update

index.html

@@ -39,7 +39,7 @@
 
 			<button id="installBtn" class="install-btn primary">
 				<span class="btn-icon">📥</span>
-				Install Greetings App to Reachy
+				Install Greetings App to Reachy Mini
 			</button>
 
 			<div id="installStatus" class="install-status"></div>

pyproject.toml

@@ -11,8 +11,11 @@ readme = "README.md"
 requires-python = ">=3.8"
 dependencies = [
     "reachy-mini",
-    "reachy-mini-toolbox==1.0.0"
+    "reachy-mini-toolbox[vision]>=1.0.1"
 ]
 
 [project.entry-points."reachy_mini_apps"]
 reachy_mini_greetings = "reachy_mini_greetings.main:GreetingsApp"
+
+[project.scripts]
+reachy-mini-greetings = "reachy_mini_greetings.main:main"

reachy_mini_greetings/main.py

@@ -4,25 +4,101 @@ import time
 import numpy as np
 from reachy_mini import ReachyMiniApp
 from reachy_mini.reachy_mini import ReachyMini
+from reachy_mini_toolbox.vision import HeadTracker
 from scipy.spatial.transform import Rotation as R
+from reachy_mini.utils import create_head_pose
+from reachy_mini.motion.recorded_move import RecordedMoves
+import time
 
 
 class GreetingsApp(ReachyMiniApp):
     def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+        head_tracker = HeadTracker()
+        recorded_moves = RecordedMoves("pollen-robotics/reachy-mini-emotions-library")
+
         t0 = time.time()
         while not stop_event.is_set():
-            pose = np.eye(4)
-            pose[:3, 3][2] = 0.005 * np.sin(2 * np.pi * 0.3 * time.time() + np.pi)
-            euler_rot = [
-                0,
-                0,
-                0.5 * np.sin(2 * np.pi * 0.3 * time.time() + np.pi),
-            ]
-            rot_mat = R.from_euler("xyz", euler_rot, degrees=False).as_matrix()
-            pose[:3, :3] = rot_mat
-            pose[:3, 3][2] += 0.01 * np.sin(2 * np.pi * 0.5 * time.time())
-            antennas = np.array([1, 1]) * np.sin(2 * np.pi * 0.5 * time.time())
-
-            reachy_mini.set_target(head=pose, antennas=antennas)
+            frame = reachy_mini.media.get_frame()
+            # cv2.imshow("frame", frame)
+            # cv2.waitKey(1)
+
+            pose = create_head_pose(0, 0, 0, 0, 0, 0)
+            reachy_mini.goto_target(pose, duration=1, antennas=[0, 0], method="ease_in_out")
+            time.sleep(0.5)
+
+            pose = create_head_pose(-0.01, 0, -0.035, 0, 15, 0)
+            reachy_mini.goto_target(pose, duration=0.3, antennas=[-1.5, 1.5], method="ease_in_out")
+            time.sleep(0.2)
+
+            pose = create_head_pose(0, 0, -0.02, 0, 0, 0)
+            reachy_mini.goto_target(pose, duration=2, antennas=[-1, 1], method="ease_in_out")
+            time.sleep(0.5)
+
+            pose = create_head_pose(0.0, 0.02, -0.02, 20, 0, 0)
+            reachy_mini.goto_target(pose, duration=0.5, antennas=[-1.5, 0], method="ease_in_out")
+            time.sleep(0.2)
+
+            pose = create_head_pose(0.0, -0.02, -0.02, -20, 0, 0)
+            reachy_mini.goto_target(pose, duration=0.5, antennas=[0, 1.6], method="ease_in_out")
+            time.sleep(0.2)
+
+            pose = create_head_pose(0, 0, 0, 0, 0, 0)
+            reachy_mini.goto_target(pose, duration=0.5, antennas=[0, 0], method="ease_in_out")
+
+            # look a little to the left and up
+            # pose = create_head_pose(0, 0, 0, 0, -15, -30)
+            # reachy_mini.goto_target(pose, duration=1, method="ease_in_out")
+            # time.sleep(0.5)
+
+            # pose = create_head_pose(0, 0, 0, 0, -15, 30)
+            # reachy_mini.goto_target(pose, duration=1, method="ease_in_out")
+            # time.sleep(0.5)
+
+            # pose = create_head_pose(0, 0, 0, 0, 15, 20)
+            # reachy_mini.goto_target(pose, duration=1, method="ease_in_out")
+            # time.sleep(0.5)
+
+            # pose = create_head_pose(0, 0, 0, 0, -20, -40)
+            # reachy_mini.goto_target(pose, duration=1, method="ease_in_out")
+            # time.sleep(0.5)
+
+            pose = create_head_pose(0, 0, 0.02, 0, -20, -140)
+            reachy_mini.goto_target(
+                pose, body_yaw=np.deg2rad(-100), duration=1, antennas=[-1.5, 0], method="ease_in_out"
+            )
+            time.sleep(0.5)
+
+            pose = create_head_pose(0, 0, 0, 0, 0, 0)
+            reachy_mini.goto_target(pose, duration=1, antennas=[0, 0], method="ease_in_out")
+
+            pose = create_head_pose(0, 0, 0.02, 0, -30, 100)
+            reachy_mini.goto_target(
+                pose, body_yaw=np.deg2rad(80), duration=1, antennas=[0, 1.5], method="ease_in_out"
+            )
+            time.sleep(0.5)
+
+            print("reset")
 
             time.sleep(0.02)
+
+
+def main():
+    with ReachyMini() as mini:
+        app = GreetingsApp()
+
+        stop = threading.Event()
+
+        try:
+            print("Running 'greetings' a ReachyMiniApp...")
+            print("Press Ctrl+C to stop the app.")
+            app.run(mini, stop)
+            print("App has stopped.")
+
+        except KeyboardInterrupt:
+            print("Stopping the app...")
+            stop.set()
+
+
+if __name__ == "__main__":
+    # You can run the app directly from this script
+    main()