scissors/detection/gesture_detector.py
+./build/lib/rock_paper_scissors/detection/hand_detector.py
+./build/lib/rock_paper_scissors/detection/motion_detector.py
+./build/lib/rock_paper_scissors/detection/status.py
+./build/lib/rock_paper_scissors/detection/wave_detector.py
+./build/lib/rock_paper_scissors/game/__init__.py
+./build/lib/rock_paper_scissors/game/game_logic.py
+./build/lib/rock_paper_scissors/game/state_machine.py
+./build/lib/rock_paper_scissors/game/states.py
+./build/lib/rock_paper_scissors/robot/__init__.py
+./build/lib/rock_paper_scissors/robot/animations.py
+./build/lib/rock_paper_scissors/robot/antenna_poses.py
+./build/lib/rock_paper_scissors/robot/head_poses.py
+./build/lib/tests/__init__.py
+./build/lib/tests/test_animation_sound_sync.py
+./build/lib/tests/test_animation_speed.py
+./build/lib/tests/test_game_logic.py
+./build/lib/tests/test_gesture_detector.py
+./build/lib/tests/test_hand_detection_status.py
+./build/lib/tests/test_model_path.py
+./build/lib/tests/test_sad_animation.py
+./build/lib/tests/test_sound_manager.py
+./build/lib/tests/test_state_machine.py
+./build/lib/tests/test_ui_language.py
+./build/lib/tests/test_wave_detector.py
+./rock_paper_scissors/__init__.py
+./rock_paper_scissors/main.py
+./rock_paper_scissors/__pycache__/__init__.cpython-311.pyc
+./rock_paper_scissors/__pycache__/main.cpython-311.pyc
+./rock_paper_scissors/audio/__init__.py
+./rock_paper_scissors/audio/sound_manager.py
+./rock_paper_scissors/audio/sounds.py
+./rock_paper_scissors/audio/__pycache__/__init__.cpython-311.pyc
+./rock_paper_scissors/audio/__pycache__/sound_manager.cpython-311.pyc
+./rock_paper_scissors/audio/__pycache__/sounds.cpython-311.pyc
+./rock_paper_scissors/config/__init__.py
+./rock_paper_scissors/config/settings.py
+./rock_paper_scissors/config/__pycache__/__init__.cpython-311.pyc
+./rock_paper_scissors/config/__pycache__/settings.cpython-311.pyc
+./rock_paper_scissors/detection/__init__.py
+./rock_paper_scissors/detection/gesture_detector.py
+./rock_paper_scissors/detection/hand_detector.py
+./rock_paper_scissors/detection/motion_detector.py
+./rock_paper_scissors/detection/status.py
+./rock_paper_scissors/detection/wave_detector.py
+./rock_paper_scissors/detection/__pycache__/__init__.cpython-311.pyc
+./rock_paper_scissors/detection/__pycache__/gesture_detector.cpython-311.pyc
+./rock_paper_scissors/detection/__pycache__/hand_detector.cpython-311.pyc
+./rock_paper_scissors/detection/__pycache__/motion_detector.cpython-311.pyc
+./rock_paper_scissors/detection/__pycache__/status.cpython-311.pyc
+./rock_paper_scissors/detection/__pycache__/wave_detector.cpython-311.pyc
+./rock_paper_scissors/game/__init__.py
+./rock_paper_scissors/game/game_logic.py
+./rock_paper_scissors/game/state_machine.py
+./rock_paper_scissors/game/states.py
+./rock_paper_scissors/game/__pycache__/__init__.cpython-311.pyc
+./rock_paper_scissors/game/__pycache__/game_logic.cpython-311.pyc
+./rock_paper_scissors/game/__pycache__/state_machine.cpython-311.pyc
+./rock_paper_scissors/game/__pycache__/states.cpython-311.pyc
+./rock_paper_scissors/models/hand_landmarker.task
+./rock_paper_scissors/robot/__init__.py
+./rock_paper_scissors/robot/animations.py
+./rock_paper_scissors/robot/antenna_poses.py
+./rock_paper_scissors/robot/head_poses.py
+./rock_paper_scissors/robot/__pycache__/__init__.cpython-311.pyc
+./rock_paper_scissors/robot/__pycache__/animations.cpython-311.pyc
+./rock_paper_scissors/robot/__pycache__/antenna_poses.cpython-311.pyc
+./rock_paper_scissors/robot/__pycache__/head_poses.cpython-311.pyc
+./rock_paper_scissors/static/index.html
+./rock_paper_scissors/static/main.js
+./rock_paper_scissors/static/style.css
+./tests/__init__.py
+./tests/test_animation_sound_sync.py
+./tests/test_animation_speed.py
+./tests/test_game_logic.py
+./tests/test_gesture_detector.py
+./tests/test_hand_detection_status.py
+./tests/test_model_path.py
+./tests/test_sad_animation.py
+./tests/test_sound_manager.py
+./tests/test_state_machine.py
+./tests/test_ui_language.py
+./tests/test_wave_detector.py
+rock_paper_scissors/__init__.py
+rock_paper_scissors/main.py
+rock_paper_scissors.egg-info/PKG-INFO
+rock_paper_scissors.egg-info/SOURCES.txt
+rock_paper_scissors.egg-info/dependency_links.txt
+rock_paper_scissors.egg-info/entry_points.txt
+rock_paper_scissors.egg-info/requires.txt
+rock_paper_scissors.egg-info/top_level.txt
+rock_paper_scissors/__pycache__/__init__.cpython-311.pyc
+rock_paper_scissors/__pycache__/main.cpython-311.pyc
+rock_paper_scissors/audio/__init__.py
+rock_paper_scissors/audio/sound_manager.py
+rock_paper_scissors/audio/sounds.py
+rock_paper_scissors/audio/__pycache__/__init__.cpython-311.pyc
+rock_paper_scissors/audio/__pycache__/sound_manager.cpython-311.pyc
+rock_paper_scissors/audio/__pycache__/sounds.cpython-311.pyc
+rock_paper_scissors/config/__init__.py
+rock_paper_scissors/config/settings.py
+rock_paper_scissors/config/__pycache__/__init__.cpython-311.pyc
+rock_paper_scissors/config/__pycache__/settings.cpython-311.pyc
+rock_paper_scissors/detection/__init__.py
+rock_paper_scissors/detection/gesture_detector.py
+rock_paper_scissors/detection/hand_detector.py
+rock_paper_scissors/detection/motion_detector.py
+rock_paper_scissors/detection/status.py
+rock_paper_scissors/detection/wave_detector.py
+rock_paper_scissors/detection/__pycache__/__init__.cpython-311.pyc
+rock_paper_scissors/detection/__pycache__/gesture_detector.cpython-311.pyc
+rock_paper_scissors/detection/__pycache__/hand_detector.cpython-311.pyc
+rock_paper_scissors/detection/__pycache__/motion_detector.cpython-311.pyc
+rock_paper_scissors/detection/__pycache__/status.cpython-311.pyc
+rock_paper_scissors/detection/__pycache__/wave_detector.cpython-311.pyc
+rock_paper_scissors/game/__init__.py
+rock_paper_scissors/game/game_logic.py
+rock_paper_scissors/game/state_machine.py
+rock_paper_scissors/game/states.py
+rock_paper_scissors/game/__pycache__/__init__.cpython-311.pyc
+rock_paper_scissors/game/__pycache__/game_logic.cpython-311.pyc
+rock_paper_scissors/game/__pycache__/state_machine.cpython-311.pyc
+rock_paper_scissors/game/__pycache__/states.cpython-311.pyc
+rock_paper_scissors/models/hand_landmarker.task
+rock_paper_scissors/robot/__init__.py
+rock_paper_scissors/robot/animations.py
+rock_paper_scissors/robot/antenna_poses.py
+rock_paper_scissors/robot/head_poses.py
+rock_paper_scissors/robot/__pycache__/__init__.cpython-311.pyc
+rock_paper_scissors/robot/__pycache__/animations.cpython-311.pyc
+rock_paper_scissors/robot/__pycache__/antenna_poses.cpython-311.pyc
+rock_paper_scissors/robot/__pycache__/head_poses.cpython-311.pyc
+rock_paper_scissors/static/index.html
+rock_paper_scissors/static/main.js
+rock_paper_scissors/static/style.css
+tests/__init__.py
+tests/test_animation_sound_sync.py
+tests/test_animation_speed.py
+tests/test_game_logic.py
+tests/test_gesture_detector.py
+tests/test_hand_detection_status.py
+tests/test_model_path.py
+tests/test_sad_animation.py
+tests/test_sound_manager.py
+tests/test_state_machine.py
+tests/test_ui_language.py
+tests/test_wave_detector.py

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1	+

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1	+ [reachy_mini_apps]
2	+ rock_paper_scissors = rock_paper_scissors.main:RockPaperScissors

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	@@ -0,0 +1,10 @@

+reachy-mini
+mediapipe>=0.10.0
+numpy>=1.24.0
+[audio]
+ttastromech>=0.1.0
+[dev]
+pytest>=7.0.0
+pytest-cov>=4.0.0

rock_paper_scissors.egg-info/top_level.txt ADDED Viewed

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+build
+rock_paper_scissors
+tests

rock_paper_scissors/__init__.py ADDED Viewed

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1	+ # Rock Paper Scissors Game for Reachy Mini

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rock_paper_scissors/audio/__init__.py ADDED Viewed

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+from .sounds import SoundPatterns, SoundType
+from .sound_manager import SoundManager
+__all__ = [
+    "SoundPatterns",
+    "SoundType",
+    "SoundManager",
+]

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rock_paper_scissors/audio/sound_manager.py ADDED Viewed

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+"""音声管理モジュール"""
+import os
+import tempfile
+import threading
+import wave
+from typing import Protocol, Optional, TYPE_CHECKING
+from .sounds import SoundType, SoundPatterns
+# ttastromechのインポートを試みる
+try:
+    from ttastromech import TTAstromech
+    TTASTROMECH_AVAILABLE = True
+except ImportError:
+    TTASTROMECH_AVAILABLE = False
+    TTAstromech = None  # type: ignore
+class MediaProtocol(Protocol):
+    """Reachy Mini のメディアインターフェース"""
+    def play_sound(self, sound_file: str) -> None:
+        ...
+class SoundManager:
+    """
+    音声の生成と再生を管理するクラス
+    ttastromechが利用可能な場合はそれを使用し、
+    利用不可能な場合はフォールバック（無音またはWAVファイル）を使用する。
+    """
+    def __init__(self, cache_dir: Optional[str] = None, volume: float = 1.0):
+        """
+        Args:
+            cache_dir: 生成した音声ファイルのキャッシュディレクトリ
+            volume: 音量（0.0〜1.0）
+        """
+        self._cache_dir = cache_dir or tempfile.gettempdir()
+        self._cache: dict[SoundType, str] = {}
+        self._media: Optional[MediaProtocol] = None
+        self._lock = threading.Lock()
+        self._r2: Optional["TTAstromech"] = None
+        self._wav_params: Optional[wave._wave_params] = None
+        self._volume = max(0.0, min(1.0, volume))  # 0.0〜1.0に制限
+        # 起動時にttastromechを初期化して音声ファイルを生成
+        if TTASTROMECH_AVAILABLE:
+            self._init_ttastromech()
+            self._pregenerate_sounds()
+    @property
+    def volume(self) -> float:
+        """音量（0.0〜1.0）"""
+        return self._volume
+    @volume.setter
+    def volume(self, value: float):
+        """音量を設定（0.0〜1.0に制限）"""
+        self._volume = max(0.0, min(1.0, value))
+    def _init_ttastromech(self):
+        """ttastromechを初期化してWAVパラメータを取得"""
+        if not TTASTROMECH_AVAILABLE:
+            return
+        self._r2 = TTAstromech()
+        # サンプルWAVファイルからパラメータを取得
+        sample_wav = self._r2.root.format('a')
+        with wave.open(sample_wav, 'rb') as wf:
+            self._wav_params = wf.getparams()
+    def set_media(self, media: MediaProtocol):
+        """Reachy Mini のメディアインターフェースを設定"""
+        self._media = media
+    def _pregenerate_sounds(self):
+        """全ての音声パターンを事前生成"""
+        for sound_type in SoundType:
+            self._generate_sound(sound_type)
+    def _text_to_audio_data(self, text: str) -> bytes:
+        """
+        テキストからttastromechの音声バイトデータを生成
+        Args:
+            text: 変換するテキスト
+        Returns:
+            音声バイトデータ
+        """
+        if self._r2 is None:
+            return b''
+        audio_chunks = []
+        for char in text.lower():
+            if char in self._r2.syllabary:
+                chunk = self._r2.generate(char)
+                audio_chunks.append(chunk)
+        raw_audio = b''.join(audio_chunks)
+        # 音量調整（1.0以外の場合）
+        if self._volume < 1.0 and raw_audio:
+            raw_audio = self._apply_volume(raw_audio)
+        return raw_audio
+    def _apply_volume(self, audio_data: bytes) -> bytes:
+        """
+        音声データに音量を適用
+        Args:
+            audio_data: 元の音声データ（16bit PCM）
+        Returns:
+            音量調整後の音声データ
+        """
+        import struct
+        # 16bit (2bytes) のサンプルとして処理
+        num_samples = len(audio_data) // 2
+        samples = struct.unpack(f'<{num_samples}h', audio_data)
+        # 音量を適用
+        adjusted = [int(s * self._volume) for s in samples]
+        # クリッピング防止（int16の範囲内に収める）
+        adjusted = [max(-32768, min(32767, s)) for s in adjusted]
+        return struct.pack(f'<{num_samples}h', *adjusted)
+    def _generate_sound(self, sound_type: SoundType) -> Optional[str]:
+        """
+        ttastromechで音声ファイルを生成
+        Args:
+            sound_type: 音声タイプ
+        Returns:
+            生成されたファイルパス、失敗時はNone
+        """
+        if not TTASTROMECH_AVAILABLE or self._r2 is None or self._wav_params is None:
+            return None
+        pattern = SoundPatterns.get(sound_type)
+        file_path = os.path.join(
+            self._cache_dir,
+            f"rps_{sound_type.name.lower()}.wav"
+        )
+        try:
+            # テキストから音声データを生成
+            audio_data = self._text_to_audio_data(pattern.text)
+            if not audio_data:
+                return None
+            # WAVファイルとして保存
+            with wave.open(file_path, 'wb') as wf:
+                wf.setparams(self._wav_params)
+                wf.writeframes(audio_data)
+            self._cache[sound_type] = file_path
+            return file_path
+        except Exception as e:
+            print(f"Warning: Failed to generate sound for {sound_type}: {e}")
+            return None
+    def play(self, sound_type: SoundType):
+        """
+        音声を再生
+        Args:
+            sound_type: 再生する音声タイプ
+        """
+        if self._media is None:
+            return
+        with self._lock:
+            file_path = self._cache.get(sound_type)
+            if file_path is None and TTASTROMECH_AVAILABLE:
+                file_path = self._generate_sound(sound_type)
+            if file_path and os.path.exists(file_path):
+                try:
+                    self._media.play_sound(file_path)
+                except Exception as e:
+                    print(f"Warning: Failed to play sound: {e}")
+    def play_async(self, sound_type: SoundType):
+        """
+        非同期で音声を再生
+        Args:
+            sound_type: 再生する音声タイプ
+        """
+        thread = threading.Thread(target=self.play, args=(sound_type,))
+        thread.daemon = True
+        thread.start()
+    @property
+    def is_available(self) -> bool:
+        """ttastromechが利用可能かどうか"""
+        return TTASTROMECH_AVAILABLE

rock_paper_scissors/audio/sounds.py ADDED Viewed

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+"""音声パターンの定義"""
+from dataclasses import dataclass
+from enum import Enum, auto
+class SoundType(Enum):
+    """音声の種類"""
+    IDLE = auto()       # 待機時の短い音
+    HELLO = auto()      # 呼びかけ
+    SUCCESS = auto()    # 認識成功（上昇音）
+    COUNTDOWN = auto()  # カウントダウン
+    WIN = auto()        # 勝ち
+    LOSE = auto()       # 負け
+    DRAW = auto()       # あいこ
+@dataclass
+class SoundPattern:
+    """音声パターンの設定"""
+    text: str  # ttastromechに渡すテキスト（意味は不要）
+    description: str  # 説明（デバッグ用）
+class SoundPatterns:
+    """
+    音声パターンの定義
+    ttastromechは任意のテキストからR2-D2風の機械音を生成する。
+    短い文字: e,f,d,k,r,o,h,g,i,n (~72-82ms)
+    長い文字: a,b,c (~585-662ms)
+    動きと同期させるため最短の文字を使用。
+    """
+    # 短い音（IDLE用）- 1音 (~72ms)
+    IDLE = SoundPattern(
+        text="e",
+        description="短い機械音"
+    )
+    # 呼びかけ（HELLO用）- 2音 (~150ms)
+    HELLO = SoundPattern(
+        text="de",
+        description="明るめの短いフレーズ"
+    )
+    # 認識成功 - 1音 (~75ms)
+    SUCCESS = SoundPattern(
+        text="d",
+        description="上昇音"
+    )
+    # カウントダウン - 1音 (~76ms)
+    COUNTDOWN = SoundPattern(
+        text="k",
+        description="クリック音"
+    )
+    # 勝ち - 2音 (~150ms)
+    WIN = SoundPattern(
+        text="fd",
+        description="高音ビープ"
+    )
+    # 負け - 1音 (~77ms)
+    LOSE = SoundPattern(
+        text="o",
+        description="低音"
+    )
+    # あいこ - 2音 (~150ms)
+    DRAW = SoundPattern(
+        text="eh",
+        description="コミカルな短音"
+    )
+    @classmethod
+    def get(cls, sound_type: SoundType) -> SoundPattern:
+        """音声タイプから対応するパターンを取得"""
+        mapping = {
+            SoundType.IDLE: cls.IDLE,
+            SoundType.HELLO: cls.HELLO,
+            SoundType.SUCCESS: cls.SUCCESS,
+            SoundType.COUNTDOWN: cls.COUNTDOWN,
+            SoundType.WIN: cls.WIN,
+            SoundType.LOSE: cls.LOSE,
+            SoundType.DRAW: cls.DRAW,
+        }
+        return mapping.get(sound_type, cls.IDLE)

rock_paper_scissors/config/__init__.py ADDED Viewed

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1	+ from .settings import Settings, settings
2	+
3	+ __all__ = ["Settings", "settings"]

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rock_paper_scissors/config/settings.py ADDED Viewed

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+"""設定値の一元管理モジュール"""
+import numpy as np
+from dataclasses import dataclass, field
+@dataclass(frozen=True)
+class AntennaSettings:
+    """アンテナの角度設定（ラジアン）"""
+    # じゃんけんの手
+    rock: tuple[float, float] = (0.5, -0.5)  # グー: 内側に閉じる
+    scissors: tuple[float, float] = (-0.5, 1.5)  # チョキ: 非対称
+    paper: tuple[float, float] = (-2.0, 2.0)  # パー: 大きく開く
+    # カウントダウン
+    countdown_3: tuple[float, float] = (-1.0, 1.0)  # 両方上
+    countdown_2: tuple[float, float] = (-1.0, 0.0)  # 右だけ上
+    countdown_1: tuple[float, float] = (0.0, 0.0)  # 両方下（溜め）
+    # その他
+    neutral: tuple[float, float] = (0.0, 0.0)
+    open_wide: tuple[float, float] = (-2.0, 2.0)  # HELLO用
+    # 呼吸表現
+    breathing_amplitude: float = 0.2  # ラジアン
+    breathing_frequency: float = 0.3  # Hz（通常速度）
+    # 手振り誘導
+    wave_amplitude: float = 0.5  # ラジアン
+    wave_frequency: float = 0.1  # Hz（とてもゆっくり、元の1/5）
+@dataclass(frozen=True)
+class HeadSettings:
+    """頭のポーズ設定（度）"""
+    # IDLE
+    idle_yaw_amplitude: float = 10.0  # 左右の振れ幅
+    idle_yaw_frequency: float = 0.1  # Hz
+    # うなずき
+    nod_pitch: float = -15.0  # 下向き
+    # しょんぼり（負け）- 公式サンプルは7-9秒の非常にゆっくりした動き
+    # 注意: Reachy Miniではpitchがプラスで下向き
+    sad_pitch: float = 25.0  # より深くうつむく（プラスで下向き）
+    sad_duration: float = 1.5  # 悲しい状態の持続時間（秒）
+    sad_shake_amplitude: float = 3.0  # 悲しい首振りの振幅（度）- 小さく控えめ
+    sad_shake_frequency: float = 0.15  # 悲しい首振りの周波数（Hz）- 非常にゆっくり
+    # 首傾げ（あいこ）
+    tilt_roll: float = 15.0
+    # 勝ち（左右シェイク）
+    shake_amplitude: float = 8.0
+    shake_frequency: float = 1.2  # Hz（ゆっくりシェイク）
+@dataclass(frozen=True)
+class DetectionSettings:
+    """検出関連の設定"""
+    # 手を振る検出
+    wave_min_x_displacement: float = 0.08  # 画面幅に対する割合（緩和: 0.15→0.08）
+    wave_min_cycles: int = 1  # 最小往復回数
+    wave_min_frames: int = 3  # 最小連続フレーム数（緩和: 5→3）
+    wave_timeout_seconds: float = 2.0  # 検出タイムアウト（緩和: 1.0→2.0秒）
+    # 動き検出（IDLE→HELLO）
+    motion_threshold: float = 0.05  # フレーム差分の閾値
+    motion_min_frames: int = 3  # 最小連続フレーム数
+    # ジェスチャ検出
+    gesture_confidence_threshold: float = 0.6  # 信頼度閾値（UNKNOWNを減らすため下げる）
+    # MediaPipe設定
+    max_num_hands: int = 1
+    min_detection_confidence: float = 0.3  # グー（拳）検出のためさらに低く設定
+    min_tracking_confidence: float = 0.3  # トラッキング
+@dataclass(frozen=True)
+class TimingSettings:
+    """タイミング設定（秒）"""
+    # 状態遷移
+    hello_duration: float = 1.5  # HELLO動作の長さ
+    ready_timeout: float = 10.0  # READY状態のタイムアウト
+    countdown_interval: float = 0.5  # カウントダウン各ステップ
+    countdown_pause: float = 0.3  # 「1」の後の溜め
+    play_min_duration: float = 1.5  # PLAY状態の最小表示時間（手を確認する間）
+    react_duration: float = 2.5  # リアクションの長さ
+    # アニメーション
+    animation_settle_time: float = 0.2  # 動作前の溜め
+    # 音声
+    idle_sound_interval: tuple[float, float] = (5.0, 10.0)  # ランダム間隔
+    # メインループ
+    loop_interval: float = 0.02  # 50Hz
+@dataclass(frozen=True)
+class MotorSettings:
+    """モーター安全設定"""
+    max_speed: float = 0.5  # 最大速度（0-1）
+    default_duration: float = 0.3  # デフォルトの移動時間
+@dataclass(frozen=True)
+class AudioSettings:
+    """音声設定"""
+    volume: float = 0.3  # 音量（0.0〜1.0）- ttastromechは大きいので30%推奨
+@dataclass(frozen=True)
+class Settings:
+    """全設定をまとめたクラス"""
+    antenna: AntennaSettings = field(default_factory=AntennaSettings)
+    head: HeadSettings = field(default_factory=HeadSettings)
+    detection: DetectionSettings = field(default_factory=DetectionSettings)
+    timing: TimingSettings = field(default_factory=TimingSettings)
+    motor: MotorSettings = field(default_factory=MotorSettings)
+    audio: AudioSettings = field(default_factory=AudioSettings)
+# シングルトンインスタンス
+settings = Settings()

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+from .hand_detector import HandDetector
+from .wave_detector import WaveDetector
+from .gesture_detector import GestureDetector, detect_hand_gesture
+from .motion_detector import MotionDetector
+from .status import HandDetectionStatus
+__all__ = [
+    "HandDetector",
+    "WaveDetector",
+    "GestureDetector",
+    "detect_hand_gesture",
+    "MotionDetector",
+    "HandDetectionStatus",
+]

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+"""グー/チョキ/パーのジェスチャ検出
+改善された判定ロジック:
+1. 指の曲がり具合を角度で判定（手の傾きに強い）
+2. 距離ベースの判定との組み合わせ
+3. 各ジェスチャに最適化された信頼度計算
+"""
+import numpy as np
+from typing import Optional
+from ..game.states import Hand
+from ..config import settings
+# MediaPipe Hands のランドマークインデックス
+class LandmarkIndex:
+    WRIST = 0
+    THUMB_CMC = 1
+    THUMB_MCP = 2
+    THUMB_IP = 3
+    THUMB_TIP = 4
+    INDEX_MCP = 5
+    INDEX_PIP = 6
+    INDEX_DIP = 7
+    INDEX_TIP = 8
+    MIDDLE_MCP = 9
+    MIDDLE_PIP = 10
+    MIDDLE_DIP = 11
+    MIDDLE_TIP = 12
+    RING_MCP = 13
+    RING_PIP = 14
+    RING_DIP = 15
+    RING_TIP = 16
+    PINKY_MCP = 17
+    PINKY_PIP = 18
+    PINKY_DIP = 19
+    PINKY_TIP = 20
+# 角度判定の閾値
+FINGER_EXTENDED_ANGLE_THRESHOLD = 150  # 度: これ以上で伸びている
+FINGER_CURLED_ANGLE_THRESHOLD = 130    # 度: これ以下で曲がっている
+class GestureDetector:
+    """じゃんけんの手形を判定するクラス"""
+    def __init__(self):
+        self._last_gesture: Optional[Hand] = None
+        self._gesture_count = 0
+        self._stable_frames = 3  # 同じジェスチャが続くフレーム数
+    def reset(self):
+        """状態をリセット"""
+        self._last_gesture = None
+        self._gesture_count = 0
+    def detect(self, landmarks: np.ndarray) -> tuple[Hand, float]:
+        """
+        ランドマークからじゃんけんの手を判定
+        Args:
+            landmarks: shape (21, 3) のランドマーク配列
+        Returns:
+            tuple[Hand, float]: (判定結果, 信頼度スコア)
+        """
+        # 各指が開いているかを判定
+        fingers_extended = self._get_fingers_extended(landmarks)
+        # ジェスチャを判定（ランドマークも渡してチョキの緩い判定に使用）
+        gesture, confidence = self._classify_gesture(fingers_extended, landmarks)
+        return gesture, confidence
+    def detect_stable(self, landmarks: np.ndarray) -> tuple[Hand, float]:
+        """
+        安定したジェスチャを検出（数フレーム連続で同じ場合のみ）
+        Args:
+            landmarks: shape (21, 3) のランドマーク配列
+        Returns:
+            tuple[Hand, float]: (判定結果, 信頼度スコア)
+        """
+        gesture, confidence = self.detect(landmarks)
+        if gesture == self._last_gesture:
+            self._gesture_count += 1
+        else:
+            self._last_gesture = gesture
+            self._gesture_count = 1
+        if self._gesture_count >= self._stable_frames:
+            return gesture, confidence
+        return Hand.UNKNOWN, 0.0
+    def _get_fingers_extended(self, landmarks: np.ndarray) -> dict[str, bool]:
+        """各指が伸びているかを判定
+        距離ベースを主判定とし、角度ベースは補助的に使用。
+        角度が明らかに小さい（曲がっている）場合は距離判定を上書き。
+        """
+        # 親指: TIP が IP より外側にあるか
+        thumb_extended = self._is_thumb_extended(landmarks)
+        # 他の指: 距離ベース判定（主判定）
+        index_extended = self._is_finger_extended(
+            landmarks, LandmarkIndex.INDEX_TIP, LandmarkIndex.INDEX_PIP
+        )
+        middle_extended = self._is_finger_extended(
+            landmarks, LandmarkIndex.MIDDLE_TIP, LandmarkIndex.MIDDLE_PIP
+        )
+        ring_extended = self._is_finger_extended(
+            landmarks, LandmarkIndex.RING_TIP, LandmarkIndex.RING_PIP
+        )
+        pinky_extended = self._is_finger_extended(
+            landmarks, LandmarkIndex.PINKY_TIP, LandmarkIndex.PINKY_PIP
+        )
+        # 角度ベースでのカール判定（明らかに曲がっている場合は上書き）
+        # 角度が小さい（曲がっている）場合は「閉じている」と判定
+        index_angle = self._calculate_finger_angle(
+            landmarks, LandmarkIndex.INDEX_MCP, LandmarkIndex.INDEX_PIP, LandmarkIndex.INDEX_DIP
+        )
+        middle_angle = self._calculate_finger_angle(
+            landmarks, LandmarkIndex.MIDDLE_MCP, LandmarkIndex.MIDDLE_PIP, LandmarkIndex.MIDDLE_DIP
+        )
+        ring_angle = self._calculate_finger_angle(
+            landmarks, LandmarkIndex.RING_MCP, LandmarkIndex.RING_PIP, LandmarkIndex.RING_DIP
+        )
+        pinky_angle = self._calculate_finger_angle(
+            landmarks, LandmarkIndex.PINKY_MCP, LandmarkIndex.PINKY_PIP, LandmarkIndex.PINKY_DIP
+        )
+        # 角度が明らかに小さい場合は閉じていると判定
+        if index_angle < FINGER_CURLED_ANGLE_THRESHOLD:
+            index_extended = False
+        if middle_angle < FINGER_CURLED_ANGLE_THRESHOLD:
+            middle_extended = False
+        if ring_angle < FINGER_CURLED_ANGLE_THRESHOLD:
+            ring_extended = False
+        if pinky_angle < FINGER_CURLED_ANGLE_THRESHOLD:
+            pinky_extended = False
+        return {
+            "thumb": thumb_extended,
+            "index": index_extended,
+            "middle": middle_extended,
+            "ring": ring_extended,
+            "pinky": pinky_extended,
+        }
+    def _is_thumb_extended(self, landmarks: np.ndarray) -> bool:
+        """親指が伸びているか判定"""
+        thumb_tip = landmarks[LandmarkIndex.THUMB_TIP]
+        thumb_ip = landmarks[LandmarkIndex.THUMB_IP]
+        thumb_mcp = landmarks[LandmarkIndex.THUMB_MCP]
+        # 親指のTIPがMCPから十分離れているか
+        tip_to_mcp = np.linalg.norm(thumb_tip[:2] - thumb_mcp[:2])
+        ip_to_mcp = np.linalg.norm(thumb_ip[:2] - thumb_mcp[:2])
+        return tip_to_mcp > ip_to_mcp * 1.2
+    def _is_finger_extended(
+        self, landmarks: np.ndarray, tip_idx: int, pip_idx: int,
+        relaxed: bool = False
+    ) -> bool:
+        """指が伸びているか判定（親指以外）
+        Args:
+            landmarks: ランドマーク配列
+            tip_idx: TIPのインデックス
+            pip_idx: PIPのインデックス
+            relaxed: Trueの場合、より緩い閾値を使用（チョキ判定用）
+        """
+        tip = landmarks[tip_idx]
+        pip = landmarks[pip_idx]
+        mcp_idx = pip_idx - 1  # MCPはPIPの1つ前
+        # 閾値: relaxedモードでは0.7、通常は0.9
+        threshold = 0.7 if relaxed else 0.9
+        # 指のTIPがPIPより上（y座標が小さい）にあるか
+        # また、TIPとMCPの距離が十分あるか
+        if mcp_idx >= 0:
+            mcp = landmarks[mcp_idx]
+            tip_to_mcp = np.linalg.norm(tip[:2] - mcp[:2])
+            pip_to_mcp = np.linalg.norm(pip[:2] - mcp[:2])
+            # TIPがPIPより上にあり、かつ十分伸びている
+            return tip[1] < pip[1] and tip_to_mcp > pip_to_mcp * threshold
+        return tip[1] < pip[1]
+    def _is_finger_extended_for_scissors(
+        self, landmarks: np.ndarray, tip_idx: int, pip_idx: int
+    ) -> bool:
+        """チョキ判定用の緩い指伸び判定"""
+        return self._is_finger_extended(landmarks, tip_idx, pip_idx, relaxed=True)
+    def _calculate_finger_angle(self, landmarks: np.ndarray, mcp_idx: int, pip_idx: int, dip_idx: int) -> float:
+        """指の曲がり角度を計算（度数法）
+        MCP-PIP-DIPの角度を計算。180度に近いほど伸びている。
+        Args:
+            landmarks: ランドマーク配列
+            mcp_idx: MCPのインデックス
+            pip_idx: PIPのインデックス
+            dip_idx: DIPのインデックス
+        Returns:
+            角度（度）
+        """
+        mcp = landmarks[mcp_idx][:2]
+        pip = landmarks[pip_idx][:2]
+        dip = landmarks[dip_idx][:2]
+        v1 = mcp - pip
+        v2 = dip - pip
+        # ゼロベクトル対策
+        norm1 = np.linalg.norm(v1)
+        norm2 = np.linalg.norm(v2)
+        if norm1 < 1e-10 or norm2 < 1e-10:
+            return 180.0  # ゼロベクトルの場合は伸びていると仮定
+        cos_angle = np.dot(v1, v2) / (norm1 * norm2)
+        angle = np.arccos(np.clip(cos_angle, -1.0, 1.0))
+        return np.degrees(angle)
+    def _is_finger_extended_by_angle(self, landmarks: np.ndarray, finger_name: str) -> bool:
+        """角度ベースで指が伸びているか判定
+        Args:
+            landmarks: ランドマーク配列
+            finger_name: "index", "middle", "ring", "pinky"
+        Returns:
+            伸びているかどうか
+        """
+        finger_indices = {
+            "index": (LandmarkIndex.INDEX_MCP, LandmarkIndex.INDEX_PIP, LandmarkIndex.INDEX_DIP),
+            "middle": (LandmarkIndex.MIDDLE_MCP, LandmarkIndex.MIDDLE_PIP, LandmarkIndex.MIDDLE_DIP),
+            "ring": (LandmarkIndex.RING_MCP, LandmarkIndex.RING_PIP, LandmarkIndex.RING_DIP),
+            "pinky": (LandmarkIndex.PINKY_MCP, LandmarkIndex.PINKY_PIP, LandmarkIndex.PINKY_DIP),
+        }
+        if finger_name not in finger_indices:
+            return False
+        mcp_idx, pip_idx, dip_idx = finger_indices[finger_name]
+        angle = self._calculate_finger_angle(landmarks, mcp_idx, pip_idx, dip_idx)
+        return angle >= FINGER_EXTENDED_ANGLE_THRESHOLD
+    def _classify_gesture(
+        self, fingers: dict[str, bool], landmarks: Optional[np.ndarray] = None
+    ) -> tuple[Hand, float]:
+        """指の状態からジェスチャを分類
+        Args:
+            fingers: 各指が伸びているかのdict
+            landmarks: ランドマーク配列（チョキの緩い判定に使用）
+        """
+        extended_count = sum(fingers.values())
+        # 4本の主要な指（人差し指、中指、薬指、小指）が閉じているか
+        main_fingers_closed = not fingers["index"] and not fingers["middle"] and \
+                              not fingers["ring"] and not fingers["pinky"]
+        # パー: 全ての指が開いている
+        if extended_count >= 4:
+            confidence = extended_count / 5.0
+            return Hand.PAPER, confidence
+        # チョキ: 人差し指と中指のみ開いている（緩い判定も試行）
+        # 通常の閾値での判定
+        if (fingers["index"] and fingers["middle"] and
+                not fingers["ring"] and not fingers["pinky"]):
+            confidence = 0.9
+            return Hand.SCISSORS, confidence
+        # 緩い閾値でのチョキ判定（通常判定で失敗した場合）
+        if landmarks is not None:
+            scissors_result = self._try_scissors_with_relaxed_threshold(landmarks)
+            if scissors_result is not None:
+                return scissors_result
+        # グー: 4本の主要な指が閉じている（親指は開いていてもOK）
+        if main_fingers_closed:
+            # 親指の状態に関わらず、主要な4指が閉じていれば高い信頼度
+            confidence = 0.95 if not fingers["thumb"] else 0.9
+            return Hand.ROCK, confidence
+        # グー: 1本だけ開いている（通常は親指）
+        if extended_count <= 1:
+            # 親指だけ開いている場合は高い信頼度
+            if fingers["thumb"] and main_fingers_closed:
+                confidence = 0.9
+            else:
+                confidence = (5 - extended_count) / 5.0
+            return Hand.ROCK, confidence
+        # 2本開いている場合（チョキではない組み合わせ）
+        # チョキ = 人差し指 + 中指 なので、それ以外の2本はグーに近い
+        if extended_count == 2:
+            # 人差し指と中指の組み合わせ以外
+            if not (fingers["index"] and fingers["middle"]):
+                # 親指が含まれる2本の場合はグー寄り
+                confidence = 0.6
+                return Hand.ROCK, confidence
+        # 3本開いている場合
+        # チョキの基本形（人差し指 + 中指）+ 1本追加
+        if extended_count == 3:
+            # 人差し指と中指が開いていて、他1本も開いている場合
+            if fingers["index"] and fingers["middle"]:
+                # パーに近づいているが、チョキとして判定
+                confidence = 0.7
+                return Hand.SCISSORS, confidence
+            else:
+                # 人差し指と中指以外の3本が開いている場合はパー寄り
+                confidence = 0.6
+                return Hand.PAPER, confidence
+        # それ以外は判定不能（理論上ここには到達しにくい）
+        return Hand.UNKNOWN, 0.0
+    def _try_scissors_with_relaxed_threshold(
+        self, landmarks: np.ndarray
+    ) -> Optional[tuple[Hand, float]]:
+        """緩い閾値でチョキを判定
+        通常の閾値では人差し指や中指が「伸びていない」と判定された場合でも、
+        チョキとして認識できるケースがある。
+        """
+        # 緩い閾値で人差し指と中指を判定
+        index_extended = self._is_finger_extended_for_scissors(
+            landmarks, LandmarkIndex.INDEX_TIP, LandmarkIndex.INDEX_PIP
+        )
+        middle_extended = self._is_finger_extended_for_scissors(
+            landmarks, LandmarkIndex.MIDDLE_TIP, LandmarkIndex.MIDDLE_PIP
+        )
+        # 薬指と小指は通常の閾値で閉じている必要がある
+        ring_extended = self._is_finger_extended(
+            landmarks, LandmarkIndex.RING_TIP, LandmarkIndex.RING_PIP
+        )
+        pinky_extended = self._is_finger_extended(
+            landmarks, LandmarkIndex.PINKY_TIP, LandmarkIndex.PINKY_PIP
+        )
+        if (index_extended and middle_extended and
+                not ring_extended and not pinky_extended):
+            # 緩い閾値で検出されたため、信頼度は少し低め
+            return Hand.SCISSORS, 0.75
+        return None
+def detect_hand_gesture(landmarks: np.ndarray) -> tuple[Hand, float]:
+    """
+    便利関数: ランドマークからジェスチャを判定
+    Args:
+        landmarks: shape (21, 3) のランドマーク配列
+    Returns:
+        tuple[Hand, float]: (判定結果, 信頼度スコア)
+    """
+    detector = GestureDetector()
+    return detector.detect(landmarks)

rock_paper_scissors/detection/hand_detector.py ADDED Viewed

	@@ -0,0 +1,131 @@

+"""MediaPipe Hands のラッパー（Task API対応）"""
+from typing import Optional, NamedTuple
+from pathlib import Path
+import numpy as np
+from ..config import settings
+# MediaPipe Task APIのインポート
+try:
+    import mediapipe as mp
+    from mediapipe.tasks import python as mp_tasks
+    from mediapipe.tasks.python import vision
+    MEDIAPIPE_AVAILABLE = True
+except ImportError:
+    MEDIAPIPE_AVAILABLE = False
+class HandLandmarks(NamedTuple):
+    """手のランドマーク情報"""
+    landmarks: np.ndarray  # shape: (21, 3) - x, y, z
+    center_x: float  # 手の中心x座標（0-1）
+    center_y: float  # 手の中心y座標（0-1）
+    handedness: str  # "Left" or "Right"
+def _get_model_path() -> Path:
+    """モデルファイルのパスを取得"""
+    # パッケージディレクトリからの相対パス
+    package_dir = Path(__file__).parent.parent
+    model_path = package_dir / "models" / "hand_landmarker.task"
+    if model_path.exists():
+        return model_path
+    # 代替パス（プロジェクトルート）
+    alt_path = package_dir.parent / "models" / "hand_landmarker.task"
+    if alt_path.exists():
+        return alt_path
+    raise FileNotFoundError(
+        f"Model file not found. Please download it:\n"
+        f"mkdir -p {package_dir / 'models'} && "
+        f"curl -L -o {model_path} "
+        f"https://storage.googleapis.com/mediapipe-models/hand_landmarker/hand_landmarker/float16/latest/hand_landmarker.task"
+    )
+class HandDetector:
+    """MediaPipe HandLandmarker を使った手検出（Task API）"""
+    def __init__(self):
+        if not MEDIAPIPE_AVAILABLE:
+            raise RuntimeError("MediaPipe is not installed. Run: pip install mediapipe")
+        model_path = _get_model_path()
+        # HandLandmarkerの設定
+        base_options = mp_tasks.BaseOptions(
+            model_asset_path=str(model_path)
+        )
+        options = vision.HandLandmarkerOptions(
+            base_options=base_options,
+            running_mode=vision.RunningMode.IMAGE,
+            num_hands=settings.detection.max_num_hands,
+            min_hand_detection_confidence=settings.detection.min_detection_confidence,
+            min_hand_presence_confidence=settings.detection.min_detection_confidence,
+            min_tracking_confidence=settings.detection.min_tracking_confidence,
+        )
+        self._landmarker = vision.HandLandmarker.create_from_options(options)
+    def detect(self, frame: np.ndarray) -> Optional[HandLandmarks]:
+        """
+        フレームから手を検出
+        Args:
+            frame: BGR形式の画像（OpenCV形式）
+        Returns:
+            HandLandmarks: 検出された手のランドマーク、検出されなければNone
+        """
+        # BGRからRGBに変換
+        rgb_frame = frame[:, :, ::-1].copy()
+        # MediaPipe Imageに変換
+        mp_image = mp.Image(
+            image_format=mp.ImageFormat.SRGB,
+            data=rgb_frame
+        )
+        # 検出実行
+        result = self._landmarker.detect(mp_image)
+        if not result.hand_landmarks:
+            return None
+        # 最初の手のみを使用
+        hand_landmarks = result.hand_landmarks[0]
+        handedness = result.handedness[0][0].category_name if result.handedness else "Unknown"
+        # ランドマークをnumpy配列に変換
+        landmarks = np.array([
+            [lm.x, lm.y, lm.z]
+            for lm in hand_landmarks
+        ])
+        # 手の中心を計算（手首と中指の付け根の中点）
+        wrist = landmarks[0]
+        middle_mcp = landmarks[9]
+        center_x = (wrist[0] + middle_mcp[0]) / 2
+        center_y = (wrist[1] + middle_mcp[1]) / 2
+        return HandLandmarks(
+            landmarks=landmarks,
+            center_x=center_x,
+            center_y=center_y,
+            handedness=handedness,
+        )
+    def close(self):
+        """リソースを解放"""
+        if hasattr(self, '_landmarker'):
+            self._landmarker.close()
+    def __enter__(self):
+        return self
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        self.close()

rock_paper_scissors/detection/motion_detector.py ADDED Viewed

	@@ -0,0 +1,73 @@

+"""動き検出（IDLE→HELLO遷移用）"""
+import numpy as np
+from typing import Optional
+from ..config import settings
+class MotionDetector:
+    """
+    フレーム差分による動き検出
+    IDLEステートで人の存在を検出するために使用
+    """
+    def __init__(self):
+        self._prev_frame: Optional[np.ndarray] = None
+        self._motion_count = 0
+    def reset(self):
+        """状態をリセット"""
+        self._prev_frame = None
+        self._motion_count = 0
+    def detect(self, frame: np.ndarray) -> bool:
+        """
+        フレームから動きを検出
+        Args:
+            frame: BGR形式の画像
+        Returns:
+            True: 動きを検出
+            False: 動きなし
+        """
+        # グレースケールに変換してリサイズ（処理軽減）
+        gray = self._preprocess(frame)
+        if self._prev_frame is None:
+            self._prev_frame = gray
+            return False
+        # フレーム差分を計算
+        diff = np.abs(gray.astype(np.int16) - self._prev_frame.astype(np.int16))
+        motion_ratio = np.mean(diff) / 255.0
+        self._prev_frame = gray
+        # 閾値判定
+        if motion_ratio > settings.detection.motion_threshold:
+            self._motion_count += 1
+        else:
+            self._motion_count = max(0, self._motion_count - 1)
+        # 連続フレームで動きを検出
+        return self._motion_count >= settings.detection.motion_min_frames
+    def _preprocess(self, frame: np.ndarray) -> np.ndarray:
+        """フレームの前処理"""
+        # グレースケールに変換
+        if len(frame.shape) == 3:
+            gray = np.mean(frame, axis=2).astype(np.uint8)
+        else:
+            gray = frame
+        # リサイズ（処理軽減）
+        h, w = gray.shape[:2]
+        scale = 0.25
+        new_h, new_w = int(h * scale), int(w * scale)
+        # 簡易リサイズ（numpy のみ使用）
+        resized = gray[::4, ::4]
+        return resized

rock_paper_scissors/detection/status.py ADDED Viewed

	@@ -0,0 +1,38 @@

+"""手検出ステータスの定義"""
+from dataclasses import dataclass, field
+from typing import Optional
+@dataclass
+class HandDetectionStatus:
+    """手検出の状態を表すクラス"""
+    # 検出機能の利用可否
+    available: bool = False
+    # 検出結果
+    detected: bool = False
+    # 手の位置（0.0-1.0、画面座標）
+    center_x: Optional[float] = None
+    center_y: Optional[float] = None
+    # ジェスチャ情報
+    gesture: Optional[str] = None  # "rock", "paper", "scissors", None
+    gesture_confidence: float = 0.0
+    # ランドマーク情報
+    landmark_count: int = 0
+    def to_dict(self) -> dict:
+        """APIレスポンス用のdict変換"""
+        return {
+            "hand_detection_available": self.available,
+            "hand_detected": self.detected,
+            "hand_center_x": self.center_x,
+            "hand_center_y": self.center_y,
+            "detected_gesture": self.gesture,
+            "gesture_confidence": self.gesture_confidence,
+            "landmark_count": self.landmark_count,
+        }

rock_paper_scissors/detection/wave_detector.py ADDED Viewed

	@@ -0,0 +1,189 @@

+"""手を振るジェスチャの検出"""
+import time
+from collections import deque
+from typing import Optional
+from ..config import settings
+class WaveDetector:
+    """
+    手を振るジェスチャを検出するクラス
+    検出条件:
+    - 手のx座標が一定距離以上を左右に往復
+    - 左→右→左（または逆）を1回以上
+    - 連続5フレーム以上で検出
+    """
+    def __init__(self):
+        self._history: deque[tuple[float, float]] = deque(maxlen=30)  # (timestamp, x)
+        self._last_direction: Optional[str] = None  # "left" or "right"
+        self._direction_changes = 0
+        self._wave_start_time: Optional[float] = None
+    def reset(self):
+        """検出状態をリセット"""
+        self._history.clear()
+        self._last_direction = None
+        self._direction_changes = 0
+        self._wave_start_time = None
+    def update(self, center_x: float) -> bool:
+        """
+        手の位置を更新し、振りジェスチャを検出
+        Args:
+            center_x: 手の中心x座標（0-1）
+        Returns:
+            True: 手振りを検出
+            False: 検出されず
+        """
+        current_time = time.time()
+        self._history.append((current_time, center_x))
+        # 履歴が少なすぎる場合
+        if len(self._history) < settings.detection.wave_min_frames:
+            return False
+        # 古いデータを除外（タイムアウト）
+        timeout = settings.detection.wave_timeout_seconds
+        while (self._history and
+               current_time - self._history[0][0] > timeout):
+            self._history.popleft()
+        if len(self._history) < settings.detection.wave_min_frames:
+            self.reset()
+            return False
+        # 移動方向を判定
+        return self._detect_wave()
+    def _detect_wave(self) -> bool:
+        """波形パターンを検出"""
+        if len(self._history) < 3:
+            return False
+        # 最近のx座標を取得
+        recent_x = [x for _, x in self._history]
+        # 移動平均でノイズ除去
+        smoothed = self._moving_average(recent_x, window=3)
+        if len(smoothed) < 3:
+            return False
+        # 方向変化を検出
+        threshold = settings.detection.wave_min_x_displacement
+        direction_changes = 0
+        last_direction = None
+        max_displacement = 0
+        for i in range(1, len(smoothed)):
+            diff = smoothed[i] - smoothed[i - 1]
+            if abs(diff) < 0.01:  # ノイズ無視
+                continue
+            current_direction = "right" if diff > 0 else "left"
+            if last_direction is not None and current_direction != last_direction:
+                direction_changes += 1
+            last_direction = current_direction
+            # 最大変位を追跡
+            if i > 0:
+                displacement = abs(smoothed[i] - smoothed[0])
+                max_displacement = max(max_displacement, displacement)
+        # 判定条件: 十分な方向変化と変位
+        if (direction_changes >= settings.detection.wave_min_cycles * 2 and
+                max_displacement >= threshold):
+            self.reset()
+            return True
+        return False
+    def get_progress(self) -> float:
+        """
+        手振り検出の進捗を取得（0.0-1.0）
+        Returns:
+            float: 検出条件に対する進捗度
+        """
+        if len(self._history) < 3:
+            return 0.0
+        recent_x = [x for _, x in self._history]
+        smoothed = self._moving_average(recent_x, window=3)
+        if len(smoothed) < 3:
+            return 0.0
+        # 方向変化をカウント
+        direction_changes = self._count_direction_changes(smoothed)
+        # 最大変位を計算
+        max_displacement = max(smoothed) - min(smoothed) if smoothed else 0.0
+        # 進捗を計算
+        required_changes = settings.detection.wave_min_cycles * 2
+        required_displacement = settings.detection.wave_min_x_displacement
+        change_progress = min(direction_changes / required_changes, 1.0)
+        displacement_progress = min(max_displacement / required_displacement, 1.0)
+        return (change_progress + displacement_progress) / 2.0
+    def get_direction_changes(self) -> int:
+        """
+        方向変化の回数を取得
+        Returns:
+            int: 方向変化の回数
+        """
+        if len(self._history) < 3:
+            return 0
+        recent_x = [x for _, x in self._history]
+        smoothed = self._moving_average(recent_x, window=3)
+        return self._count_direction_changes(smoothed)
+    def _count_direction_changes(self, smoothed: list[float]) -> int:
+        """方向変化をカウント"""
+        if len(smoothed) < 2:
+            return 0
+        direction_changes = 0
+        last_direction = None
+        for i in range(1, len(smoothed)):
+            diff = smoothed[i] - smoothed[i - 1]
+            if abs(diff) < 0.01:
+                continue
+            current_direction = "right" if diff > 0 else "left"
+            if last_direction is not None and current_direction != last_direction:
+                direction_changes += 1
+            last_direction = current_direction
+        return direction_changes
+    @staticmethod
+    def _moving_average(data: list[float], window: int = 3) -> list[float]:
+        """移動平均を計算"""
+        if len(data) < window:
+            return data
+        result = []
+        for i in range(len(data) - window + 1):
+            avg = sum(data[i:i + window]) / window
+            result.append(avg)
+        return result

rock_paper_scissors/game/__init__.py ADDED Viewed

	@@ -0,0 +1,12 @@

+from .states import GameState, Hand, GameResult
+from .state_machine import StateMachine
+from .game_logic import determine_winner, get_random_hand
+__all__ = [
+    "GameState",
+    "Hand",
+    "GameResult",
+    "StateMachine",
+    "determine_winner",
+    "get_random_hand",
+]

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rock_paper_scissors/game/__pycache__/state_machine.cpython-311.pyc ADDED Viewed

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rock_paper_scissors/game/__pycache__/states.cpython-311.pyc ADDED Viewed

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rock_paper_scissors/game/game_logic.py ADDED Viewed

	@@ -0,0 +1,39 @@

+"""じゃんけんの勝敗判定ロジック"""
+import random
+from .states import Hand, GameResult
+def get_random_hand() -> Hand:
+    """Reachy Miniの手をランダムに決定"""
+    return random.choice([Hand.ROCK, Hand.PAPER, Hand.SCISSORS])
+def determine_winner(reachy_hand: Hand, user_hand: Hand) -> GameResult:
+    """
+    勝敗を判定する（Reachy Mini視点）
+    Args:
+        reachy_hand: Reachy Miniの手
+        user_hand: ユーザーの手
+    Returns:
+        GameResult: Reachy Mini視点での勝敗
+    """
+    if user_hand == Hand.UNKNOWN:
+        return GameResult.DRAW
+    if reachy_hand == user_hand:
+        return GameResult.DRAW
+    # Reachy Miniが勝つパターン
+    win_patterns = {
+        (Hand.ROCK, Hand.SCISSORS),
+        (Hand.SCISSORS, Hand.PAPER),
+        (Hand.PAPER, Hand.ROCK),
+    }
+    if (reachy_hand, user_hand) in win_patterns:
+        return GameResult.WIN
+    return GameResult.LOSE

rock_paper_scissors/game/state_machine.py ADDED Viewed

	@@ -0,0 +1,157 @@

+"""状態遷移マシン"""
+import time
+from typing import Callable, Optional
+from .states import GameState, Hand, GameResult
+from .game_logic import get_random_hand, determine_winner
+from ..config import settings
+class StateMachine:
+    """
+    ゲームの状態遷移を管理するクラス
+    状態遷移図:
+    IDLE -> COUNTDOWN (手振り検出)
+    COUNTDOWN -> PLAY (自動)
+    PLAY -> REACT (自動)
+    REACT -> IDLE (自動)
+    """
+    def __init__(self):
+        self._state = GameState.IDLE
+        self._state_start_time = time.time()
+        self._countdown_step = 0
+        self._reachy_hand: Optional[Hand] = None
+        self._user_hand: Optional[Hand] = None
+        self._game_result: Optional[GameResult] = None
+        # コールバック
+        self._on_state_change: Optional[Callable[[GameState, GameState], None]] = None
+    @property
+    def state(self) -> GameState:
+        """現在の状態"""
+        return self._state
+    @property
+    def state_elapsed_time(self) -> float:
+        """現在の状態に入ってからの経過時間"""
+        return time.time() - self._state_start_time
+    @property
+    def countdown_step(self) -> int:
+        """カウントダウンのステップ（3, 2, 1）"""
+        return self._countdown_step
+    @property
+    def reachy_hand(self) -> Optional[Hand]:
+        """Reachy Miniの手"""
+        return self._reachy_hand
+    @property
+    def user_hand(self) -> Optional[Hand]:
+        """ユーザーの手"""
+        return self._user_hand
+    @property
+    def game_result(self) -> Optional[GameResult]:
+        """ゲーム結果"""
+        return self._game_result
+    def set_on_state_change(self, callback: Callable[[GameState, GameState], None]):
+        """状態変更時のコールバックを設定"""
+        self._on_state_change = callback
+    def _transition_to(self, new_state: GameState):
+        """状態を遷移させる"""
+        old_state = self._state
+        self._state = new_state
+        self._state_start_time = time.time()
+        if self._on_state_change:
+            self._on_state_change(old_state, new_state)
+    def on_wave_detected(self):
+        """手振りが検出された時（IDLE -> COUNTDOWN）"""
+        if self._state == GameState.IDLE:
+            self._countdown_step = 3
+            self._transition_to(GameState.COUNTDOWN)
+    def on_countdown_tick(self) -> bool:
+        """
+        カウントダウンを1つ進める
+        Returns:
+            True: カウントダウン継続中
+            False: カウントダウン終了（PLAY へ遷移）
+        """
+        if self._state != GameState.COUNTDOWN:
+            return False
+        self._countdown_step -= 1
+        if self._countdown_step <= 0:
+            self._start_play()
+            return False
+        return True
+    def _start_play(self):
+        """PLAY状態を開始"""
+        self._reachy_hand = get_random_hand()
+        self._transition_to(GameState.PLAY)
+    def on_user_hand_detected(self, hand: Hand):
+        """ユーザーの手が検出された時"""
+        if self._state == GameState.PLAY:
+            # 最小表示時間中は手を保存するだけ（update()で遷移処理）
+            self._user_hand = hand
+            # 最小表示時間が経過していればすぐに遷移
+            if self.state_elapsed_time >= settings.timing.play_min_duration:
+                self._game_result = determine_winner(self._reachy_hand, hand)
+                self._transition_to(GameState.REACT)
+    def on_react_complete(self):
+        """リアクションが完了した時（REACT -> IDLE）"""
+        if self._state == GameState.REACT:
+            self._reset_game_data()
+            self._transition_to(GameState.IDLE)
+    def force_idle(self):
+        """異常時にIDLE状態に強制遷移"""
+        self._reset_game_data()
+        self._transition_to(GameState.IDLE)
+    def _reset_game_data(self):
+        """ゲームデータをリセット"""
+        self._reachy_hand = None
+        self._user_hand = None
+        self._game_result = None
+        self._countdown_step = 0
+    def update(self) -> bool:
+        """
+        状態を更新する（メインループから呼び出し）
+        Returns:
+            True: 状態が変更された
+            False: 状態は変更されなかった
+        """
+        elapsed = self.state_elapsed_time
+        # PLAY: 最小表示時間経過後、保留中のユーザーの手があればREACTへ
+        if self._state == GameState.PLAY:
+            if elapsed >= settings.timing.play_min_duration and self._user_hand is not None:
+                self._game_result = determine_winner(self._reachy_hand, self._user_hand)
+                self._transition_to(GameState.REACT)
+                return True
+        # REACT: 一定時間後にIDLEへ
+        if self._state == GameState.REACT:
+            if elapsed >= settings.timing.react_duration:
+                self.on_react_complete()
+                return True
+        return False

rock_paper_scissors/game/states.py ADDED Viewed

	@@ -0,0 +1,28 @@

+"""ゲーム状態の定義"""
+from enum import Enum, auto
+class GameState(Enum):
+    """ゲームの状態"""
+    IDLE = auto()       # 待機状態
+    HELLO = auto()      # 呼びかけ
+    READY = auto()      # スタート待ち
+    COUNTDOWN = auto()  # カウントダウン
+    PLAY = auto()       # じゃんけん判定
+    REACT = auto()      # 結果リアクション
+class Hand(Enum):
+    """じゃんけんの手"""
+    ROCK = "rock"          # グー
+    PAPER = "paper"        # パー
+    SCISSORS = "scissors"  # チョキ
+    UNKNOWN = "unknown"    # 認識不可
+class GameResult(Enum):
+    """勝敗結果"""
+    WIN = "win"    # Reachy Miniの勝ち
+    LOSE = "lose"  # Reachy Miniの負け
+    DRAW = "draw"  # あいこ

rock_paper_scissors/main.py ADDED Viewed

	@@ -0,0 +1,319 @@

+"""
+Rock Paper Scissors - Reachy Mini じゃんけんアプリ
+子ども向けの直感的なじゃんけんゲーム。
+画面・言語に依存せず、ジェスチャ・音・動きのみで遊べる。
+"""
+import threading
+import time
+import random
+from typing import Optional
+import base64
+import numpy as np
+from pydantic import BaseModel
+from reachy_mini import ReachyMini, ReachyMiniApp
+from .game import StateMachine, GameState, Hand, GameResult
+from .detection import WaveDetector, GestureDetector, HandDetectionStatus
+from .robot import AnimationController
+from .audio import SoundManager, SoundType
+from .config import settings
+# MediaPipeのインポート（オプショナル）
+try:
+    from .detection import HandDetector
+    # 実際にインスタンス化できるか確認
+    _test_detector = HandDetector()
+    _test_detector.close()
+    HAND_DETECTOR_AVAILABLE = True
+    print("✅ Hand detection is available")
+except Exception as e:
+    HAND_DETECTOR_AVAILABLE = False
+    print(f"⚠️ Hand detection not available: {e}")
+class RockPaperScissors(ReachyMiniApp):
+    """Reachy Mini じゃんけんアプリ"""
+    # ブラウザでステータスを確認するためのURL
+    custom_app_url: str | None = "http://0.0.0.0:8042"
+    request_media_backend: str | None = None
+    def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+        """メインループ"""
+        # モジュールの初期化
+        state_machine = StateMachine()
+        animation = AnimationController()
+        sound_manager = SoundManager(volume=settings.audio.volume)  # 設定から音量を取得
+        wave_detector = WaveDetector()
+        gesture_detector = GestureDetector()
+        # オプショナル: 手検出（MediaPipeが利用可能な場合）
+        hand_detector: Optional[HandDetector] = None
+        if HAND_DETECTOR_AVAILABLE:
+            try:
+                hand_detector = HandDetector()
+            except Exception as e:
+                print(f"Warning: Hand detector not available: {e}")
+        # サウンドマネージャーにメディアを設定
+        sound_manager.set_media(reachy_mini.media)
+        # アニメーションコントローラーにサウンドマネージャーを設定（動きと音の同期）
+        animation.set_sound_manager(sound_manager)
+        # 共有状態（Web UIから参照）
+        shared_state = {
+            "game_state": "IDLE",
+            "reachy_hand": None,
+            "user_hand": None,
+            "game_result": None,
+            "countdown_step": 0,
+            "frame_base64": None,
+            "frame_available": False,
+            "frame_size": None,
+            # 手検出詳細情報
+            "hand_detection_available": HAND_DETECTOR_AVAILABLE,
+            "hand_detected": False,
+            "hand_center_x": None,
+            "hand_center_y": None,
+            "detected_gesture": None,
+            "gesture_confidence": 0.0,
+            "landmark_count": 0,
+            # 手振り検出情報
+            "wave_progress": 0.0,
+            "wave_direction_changes": 0,
+        }
+        state_lock = threading.Lock()
+        # 状態変更時のコールバック
+        def on_state_change(old_state: GameState, new_state: GameState):
+            self._handle_state_change(
+                old_state, new_state, state_machine,
+                sound_manager, wave_detector, gesture_detector
+            )
+        state_machine.set_on_state_change(on_state_change)
+        # Web API エンドポイントを設定
+        if self.settings_app is not None:
+            self._setup_api_endpoints(
+                shared_state, state_lock, state_machine,
+                wave_detector, gesture_detector
+            )
+        # カウントダウン用の変数
+        last_idle_sound_time = time.time()
+        next_idle_sound_interval = random.uniform(*settings.timing.idle_sound_interval)
+        try:
+            while not stop_event.is_set():
+                loop_start = time.time()
+                # カメラフレームを取得
+                frame = self._get_frame(reachy_mini)
+                # 状態に応じた処理
+                current_state = state_machine.state
+                hand_detected = False
+                hand_status = HandDetectionStatus(available=HAND_DETECTOR_AVAILABLE)
+                # すべての状態で手検出を試みる
+                hand_data = None
+                if frame is not None and hand_detector:
+                    try:
+                        hand_data = hand_detector.detect(frame)
+                        if hand_data:
+                            hand_detected = True
+                            hand_status.detected = True
+                            hand_status.center_x = hand_data.center_x
+                            hand_status.center_y = hand_data.center_y
+                            hand_status.landmark_count = len(hand_data.landmarks)
+                            # ジェスチャ認識も常に行う
+                            detected_hand, confidence = gesture_detector.detect(hand_data.landmarks)
+                            hand_status.gesture = detected_hand.value if detected_hand != Hand.UNKNOWN else None
+                            hand_status.gesture_confidence = confidence
+                            # 手振り検出を更新し、IDLE状態なら遷移
+                            wave_detected = wave_detector.update(hand_data.center_x)
+                            if wave_detected and current_state == GameState.IDLE:
+                                sound_manager.play_async(SoundType.SUCCESS)
+                                state_machine.on_wave_detected()
+                    except Exception as e:
+                        print(f"Hand detection error: {e}")
+                if current_state == GameState.IDLE:
+                    # 定期的な音（手振りを待っている間）
+                    if time.time() - last_idle_sound_time > next_idle_sound_interval:
+                        sound_manager.play_async(SoundType.IDLE)
+                        last_idle_sound_time = time.time()
+                        next_idle_sound_interval = random.uniform(
+                            *settings.timing.idle_sound_interval
+                        )
+                elif current_state == GameState.COUNTDOWN:
+                    # カウントダウン処理（音なし、動きのみ）
+                    elapsed = state_machine.state_elapsed_time
+                    step = state_machine.countdown_step
+                    step_time = (3 - step) * settings.timing.countdown_interval
+                    if elapsed >= step_time + settings.timing.countdown_interval:
+                        state_machine.on_countdown_tick()
+                elif current_state == GameState.PLAY:
+                    # じゃんけん判定（hand_dataは上の共通処理で取得済み）
+                    user_hand = Hand.UNKNOWN
+                    if hand_status.gesture and hand_status.gesture_confidence >= settings.detection.gesture_confidence_threshold:
+                        user_hand = Hand(hand_status.gesture)
+                    # 少し待ってから判定（ユーザーが手を出す時間）
+                    if state_machine.state_elapsed_time >= 0.5:
+                        state_machine.on_user_hand_detected(user_hand)
+                # 自動状態遷移（タイムアウトなど）
+                state_machine.update()
+                # アニメーション更新
+                animation.set_state(
+                    state_machine.state,
+                    reachy_hand=state_machine.reachy_hand,
+                    game_result=state_machine.game_result,
+                    countdown_step=state_machine.countdown_step,
+                )
+                animation.apply_to_robot(reachy_mini)
+                # 共有状態を更新
+                with state_lock:
+                    shared_state["game_state"] = state_machine.state.name
+                    shared_state["reachy_hand"] = (
+                        state_machine.reachy_hand.value
+                        if state_machine.reachy_hand else None
+                    )
+                    shared_state["user_hand"] = (
+                        state_machine.user_hand.value
+                        if state_machine.user_hand else None
+                    )
+                    shared_state["game_result"] = (
+                        state_machine.game_result.value
+                        if state_machine.game_result else None
+                    )
+                    shared_state["countdown_step"] = state_machine.countdown_step
+                    # 手検出詳細情報
+                    shared_state["hand_detection_available"] = hand_status.available
+                    shared_state["hand_detected"] = hand_status.detected
+                    shared_state["hand_center_x"] = hand_status.center_x
+                    shared_state["hand_center_y"] = hand_status.center_y
+                    shared_state["detected_gesture"] = hand_status.gesture
+                    shared_state["gesture_confidence"] = hand_status.gesture_confidence
+                    shared_state["landmark_count"] = hand_status.landmark_count
+                    # 手振り検出情報
+                    shared_state["wave_progress"] = wave_detector.get_progress()
+                    shared_state["wave_direction_changes"] = wave_detector.get_direction_changes()
+                    # フレーム情報
+                    if frame is not None:
+                        shared_state["frame_available"] = True
+                        shared_state["frame_size"] = f"{frame.shape[1]}x{frame.shape[0]}"
+                        # フレームをBase64エンコード（Web UI用）
+                        try:
+                            import cv2
+                            _, buffer = cv2.imencode('.jpg', frame, [cv2.IMWRITE_JPEG_QUALITY, 50])
+                            shared_state["frame_base64"] = base64.b64encode(buffer).decode('utf-8')
+                        except Exception:
+                            shared_state["frame_base64"] = None
+                    else:
+                        shared_state["frame_available"] = False
+                        shared_state["frame_size"] = None
+                        shared_state["frame_base64"] = None
+                # ループ間隔を維持
+                elapsed = time.time() - loop_start
+                sleep_time = max(0, settings.timing.loop_interval - elapsed)
+                time.sleep(sleep_time)
+        except Exception as e:
+            print(f"Error in main loop: {e}")
+            import traceback
+            traceback.print_exc()
+            # 異常時はIDLE状態に復帰を試みる
+            state_machine.force_idle()
+        finally:
+            # リソースの解放
+            if hand_detector:
+                hand_detector.close()
+    def _setup_api_endpoints(
+        self,
+        shared_state: dict,
+        state_lock: threading.Lock,
+        state_machine: StateMachine,
+        wave_detector: WaveDetector,
+        gesture_detector: GestureDetector,
+    ):
+        """Web API エンドポイントを設定"""
+        class TriggerAction(BaseModel):
+            action: str
+        @self.settings_app.get("/api/status")
+        def get_status():
+            """現在の状態を取得"""
+            with state_lock:
+                return shared_state.copy()
+        @self.settings_app.post("/api/trigger")
+        def trigger_action(data: TriggerAction):
+            """手動で状態遷移をトリガー（デバッグ用）"""
+            action = data.action
+            if action == "wave":
+                state_machine.on_wave_detected()
+            elif action == "rock":
+                state_machine.on_user_hand_detected(Hand.ROCK)
+            elif action == "paper":
+                state_machine.on_user_hand_detected(Hand.PAPER)
+            elif action == "scissors":
+                state_machine.on_user_hand_detected(Hand.SCISSORS)
+            elif action == "reset":
+                state_machine.force_idle()
+            return {"success": True, "action": action}
+    def _get_frame(self, reachy_mini: ReachyMini) -> Optional[np.ndarray]:
+        """カメラフレームを取得"""
+        try:
+            return reachy_mini.media.get_frame()
+        except Exception:
+            return None
+    def _handle_state_change(
+        self,
+        old_state: GameState,
+        new_state: GameState,
+        state_machine: StateMachine,
+        sound_manager: SoundManager,
+        wave_detector: WaveDetector,
+        gesture_detector: GestureDetector,
+    ):
+        """状態変更時の処理"""
+        # 状態に応じた処理
+        if new_state == GameState.IDLE:
+            wave_detector.reset()
+            gesture_detector.reset()
+        # 注: REACT/COUNTDOWNの音声再生はAnimationControllerで行う
+        # （動きと音の同期のため）
+if __name__ == "__main__":
+    app = RockPaperScissors()
+    try:
+        app.wrapped_run()
+    except KeyboardInterrupt:
+        app.stop()

rock_paper_scissors/robot/__init__.py ADDED Viewed

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+from .antenna_poses import AntennaPoses
+from .head_poses import HeadPoses
+from .animations import AnimationController
+__all__ = [
+    "AntennaPoses",
+    "HeadPoses",
+    "AnimationController",
+]

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