reachy-mini 1.0.0__py3-none-any.whl

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Files changed (385) hide show
  1. reachy_mini/__init__.py +4 -0
  2. reachy_mini/apps/__init__.py +24 -0
  3. reachy_mini/apps/app.py +121 -0
  4. reachy_mini/apps/manager.py +183 -0
  5. reachy_mini/apps/sources/__init__.py +4 -0
  6. reachy_mini/apps/sources/hf_space.py +25 -0
  7. reachy_mini/apps/sources/local_common_venv.py +44 -0
  8. reachy_mini/apps/templates/README.md.j2 +1 -0
  9. reachy_mini/apps/templates/main.py.j2 +46 -0
  10. reachy_mini/apps/templates/pyproject.toml.j2 +18 -0
  11. reachy_mini/apps/utils.py +30 -0
  12. reachy_mini/assets/config/hardware_config.yaml +119 -0
  13. reachy_mini/assets/confused1.wav +0 -0
  14. reachy_mini/assets/count.wav +0 -0
  15. reachy_mini/assets/dance1.wav +0 -0
  16. reachy_mini/assets/go_sleep.wav +0 -0
  17. reachy_mini/assets/impatient1.wav +0 -0
  18. reachy_mini/assets/kinematics_data.json +253 -0
  19. reachy_mini/assets/models/fknetwork.dynamic.onnx +0 -0
  20. reachy_mini/assets/models/fknetwork.onnx +0 -0
  21. reachy_mini/assets/models/fknetwork_int8.onnx +0 -0
  22. reachy_mini/assets/models/iknetwork.onnx +0 -0
  23. reachy_mini/assets/wake_up.wav +0 -0
  24. reachy_mini/daemon/__init__.py +1 -0
  25. reachy_mini/daemon/app/__init__.py +1 -0
  26. reachy_mini/daemon/app/bg_job_register.py +142 -0
  27. reachy_mini/daemon/app/dashboard/static/assets/KO-cartoon-static.svg +40 -0
  28. reachy_mini/daemon/app/dashboard/static/assets/awake-cartoon-static.svg +42 -0
  29. reachy_mini/daemon/app/dashboard/static/assets/awake-cartoon.svg +6 -0
  30. reachy_mini/daemon/app/dashboard/static/assets/go-to-sleep-cartoon.svg +6 -0
  31. reachy_mini/daemon/app/dashboard/static/assets/no-wifi-cartoon-static.svg +50 -0
  32. reachy_mini/daemon/app/dashboard/static/assets/no-wifi-cartoon.svg +6 -0
  33. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-awake.svg +18 -0
  34. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-connection-lost-animation.svg +6 -0
  35. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-go-to-sleep-animation.svg +6 -0
  36. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-ko-animation.svg +6 -0
  37. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-ko.svg +22 -0
  38. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-sleeping-static.svg +41 -0
  39. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-sleeping.svg +18 -0
  40. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-wake-up-animation.svg +6 -0
  41. reachy_mini/daemon/app/dashboard/static/js/3rdparty/gstwebrtc-api-2.0.0.min.js +5 -0
  42. reachy_mini/daemon/app/dashboard/static/js/apps.js +304 -0
  43. reachy_mini/daemon/app/dashboard/static/js/appstore.js +150 -0
  44. reachy_mini/daemon/app/dashboard/static/js/daemon.js +163 -0
  45. reachy_mini/daemon/app/dashboard/static/js/move_player.js +132 -0
  46. reachy_mini/daemon/app/dashboard/static/js/setup_wifi.js +94 -0
  47. reachy_mini/daemon/app/dashboard/static/js/update.js +80 -0
  48. reachy_mini/daemon/app/dashboard/static/style.css +83 -0
  49. reachy_mini/daemon/app/dashboard/templates/base.html +23 -0
  50. reachy_mini/daemon/app/dashboard/templates/index.html +17 -0
  51. reachy_mini/daemon/app/dashboard/templates/sections/apps.html +8 -0
  52. reachy_mini/daemon/app/dashboard/templates/sections/appstore.html +29 -0
  53. reachy_mini/daemon/app/dashboard/templates/sections/daemon.html +36 -0
  54. reachy_mini/daemon/app/dashboard/templates/sections/move_player.html +27 -0
  55. reachy_mini/daemon/app/dashboard/update.html +22 -0
  56. reachy_mini/daemon/app/dashboard/wifi_config.html +41 -0
  57. reachy_mini/daemon/app/dependencies.py +41 -0
  58. reachy_mini/daemon/app/main.py +262 -0
  59. reachy_mini/daemon/app/models.py +147 -0
  60. reachy_mini/daemon/app/routers/apps.py +114 -0
  61. reachy_mini/daemon/app/routers/daemon.py +80 -0
  62. reachy_mini/daemon/app/routers/kinematics.py +57 -0
  63. reachy_mini/daemon/app/routers/motors.py +41 -0
  64. reachy_mini/daemon/app/routers/move.py +257 -0
  65. reachy_mini/daemon/app/routers/state.py +146 -0
  66. reachy_mini/daemon/backend/__init__.py +1 -0
  67. reachy_mini/daemon/backend/abstract.py +750 -0
  68. reachy_mini/daemon/backend/mujoco/__init__.py +36 -0
  69. reachy_mini/daemon/backend/mujoco/backend.py +304 -0
  70. reachy_mini/daemon/backend/mujoco/utils.py +59 -0
  71. reachy_mini/daemon/backend/mujoco/video_udp.py +53 -0
  72. reachy_mini/daemon/backend/robot/__init__.py +8 -0
  73. reachy_mini/daemon/backend/robot/backend.py +535 -0
  74. reachy_mini/daemon/daemon.py +444 -0
  75. reachy_mini/daemon/utils.py +114 -0
  76. reachy_mini/descriptions/reachy_mini/mjcf/additional.xml +6 -0
  77. reachy_mini/descriptions/reachy_mini/mjcf/assets/5w_speaker.part +13 -0
  78. reachy_mini/descriptions/reachy_mini/mjcf/assets/5w_speaker.stl +0 -0
  79. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna.part +13 -0
  80. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna.stl +0 -0
  81. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_body_3dprint.part +13 -0
  82. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_body_3dprint.stl +0 -0
  83. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_holder_l_3dprint.part +13 -0
  84. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_holder_l_3dprint.stl +0 -0
  85. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_holder_r_3dprint.part +13 -0
  86. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_holder_r_3dprint.stl +0 -0
  87. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_interface_3dprint.part +13 -0
  88. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_interface_3dprint.stl +0 -0
  89. reachy_mini/descriptions/reachy_mini/mjcf/assets/arducam.part +13 -0
  90. reachy_mini/descriptions/reachy_mini/mjcf/assets/arducam.stl +0 -0
  91. reachy_mini/descriptions/reachy_mini/mjcf/assets/b3b_eh.part +13 -0
  92. reachy_mini/descriptions/reachy_mini/mjcf/assets/b3b_eh.stl +0 -0
  93. reachy_mini/descriptions/reachy_mini/mjcf/assets/b3b_eh_1.part +13 -0
  94. reachy_mini/descriptions/reachy_mini/mjcf/assets/b3b_eh_1.stl +0 -0
  95. reachy_mini/descriptions/reachy_mini/mjcf/assets/bearing_85x110x13.part +13 -0
  96. reachy_mini/descriptions/reachy_mini/mjcf/assets/bearing_85x110x13.stl +0 -0
  97. reachy_mini/descriptions/reachy_mini/mjcf/assets/big_lens_d40.part +13 -0
  98. reachy_mini/descriptions/reachy_mini/mjcf/assets/big_lens_d40.stl +0 -0
  99. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_down_3dprint.part +13 -0
  100. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_down_3dprint.stl +0 -0
  101. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_foot_3dprint.part +13 -0
  102. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_foot_3dprint.stl +0 -0
  103. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_top_3dprint.part +13 -0
  104. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_top_3dprint.stl +0 -0
  105. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_turning_3dprint.part +13 -0
  106. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_turning_3dprint.stl +0 -0
  107. reachy_mini/descriptions/reachy_mini/mjcf/assets/bts2_m2_6x8.part +13 -0
  108. reachy_mini/descriptions/reachy_mini/mjcf/assets/bts2_m2_6x8.stl +0 -0
  109. reachy_mini/descriptions/reachy_mini/mjcf/assets/croissant_1k.blend/croissant_1k.obj +5021 -0
  110. reachy_mini/descriptions/reachy_mini/mjcf/assets/croissant_1k.blend/textures/croissant_diff_1k.png +0 -0
  111. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_case_b_dummy.part +13 -0
  112. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_case_b_dummy.stl +0 -0
  113. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_case_f_dummy.part +13 -0
  114. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_case_f_dummy.stl +0 -0
  115. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_case_m_dummy.part +13 -0
  116. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_case_m_dummy.stl +0 -0
  117. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_horn_dummy.part +13 -0
  118. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_horn_dummy.stl +0 -0
  119. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_led_cap2_dummy.part +13 -0
  120. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_led_cap2_dummy.stl +0 -0
  121. reachy_mini/descriptions/reachy_mini/mjcf/assets/food_apple_01_1k.blend/food_apple_01_1k.obj +18045 -0
  122. reachy_mini/descriptions/reachy_mini/mjcf/assets/food_apple_01_1k.blend/textures/food_apple_01_diff_1k.png +0 -0
  123. reachy_mini/descriptions/reachy_mini/mjcf/assets/glasses_dolder_3dprint.part +13 -0
  124. reachy_mini/descriptions/reachy_mini/mjcf/assets/glasses_dolder_3dprint.stl +0 -0
  125. reachy_mini/descriptions/reachy_mini/mjcf/assets/head_back_3dprint.part +13 -0
  126. reachy_mini/descriptions/reachy_mini/mjcf/assets/head_back_3dprint.stl +0 -0
  127. reachy_mini/descriptions/reachy_mini/mjcf/assets/head_front_3dprint.part +13 -0
  128. reachy_mini/descriptions/reachy_mini/mjcf/assets/head_front_3dprint.stl +0 -0
  129. reachy_mini/descriptions/reachy_mini/mjcf/assets/head_mic_3dprint.part +13 -0
  130. reachy_mini/descriptions/reachy_mini/mjcf/assets/head_mic_3dprint.stl +0 -0
  131. reachy_mini/descriptions/reachy_mini/mjcf/assets/lens_cap_d30_3dprint.part +13 -0
  132. reachy_mini/descriptions/reachy_mini/mjcf/assets/lens_cap_d30_3dprint.stl +0 -0
  133. reachy_mini/descriptions/reachy_mini/mjcf/assets/lens_cap_d40_3dprint.part +13 -0
  134. reachy_mini/descriptions/reachy_mini/mjcf/assets/lens_cap_d40_3dprint.stl +0 -0
  135. reachy_mini/descriptions/reachy_mini/mjcf/assets/m12_fisheye_lens_1_8mm.part +13 -0
  136. reachy_mini/descriptions/reachy_mini/mjcf/assets/m12_fisheye_lens_1_8mm.stl +0 -0
  137. reachy_mini/descriptions/reachy_mini/mjcf/assets/mp01062_stewart_arm_3.part +13 -0
  138. reachy_mini/descriptions/reachy_mini/mjcf/assets/mp01062_stewart_arm_3.stl +0 -0
  139. reachy_mini/descriptions/reachy_mini/mjcf/assets/neck_reference_3dprint.part +13 -0
  140. reachy_mini/descriptions/reachy_mini/mjcf/assets/neck_reference_3dprint.stl +0 -0
  141. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10.part +13 -0
  142. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10.stl +0 -0
  143. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10_1.part +13 -0
  144. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10_1.stl +0 -0
  145. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10_2.part +13 -0
  146. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10_2.stl +0 -0
  147. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10_3.part +13 -0
  148. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10_3.stl +0 -0
  149. reachy_mini/descriptions/reachy_mini/mjcf/assets/pp01102_arducam_carter.part +13 -0
  150. reachy_mini/descriptions/reachy_mini/mjcf/assets/pp01102_arducam_carter.stl +0 -0
  151. reachy_mini/descriptions/reachy_mini/mjcf/assets/rubber_duck_toy_1k.blend/rubber_duck_toy_1k.obj +8940 -0
  152. reachy_mini/descriptions/reachy_mini/mjcf/assets/rubber_duck_toy_1k.blend/textures/rubber_duck_toy_diff_1k.png +0 -0
  153. reachy_mini/descriptions/reachy_mini/mjcf/assets/small_lens_d30.part +13 -0
  154. reachy_mini/descriptions/reachy_mini/mjcf/assets/small_lens_d30.stl +0 -0
  155. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_ball.part +13 -0
  156. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_ball.stl +0 -0
  157. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_ball__2.part +13 -0
  158. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_ball__2.stl +0 -0
  159. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_rod.part +13 -0
  160. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_rod.stl +0 -0
  161. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_main_plate_3dprint.part +13 -0
  162. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_main_plate_3dprint.stl +0 -0
  163. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_tricap_3dprint.part +13 -0
  164. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_tricap_3dprint.stl +0 -0
  165. reachy_mini/descriptions/reachy_mini/mjcf/assets/wooden_table_02_1k.blend/textures/wooden_table_02_diff_1k.png +0 -0
  166. reachy_mini/descriptions/reachy_mini/mjcf/assets/wooden_table_02_1k.blend/wooden_table_02_1k.obj +485 -0
  167. reachy_mini/descriptions/reachy_mini/mjcf/config.json +21 -0
  168. reachy_mini/descriptions/reachy_mini/mjcf/joints_properties.xml +29 -0
  169. reachy_mini/descriptions/reachy_mini/mjcf/reachy_mini.xml +613 -0
  170. reachy_mini/descriptions/reachy_mini/mjcf/reachy_mini.xml.bak +442 -0
  171. reachy_mini/descriptions/reachy_mini/mjcf/scene.xml +24 -0
  172. reachy_mini/descriptions/reachy_mini/mjcf/scenes/empty.xml +27 -0
  173. reachy_mini/descriptions/reachy_mini/mjcf/scenes/minimal.xml +131 -0
  174. reachy_mini/descriptions/reachy_mini/urdf/assets/5w_speaker.part +13 -0
  175. reachy_mini/descriptions/reachy_mini/urdf/assets/5w_speaker.stl +0 -0
  176. reachy_mini/descriptions/reachy_mini/urdf/assets/antenna.part +13 -0
  177. reachy_mini/descriptions/reachy_mini/urdf/assets/antenna.stl +0 -0
  178. reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_body_3dprint.part +13 -0
  179. reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_body_3dprint.stl +0 -0
  180. reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_holder_l_3dprint.part +13 -0
  181. reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_holder_l_3dprint.stl +0 -0
  182. reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_holder_r_3dprint.part +13 -0
  183. reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_holder_r_3dprint.stl +0 -0
  184. reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_interface_3dprint.part +13 -0
  185. reachy_mini/descriptions/reachy_mini/urdf/assets/antenna_interface_3dprint.stl +0 -0
  186. reachy_mini/descriptions/reachy_mini/urdf/assets/arducam.part +13 -0
  187. reachy_mini/descriptions/reachy_mini/urdf/assets/arducam.stl +0 -0
  188. reachy_mini/descriptions/reachy_mini/urdf/assets/arm.part +13 -0
  189. reachy_mini/descriptions/reachy_mini/urdf/assets/arm.stl +0 -0
  190. reachy_mini/descriptions/reachy_mini/urdf/assets/b3b_eh.part +13 -0
  191. reachy_mini/descriptions/reachy_mini/urdf/assets/b3b_eh.stl +0 -0
  192. reachy_mini/descriptions/reachy_mini/urdf/assets/b3b_eh_1.part +13 -0
  193. reachy_mini/descriptions/reachy_mini/urdf/assets/b3b_eh_1.stl +0 -0
  194. reachy_mini/descriptions/reachy_mini/urdf/assets/ball.part +13 -0
  195. reachy_mini/descriptions/reachy_mini/urdf/assets/ball.stl +0 -0
  196. reachy_mini/descriptions/reachy_mini/urdf/assets/bearing_85x110x13.part +13 -0
  197. reachy_mini/descriptions/reachy_mini/urdf/assets/bearing_85x110x13.stl +0 -0
  198. reachy_mini/descriptions/reachy_mini/urdf/assets/big_lens.part +13 -0
  199. reachy_mini/descriptions/reachy_mini/urdf/assets/big_lens.stl +0 -0
  200. reachy_mini/descriptions/reachy_mini/urdf/assets/big_lens_d40.part +13 -0
  201. reachy_mini/descriptions/reachy_mini/urdf/assets/big_lens_d40.stl +0 -0
  202. reachy_mini/descriptions/reachy_mini/urdf/assets/body_down_3dprint.part +13 -0
  203. reachy_mini/descriptions/reachy_mini/urdf/assets/body_down_3dprint.stl +0 -0
  204. reachy_mini/descriptions/reachy_mini/urdf/assets/body_foot_3dprint.part +13 -0
  205. reachy_mini/descriptions/reachy_mini/urdf/assets/body_foot_3dprint.stl +0 -0
  206. reachy_mini/descriptions/reachy_mini/urdf/assets/body_top_3dprint.part +13 -0
  207. reachy_mini/descriptions/reachy_mini/urdf/assets/body_top_3dprint.stl +0 -0
  208. reachy_mini/descriptions/reachy_mini/urdf/assets/body_turning_3dprint.part +13 -0
  209. reachy_mini/descriptions/reachy_mini/urdf/assets/body_turning_3dprint.stl +0 -0
  210. reachy_mini/descriptions/reachy_mini/urdf/assets/bottom_body.part +13 -0
  211. reachy_mini/descriptions/reachy_mini/urdf/assets/bottom_body.stl +0 -0
  212. reachy_mini/descriptions/reachy_mini/urdf/assets/bts2_m2_6x8.part +13 -0
  213. reachy_mini/descriptions/reachy_mini/urdf/assets/bts2_m2_6x8.stl +0 -0
  214. reachy_mini/descriptions/reachy_mini/urdf/assets/dc15_a01_case_b_dummy.part +13 -0
  215. reachy_mini/descriptions/reachy_mini/urdf/assets/dc15_a01_case_b_dummy.stl +0 -0
  216. reachy_mini/descriptions/reachy_mini/urdf/assets/dc15_a01_case_f_dummy.part +13 -0
  217. reachy_mini/descriptions/reachy_mini/urdf/assets/dc15_a01_case_f_dummy.stl +0 -0
  218. reachy_mini/descriptions/reachy_mini/urdf/assets/dc15_a01_case_m_dummy.part +13 -0
  219. reachy_mini/descriptions/reachy_mini/urdf/assets/dc15_a01_case_m_dummy.stl +0 -0
  220. reachy_mini/descriptions/reachy_mini/urdf/assets/dc15_a01_horn_dummy.part +13 -0
  221. reachy_mini/descriptions/reachy_mini/urdf/assets/dc15_a01_horn_dummy.stl +0 -0
  222. reachy_mini/descriptions/reachy_mini/urdf/assets/dc15_a01_led_cap2_dummy.part +13 -0
  223. reachy_mini/descriptions/reachy_mini/urdf/assets/dc15_a01_led_cap2_dummy.stl +0 -0
  224. reachy_mini/descriptions/reachy_mini/urdf/assets/drive_palonier__configuration_default.part +14 -0
  225. reachy_mini/descriptions/reachy_mini/urdf/assets/drive_palonier__configuration_default.stl +0 -0
  226. reachy_mini/descriptions/reachy_mini/urdf/assets/drive_palonier__configuration_simple_axe.part +14 -0
  227. reachy_mini/descriptions/reachy_mini/urdf/assets/drive_palonier__configuration_simple_axe.stl +0 -0
  228. reachy_mini/descriptions/reachy_mini/urdf/assets/eye_support.part +13 -0
  229. reachy_mini/descriptions/reachy_mini/urdf/assets/eye_support.stl +0 -0
  230. reachy_mini/descriptions/reachy_mini/urdf/assets/foot.part +13 -0
  231. reachy_mini/descriptions/reachy_mini/urdf/assets/foot.stl +0 -0
  232. reachy_mini/descriptions/reachy_mini/urdf/assets/glasses_dolder_3dprint.part +13 -0
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