reachy-mini 1.2.5rc1__py3-none-any.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (479) hide show
  1. reachy_mini/__init__.py +4 -0
  2. reachy_mini/apps/__init__.py +25 -0
  3. reachy_mini/apps/app.py +258 -0
  4. reachy_mini/apps/assistant.py +787 -0
  5. reachy_mini/apps/manager.py +312 -0
  6. reachy_mini/apps/sources/__init__.py +4 -0
  7. reachy_mini/apps/sources/hf_space.py +106 -0
  8. reachy_mini/apps/sources/local_common_venv.py +567 -0
  9. reachy_mini/apps/templates/README.md.j2 +12 -0
  10. reachy_mini/apps/templates/gitignore.j2 +3 -0
  11. reachy_mini/apps/templates/index.html.j2 +40 -0
  12. reachy_mini/apps/templates/main.py.j2 +74 -0
  13. reachy_mini/apps/templates/pyproject.toml.j2 +28 -0
  14. reachy_mini/apps/templates/static/index.html.j2 +27 -0
  15. reachy_mini/apps/templates/static/main.js.j2 +47 -0
  16. reachy_mini/apps/templates/static/style.css.j2 +25 -0
  17. reachy_mini/apps/templates/style.css.j2 +411 -0
  18. reachy_mini/apps/utils.py +30 -0
  19. reachy_mini/assets/config/hardware_config.yaml +164 -0
  20. reachy_mini/assets/confused1.wav +0 -0
  21. reachy_mini/assets/count.wav +0 -0
  22. reachy_mini/assets/dance1.wav +0 -0
  23. reachy_mini/assets/firmware/CHANGELOG.md +15 -0
  24. reachy_mini/assets/firmware/reachymini_ua_io16_lin_v2.1.2.bin +0 -0
  25. reachy_mini/assets/firmware/reachymini_ua_io16_lin_v2.1.3.bin +0 -0
  26. reachy_mini/assets/firmware/update.sh +9 -0
  27. reachy_mini/assets/go_sleep.wav +0 -0
  28. reachy_mini/assets/impatient1.wav +0 -0
  29. reachy_mini/assets/kinematics_data.json +253 -0
  30. reachy_mini/assets/models/fknetwork.dynamic.onnx +0 -0
  31. reachy_mini/assets/models/fknetwork.onnx +0 -0
  32. reachy_mini/assets/models/fknetwork_int8.onnx +0 -0
  33. reachy_mini/assets/models/iknetwork.onnx +0 -0
  34. reachy_mini/assets/wake_up.wav +0 -0
  35. reachy_mini/daemon/__init__.py +1 -0
  36. reachy_mini/daemon/app/__init__.py +1 -0
  37. reachy_mini/daemon/app/bg_job_register.py +142 -0
  38. reachy_mini/daemon/app/dashboard/static/assets/KO-cartoon-static.svg +40 -0
  39. reachy_mini/daemon/app/dashboard/static/assets/awake-cartoon-static.svg +42 -0
  40. reachy_mini/daemon/app/dashboard/static/assets/awake-cartoon.svg +6 -0
  41. reachy_mini/daemon/app/dashboard/static/assets/go-to-sleep-cartoon.svg +6 -0
  42. reachy_mini/daemon/app/dashboard/static/assets/no-wifi-cartoon-static.svg +50 -0
  43. reachy_mini/daemon/app/dashboard/static/assets/no-wifi-cartoon.svg +6 -0
  44. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-awake.svg +18 -0
  45. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-connection-lost-animation.svg +6 -0
  46. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-go-to-sleep-animation.svg +6 -0
  47. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-ko-animation.svg +6 -0
  48. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-ko.svg +22 -0
  49. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-sleeping-static.svg +41 -0
  50. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-sleeping.svg +18 -0
  51. reachy_mini/daemon/app/dashboard/static/assets/reachy-mini-wake-up-animation.svg +6 -0
  52. reachy_mini/daemon/app/dashboard/static/css/app.css +1433 -0
  53. reachy_mini/daemon/app/dashboard/static/fonts/Archivo-Italic-VariableFont_wdth,wght.ttf +0 -0
  54. reachy_mini/daemon/app/dashboard/static/fonts/Archivo-VariableFont_wdth,wght.ttf +0 -0
  55. reachy_mini/daemon/app/dashboard/static/fonts/Asap-Italic-VariableFont_wdth,wght.ttf +0 -0
  56. reachy_mini/daemon/app/dashboard/static/fonts/Asap-VariableFont_wdth,wght.ttf +0 -0
  57. reachy_mini/daemon/app/dashboard/static/js/3rdparty/gstwebrtc-api-2.0.0.min.js +5 -0
  58. reachy_mini/daemon/app/dashboard/static/js/apps.js +323 -0
  59. reachy_mini/daemon/app/dashboard/static/js/appstore.js +167 -0
  60. reachy_mini/daemon/app/dashboard/static/js/daemon.js +169 -0
  61. reachy_mini/daemon/app/dashboard/static/js/health_check.js +9 -0
  62. reachy_mini/daemon/app/dashboard/static/js/move_player.js +132 -0
  63. reachy_mini/daemon/app/dashboard/static/js/notification.js +41 -0
  64. reachy_mini/daemon/app/dashboard/static/js/update.js +132 -0
  65. reachy_mini/daemon/app/dashboard/static/js/volume_control.js +252 -0
  66. reachy_mini/daemon/app/dashboard/static/js/wifi.js +176 -0
  67. reachy_mini/daemon/app/dashboard/tailwindcss/README.md +15 -0
  68. reachy_mini/daemon/app/dashboard/tailwindcss/package-lock.json +1127 -0
  69. reachy_mini/daemon/app/dashboard/tailwindcss/package.json +6 -0
  70. reachy_mini/daemon/app/dashboard/tailwindcss/pnpm-lock.yaml +608 -0
  71. reachy_mini/daemon/app/dashboard/tailwindcss/postcss.config.js +6 -0
  72. reachy_mini/daemon/app/dashboard/tailwindcss/styles/app.css +185 -0
  73. reachy_mini/daemon/app/dashboard/tailwindcss/tailwind.config.js +11 -0
  74. reachy_mini/daemon/app/dashboard/templates/base.html +21 -0
  75. reachy_mini/daemon/app/dashboard/templates/index.html +20 -0
  76. reachy_mini/daemon/app/dashboard/templates/sections/apps.html +8 -0
  77. reachy_mini/daemon/app/dashboard/templates/sections/appstore.html +35 -0
  78. reachy_mini/daemon/app/dashboard/templates/sections/daemon.html +45 -0
  79. reachy_mini/daemon/app/dashboard/templates/sections/move_player.html +121 -0
  80. reachy_mini/daemon/app/dashboard/templates/sections/notification.html +19 -0
  81. reachy_mini/daemon/app/dashboard/templates/sections/update.html +54 -0
  82. reachy_mini/daemon/app/dashboard/templates/sections/wifi.html +46 -0
  83. reachy_mini/daemon/app/dashboard/templates/settings.html +14 -0
  84. reachy_mini/daemon/app/dependencies.py +41 -0
  85. reachy_mini/daemon/app/main.py +469 -0
  86. reachy_mini/daemon/app/models.py +149 -0
  87. reachy_mini/daemon/app/routers/apps.py +114 -0
  88. reachy_mini/daemon/app/routers/daemon.py +85 -0
  89. reachy_mini/daemon/app/routers/kinematics.py +57 -0
  90. reachy_mini/daemon/app/routers/motors.py +41 -0
  91. reachy_mini/daemon/app/routers/move.py +265 -0
  92. reachy_mini/daemon/app/routers/state.py +146 -0
  93. reachy_mini/daemon/app/routers/update.py +86 -0
  94. reachy_mini/daemon/app/routers/volume.py +423 -0
  95. reachy_mini/daemon/app/routers/wifi_config.py +219 -0
  96. reachy_mini/daemon/app/services/__init__.py +1 -0
  97. reachy_mini/daemon/app/services/bluetooth/bluetooth_service.py +796 -0
  98. reachy_mini/daemon/app/services/bluetooth/commands/HOTSPOT.sh +7 -0
  99. reachy_mini/daemon/app/services/bluetooth/commands/RESTART_DAEMON.sh +4 -0
  100. reachy_mini/daemon/app/services/bluetooth/commands/SOFTWARE_RESET.sh +7 -0
  101. reachy_mini/daemon/app/services/bluetooth/install_service_bluetooth.sh +39 -0
  102. reachy_mini/daemon/app/services/gpio_shutdown/__init__.py +1 -0
  103. reachy_mini/daemon/app/services/gpio_shutdown/install_service.sh +33 -0
  104. reachy_mini/daemon/app/services/gpio_shutdown/launcher.sh +3 -0
  105. reachy_mini/daemon/app/services/gpio_shutdown/shutdown_monitor.py +28 -0
  106. reachy_mini/daemon/app/services/wireless/generate_asoundrc.sh +70 -0
  107. reachy_mini/daemon/app/services/wireless/install_service.sh +33 -0
  108. reachy_mini/daemon/app/services/wireless/launcher.sh +5 -0
  109. reachy_mini/daemon/backend/__init__.py +1 -0
  110. reachy_mini/daemon/backend/abstract.py +815 -0
  111. reachy_mini/daemon/backend/mujoco/__init__.py +36 -0
  112. reachy_mini/daemon/backend/mujoco/backend.py +395 -0
  113. reachy_mini/daemon/backend/mujoco/utils.py +59 -0
  114. reachy_mini/daemon/backend/mujoco/video_udp.py +57 -0
  115. reachy_mini/daemon/backend/robot/__init__.py +8 -0
  116. reachy_mini/daemon/backend/robot/backend.py +597 -0
  117. reachy_mini/daemon/daemon.py +651 -0
  118. reachy_mini/daemon/utils.py +116 -0
  119. reachy_mini/descriptions/reachy_mini/mjcf/additional.xml +6 -0
  120. reachy_mini/descriptions/reachy_mini/mjcf/assets/5w_speaker.part +13 -0
  121. reachy_mini/descriptions/reachy_mini/mjcf/assets/5w_speaker.stl +0 -0
  122. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna.part +13 -0
  123. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna.stl +0 -0
  124. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_body_3dprint.part +13 -0
  125. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_body_3dprint.stl +0 -0
  126. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_holder_l_3dprint.part +13 -0
  127. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_holder_l_3dprint.stl +0 -0
  128. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_holder_r_3dprint.part +13 -0
  129. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_holder_r_3dprint.stl +0 -0
  130. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_interface_3dprint.part +13 -0
  131. reachy_mini/descriptions/reachy_mini/mjcf/assets/antenna_interface_3dprint.stl +0 -0
  132. reachy_mini/descriptions/reachy_mini/mjcf/assets/arducam.part +13 -0
  133. reachy_mini/descriptions/reachy_mini/mjcf/assets/arducam.stl +0 -0
  134. reachy_mini/descriptions/reachy_mini/mjcf/assets/b3b_eh.part +13 -0
  135. reachy_mini/descriptions/reachy_mini/mjcf/assets/b3b_eh.stl +0 -0
  136. reachy_mini/descriptions/reachy_mini/mjcf/assets/b3b_eh_1.part +13 -0
  137. reachy_mini/descriptions/reachy_mini/mjcf/assets/b3b_eh_1.stl +0 -0
  138. reachy_mini/descriptions/reachy_mini/mjcf/assets/bearing_85x110x13.part +13 -0
  139. reachy_mini/descriptions/reachy_mini/mjcf/assets/bearing_85x110x13.stl +0 -0
  140. reachy_mini/descriptions/reachy_mini/mjcf/assets/big_lens_d40.part +13 -0
  141. reachy_mini/descriptions/reachy_mini/mjcf/assets/big_lens_d40.stl +0 -0
  142. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_down_3dprint.part +13 -0
  143. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_down_3dprint.stl +0 -0
  144. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_foot_3dprint.part +13 -0
  145. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_foot_3dprint.stl +0 -0
  146. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_top_3dprint.part +13 -0
  147. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_top_3dprint.stl +0 -0
  148. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_turning_3dprint.part +13 -0
  149. reachy_mini/descriptions/reachy_mini/mjcf/assets/body_turning_3dprint.stl +0 -0
  150. reachy_mini/descriptions/reachy_mini/mjcf/assets/bts2_m2_6x8.part +13 -0
  151. reachy_mini/descriptions/reachy_mini/mjcf/assets/bts2_m2_6x8.stl +0 -0
  152. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/README.m +1 -0
  153. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/coarse/body_top_3dprint_collider_back_0.stl +0 -0
  154. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/coarse/body_top_3dprint_collider_back_1.stl +0 -0
  155. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/coarse/body_top_3dprint_collider_back_2.stl +0 -0
  156. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/coarse/body_top_3dprint_collider_back_3.stl +0 -0
  157. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/coarse/body_top_3dprint_collider_front_0.stl +0 -0
  158. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/coarse/body_top_3dprint_collider_front_1.stl +0 -0
  159. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/coarse/body_top_3dprint_collider_front_2.stl +0 -0
  160. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/coarse/head_one_3dprint_collider_0.stl +0 -0
  161. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/fine/body_top_3dprint_collider_back_0.stl +0 -0
  162. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/fine/body_top_3dprint_collider_back_1.stl +0 -0
  163. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/fine/body_top_3dprint_collider_back_2.stl +0 -0
  164. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/fine/body_top_3dprint_collider_back_3.stl +0 -0
  165. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/fine/body_top_3dprint_collider_front_0.stl +0 -0
  166. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/fine/body_top_3dprint_collider_front_1.stl +0 -0
  167. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/fine/body_top_3dprint_collider_front_2.stl +0 -0
  168. reachy_mini/descriptions/reachy_mini/mjcf/assets/collision/fine/head_one_3dprint_collider_0.stl +0 -0
  169. reachy_mini/descriptions/reachy_mini/mjcf/assets/croissant_1k.blend/croissant_1k.obj +5021 -0
  170. reachy_mini/descriptions/reachy_mini/mjcf/assets/croissant_1k.blend/textures/croissant_diff_1k.png +0 -0
  171. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_case_b_dummy.part +13 -0
  172. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_case_b_dummy.stl +0 -0
  173. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_case_f_dummy.part +13 -0
  174. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_case_f_dummy.stl +0 -0
  175. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_case_m_dummy.part +13 -0
  176. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_case_m_dummy.stl +0 -0
  177. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_horn_dummy.part +13 -0
  178. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_horn_dummy.stl +0 -0
  179. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_led_cap2_dummy.part +13 -0
  180. reachy_mini/descriptions/reachy_mini/mjcf/assets/dc15_a01_led_cap2_dummy.stl +0 -0
  181. reachy_mini/descriptions/reachy_mini/mjcf/assets/food_apple_01_1k.blend/food_apple_01_1k.obj +18045 -0
  182. reachy_mini/descriptions/reachy_mini/mjcf/assets/food_apple_01_1k.blend/textures/food_apple_01_diff_1k.png +0 -0
  183. reachy_mini/descriptions/reachy_mini/mjcf/assets/glasses_dolder_3dprint.part +13 -0
  184. reachy_mini/descriptions/reachy_mini/mjcf/assets/glasses_dolder_3dprint.stl +0 -0
  185. reachy_mini/descriptions/reachy_mini/mjcf/assets/head_back_3dprint.part +13 -0
  186. reachy_mini/descriptions/reachy_mini/mjcf/assets/head_back_3dprint.stl +0 -0
  187. reachy_mini/descriptions/reachy_mini/mjcf/assets/head_front_3dprint.part +13 -0
  188. reachy_mini/descriptions/reachy_mini/mjcf/assets/head_front_3dprint.stl +0 -0
  189. reachy_mini/descriptions/reachy_mini/mjcf/assets/head_mic_3dprint.part +13 -0
  190. reachy_mini/descriptions/reachy_mini/mjcf/assets/head_mic_3dprint.stl +0 -0
  191. reachy_mini/descriptions/reachy_mini/mjcf/assets/lens_cap_d30_3dprint.part +13 -0
  192. reachy_mini/descriptions/reachy_mini/mjcf/assets/lens_cap_d30_3dprint.stl +0 -0
  193. reachy_mini/descriptions/reachy_mini/mjcf/assets/lens_cap_d40_3dprint.part +13 -0
  194. reachy_mini/descriptions/reachy_mini/mjcf/assets/lens_cap_d40_3dprint.stl +0 -0
  195. reachy_mini/descriptions/reachy_mini/mjcf/assets/m12_fisheye_lens_1_8mm.part +13 -0
  196. reachy_mini/descriptions/reachy_mini/mjcf/assets/m12_fisheye_lens_1_8mm.stl +0 -0
  197. reachy_mini/descriptions/reachy_mini/mjcf/assets/mp01062_stewart_arm_3.part +13 -0
  198. reachy_mini/descriptions/reachy_mini/mjcf/assets/mp01062_stewart_arm_3.stl +0 -0
  199. reachy_mini/descriptions/reachy_mini/mjcf/assets/neck_reference_3dprint.part +13 -0
  200. reachy_mini/descriptions/reachy_mini/mjcf/assets/neck_reference_3dprint.stl +0 -0
  201. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10.part +13 -0
  202. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10.stl +0 -0
  203. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10_1.part +13 -0
  204. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10_1.stl +0 -0
  205. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10_2.part +13 -0
  206. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10_2.stl +0 -0
  207. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10_3.part +13 -0
  208. reachy_mini/descriptions/reachy_mini/mjcf/assets/phs_1_7x20_5_dc10_3.stl +0 -0
  209. reachy_mini/descriptions/reachy_mini/mjcf/assets/pp01102_arducam_carter.part +13 -0
  210. reachy_mini/descriptions/reachy_mini/mjcf/assets/pp01102_arducam_carter.stl +0 -0
  211. reachy_mini/descriptions/reachy_mini/mjcf/assets/rubber_duck_toy_1k.blend/rubber_duck_toy_1k.obj +8940 -0
  212. reachy_mini/descriptions/reachy_mini/mjcf/assets/rubber_duck_toy_1k.blend/textures/rubber_duck_toy_diff_1k.png +0 -0
  213. reachy_mini/descriptions/reachy_mini/mjcf/assets/small_lens_d30.part +13 -0
  214. reachy_mini/descriptions/reachy_mini/mjcf/assets/small_lens_d30.stl +0 -0
  215. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_ball.part +13 -0
  216. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_ball.stl +0 -0
  217. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_ball__2.part +13 -0
  218. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_ball__2.stl +0 -0
  219. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_rod.part +13 -0
  220. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_link_rod.stl +0 -0
  221. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_main_plate_3dprint.part +13 -0
  222. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_main_plate_3dprint.stl +0 -0
  223. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_tricap_3dprint.part +13 -0
  224. reachy_mini/descriptions/reachy_mini/mjcf/assets/stewart_tricap_3dprint.stl +0 -0
  225. reachy_mini/descriptions/reachy_mini/mjcf/assets/wooden_table_02_1k.blend/textures/wooden_table_02_diff_1k.png +0 -0
  226. reachy_mini/descriptions/reachy_mini/mjcf/assets/wooden_table_02_1k.blend/wooden_table_02_1k.obj +485 -0
  227. reachy_mini/descriptions/reachy_mini/mjcf/config.json +21 -0
  228. reachy_mini/descriptions/reachy_mini/mjcf/joints_properties.xml +29 -0
  229. reachy_mini/descriptions/reachy_mini/mjcf/reachy_mini.xml +642 -0
  230. reachy_mini/descriptions/reachy_mini/mjcf/reachy_mini.xml.bak +442 -0
  231. reachy_mini/descriptions/reachy_mini/mjcf/scene.xml +24 -0
  232. reachy_mini/descriptions/reachy_mini/mjcf/scenes/empty.xml +27 -0
  233. reachy_mini/descriptions/reachy_mini/mjcf/scenes/minimal.xml +132 -0
  234. reachy_mini/descriptions/reachy_mini/urdf/assets/5w_speaker.part +13 -0
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  460. reachy_mini/tools/setup_motor.py +422 -0
  461. reachy_mini/tools/setup_motor_rpi.py +108 -0
  462. reachy_mini/utils/__init__.py +46 -0
  463. reachy_mini/utils/constants.py +9 -0
  464. reachy_mini/utils/hardware_config/__init__.py +1 -0
  465. reachy_mini/utils/hardware_config/parser.py +65 -0
  466. reachy_mini/utils/interpolation.py +227 -0
  467. reachy_mini/utils/parse_urdf_for_kinematics.py +110 -0
  468. reachy_mini/utils/rerun.py +320 -0
  469. reachy_mini/utils/wireless_version/__init__.py +1 -0
  470. reachy_mini/utils/wireless_version/startup_check.py +144 -0
  471. reachy_mini/utils/wireless_version/update.py +20 -0
  472. reachy_mini/utils/wireless_version/update_available.py +61 -0
  473. reachy_mini/utils/wireless_version/utils.py +39 -0
  474. reachy_mini-1.2.5rc1.dist-info/METADATA +161 -0
  475. reachy_mini-1.2.5rc1.dist-info/RECORD +479 -0
  476. reachy_mini-1.2.5rc1.dist-info/WHEEL +5 -0
  477. reachy_mini-1.2.5rc1.dist-info/entry_points.txt +4 -0
  478. reachy_mini-1.2.5rc1.dist-info/licenses/LICENSE +201 -0
  479. reachy_mini-1.2.5rc1.dist-info/top_level.txt +1 -0
@@ -0,0 +1,252 @@
1
+ const volumeControl = {
2
+ currentVolume: 50,
3
+ device: 'unknown',
4
+ platform: 'unknown',
5
+ isUpdating: false,
6
+
7
+ init: async () => {
8
+ const slider = document.getElementById('volume-slider');
9
+ const valueLabel = document.getElementById('volume-value');
10
+ const deviceInfo = document.getElementById('volume-device-info');
11
+
12
+ if (!slider || !valueLabel || !deviceInfo) {
13
+ console.warn('Volume control elements not found in DOM');
14
+ return;
15
+ }
16
+
17
+ try {
18
+ await volumeControl.loadCurrentVolume();
19
+ } catch (error) {
20
+ console.error('Error loading current volume:', error);
21
+ deviceInfo.textContent = 'Error loading volume';
22
+ }
23
+
24
+ slider.addEventListener('input', (e) => {
25
+ const v = Number(e.target.value);
26
+ valueLabel.textContent = String(v);
27
+ });
28
+
29
+ slider.addEventListener('change', async (e) => {
30
+ const newVolume = Number(e.target.value);
31
+ if (!Number.isFinite(newVolume)) return;
32
+ await volumeControl.setVolume(newVolume);
33
+ });
34
+ },
35
+
36
+ loadCurrentVolume: async () => {
37
+ try {
38
+ const response = await fetch('/api/volume/current');
39
+ if (!response.ok) {
40
+ throw new Error(`HTTP error! status: ${response.status}`);
41
+ }
42
+ const data = await response.json();
43
+
44
+ const volume = Number(data.volume);
45
+ if (!Number.isFinite(volume)) {
46
+ throw new Error('Invalid volume in response');
47
+ }
48
+
49
+ volumeControl.currentVolume = volume;
50
+ volumeControl.device = data.device ?? 'unknown';
51
+ volumeControl.platform = data.platform ?? 'unknown';
52
+
53
+ const slider = document.getElementById('volume-slider');
54
+ const valueLabel = document.getElementById('volume-value');
55
+ const deviceInfo = document.getElementById('volume-device-info');
56
+
57
+ if (slider) slider.value = String(volume);
58
+ if (valueLabel) valueLabel.textContent = String(volume);
59
+ if (deviceInfo) {
60
+ deviceInfo.textContent = `${volumeControl.platform} - ${volumeControl.device}`;
61
+ }
62
+
63
+ console.log('Loaded volume:', data);
64
+ } catch (error) {
65
+ console.error('Error loading current volume:', error);
66
+ throw error;
67
+ }
68
+ },
69
+
70
+ setVolume: async (volume) => {
71
+ if (!Number.isFinite(volume)) {
72
+ console.warn('Ignoring invalid volume:', volume);
73
+ return;
74
+ }
75
+
76
+ const safeVolume = Math.max(0, Math.min(100, volume));
77
+ if (volumeControl.isUpdating) {
78
+ console.log('Volume update already in progress, skipping...');
79
+ return;
80
+ }
81
+
82
+ volumeControl.isUpdating = true;
83
+ const slider = document.getElementById('volume-slider');
84
+
85
+ if (slider) slider.disabled = true;
86
+
87
+ try {
88
+ const response = await fetch('/api/volume/set', {
89
+ method: 'POST',
90
+ headers: { 'Content-Type': 'application/json' },
91
+ body: JSON.stringify({ volume: safeVolume }),
92
+ });
93
+
94
+ if (!response.ok) {
95
+ throw new Error(`HTTP error! status: ${response.status}`);
96
+ }
97
+
98
+ const data = await response.json();
99
+ const serverVolume = Number(data.volume);
100
+
101
+ if (Number.isFinite(serverVolume)) {
102
+ volumeControl.currentVolume = serverVolume;
103
+ const s = document.getElementById('volume-slider');
104
+ const valueLabel = document.getElementById('volume-value');
105
+ if (s) s.value = String(serverVolume);
106
+ if (valueLabel) valueLabel.textContent = String(serverVolume);
107
+ }
108
+
109
+ console.log('Volume set to:', serverVolume);
110
+ } catch (error) {
111
+ console.error('Error setting volume:', error);
112
+ try {
113
+ await volumeControl.loadCurrentVolume();
114
+ } catch (loadError) {
115
+ console.error('Also failed to reload volume:', loadError);
116
+ }
117
+ } finally {
118
+ volumeControl.isUpdating = false;
119
+ const s = document.getElementById('volume-slider');
120
+ if (s) s.disabled = false;
121
+ }
122
+ },
123
+ };
124
+
125
+ const microphoneControl = {
126
+ currentVolume: 50,
127
+ device: 'unknown',
128
+ platform: 'unknown',
129
+ isUpdating: false,
130
+
131
+ init: async () => {
132
+ const slider = document.getElementById('microphone-slider');
133
+ const valueLabel = document.getElementById('microphone-value');
134
+ const deviceInfo = document.getElementById('microphone-device-info');
135
+
136
+ if (!slider || !valueLabel || !deviceInfo) {
137
+ console.warn('Microphone control elements not found in DOM');
138
+ return;
139
+ }
140
+
141
+ try {
142
+ await microphoneControl.loadCurrentVolume();
143
+ } catch (error) {
144
+ console.error('Error loading current microphone volume:', error);
145
+ deviceInfo.textContent = 'Error loading microphone';
146
+ }
147
+
148
+ slider.addEventListener('input', (e) => {
149
+ const v = Number(e.target.value);
150
+ valueLabel.textContent = String(v);
151
+ });
152
+
153
+ slider.addEventListener('change', async (e) => {
154
+ const newVolume = Number(e.target.value);
155
+ if (!Number.isFinite(newVolume)) return;
156
+ await microphoneControl.setVolume(newVolume);
157
+ });
158
+ },
159
+
160
+ loadCurrentVolume: async () => {
161
+ try {
162
+ const response = await fetch('/api/volume/microphone/current');
163
+ if (!response.ok) {
164
+ throw new Error(`HTTP error! status: ${response.status}`);
165
+ }
166
+ const data = await response.json();
167
+
168
+ const volume = Number(data.volume);
169
+ if (!Number.isFinite(volume)) {
170
+ throw new Error('Invalid microphone volume in response');
171
+ }
172
+
173
+ microphoneControl.currentVolume = volume;
174
+ microphoneControl.device = data.device ?? 'unknown';
175
+ microphoneControl.platform = data.platform ?? 'unknown';
176
+
177
+ const slider = document.getElementById('microphone-slider');
178
+ const valueLabel = document.getElementById('microphone-value');
179
+ const deviceInfo = document.getElementById('microphone-device-info');
180
+
181
+ if (slider) slider.value = String(volume);
182
+ if (valueLabel) valueLabel.textContent = String(volume);
183
+ if (deviceInfo) {
184
+ deviceInfo.textContent = `${microphoneControl.platform} - ${microphoneControl.device}`;
185
+ }
186
+
187
+ console.log('Loaded microphone volume:', data);
188
+ } catch (error) {
189
+ console.error('Error loading current microphone volume:', error);
190
+ throw error;
191
+ }
192
+ },
193
+
194
+ setVolume: async (volume) => {
195
+ if (!Number.isFinite(volume)) {
196
+ console.warn('Ignoring invalid microphone volume:', volume);
197
+ return;
198
+ }
199
+
200
+ const safeVolume = Math.max(0, Math.min(100, volume));
201
+ if (microphoneControl.isUpdating) {
202
+ console.log('Microphone volume update already in progress, skipping...');
203
+ return;
204
+ }
205
+
206
+ microphoneControl.isUpdating = true;
207
+ const slider = document.getElementById('microphone-slider');
208
+
209
+ if (slider) slider.disabled = true;
210
+
211
+ try {
212
+ const response = await fetch('/api/volume/microphone/set', {
213
+ method: 'POST',
214
+ headers: { 'Content-Type': 'application/json' },
215
+ body: JSON.stringify({ volume: safeVolume }),
216
+ });
217
+
218
+ if (!response.ok) {
219
+ throw new Error(`HTTP error! status: ${response.status}`);
220
+ }
221
+
222
+ const data = await response.json();
223
+ const serverVolume = Number(data.volume);
224
+
225
+ if (Number.isFinite(serverVolume)) {
226
+ microphoneControl.currentVolume = serverVolume;
227
+ const s = document.getElementById('microphone-slider');
228
+ const valueLabel = document.getElementById('microphone-value');
229
+ if (s) s.value = String(serverVolume);
230
+ if (valueLabel) valueLabel.textContent = String(serverVolume);
231
+ }
232
+
233
+ console.log('Microphone volume set to:', serverVolume);
234
+ } catch (error) {
235
+ console.error('Error setting microphone volume:', error);
236
+ try {
237
+ await microphoneControl.loadCurrentVolume();
238
+ } catch (loadError) {
239
+ console.error('Also failed to reload microphone volume:', loadError);
240
+ }
241
+ } finally {
242
+ microphoneControl.isUpdating = false;
243
+ const s = document.getElementById('microphone-slider');
244
+ if (s) s.disabled = false;
245
+ }
246
+ },
247
+ };
248
+
249
+ window.addEventListener('DOMContentLoaded', () => {
250
+ volumeControl.init();
251
+ microphoneControl.init();
252
+ });
@@ -0,0 +1,176 @@
1
+
2
+ const getStatus = async () => {
3
+ return await fetch('/wifi/status')
4
+ .then(response => response.json())
5
+ .catch(error => {
6
+ console.error('Error fetching WiFi status:', error);
7
+ return { mode: 'error' };
8
+ });
9
+ };
10
+
11
+ const refreshStatus = async () => {
12
+ const status = await getStatus();
13
+ handleStatus(status);
14
+
15
+ await fetch('/wifi/error')
16
+ .then(response => response.json())
17
+ .then(data => {
18
+ if (data.error !== null) {
19
+ console.log('Error data:', data);
20
+ alert(`Error while trying to connect: ${data.error}.\n Switching back to hotspot mode.`);
21
+ fetch('/wifi/reset_error', { method: 'POST' });
22
+ }
23
+ })
24
+ .catch(error => {
25
+ console.error('Error fetching WiFi error:', error);
26
+ });
27
+ };
28
+
29
+ const scanAndListWifiNetworks = async () => {
30
+ await fetch('/wifi/scan_and_list', { method: 'POST' })
31
+ .then(response => response.json())
32
+ .then(data => {
33
+ const ssidSelect = document.getElementById('ssid');
34
+ data.forEach(ssid => {
35
+ const option = document.createElement('option');
36
+ option.value = ssid;
37
+ option.textContent = ssid;
38
+ ssidSelect.appendChild(option);
39
+ });
40
+ })
41
+ .catch(() => {
42
+ const ssidSelect = document.getElementById('ssid');
43
+ const option = document.createElement('option');
44
+ option.value = "";
45
+ option.textContent = "Unable to load networks";
46
+ ssidSelect.appendChild(option);
47
+ });
48
+ };
49
+
50
+ const connectToWifi = (_) => {
51
+ const ssid = document.getElementById('ssid').value;
52
+ const password = document.getElementById('password').value;
53
+
54
+ if (!ssid) {
55
+ alert('Please enter an SSID.');
56
+ return;
57
+ }
58
+
59
+ fetch(`/wifi/connect?ssid=${encodeURIComponent(ssid)}&password=${encodeURIComponent(password)}`, {
60
+ method: 'POST',
61
+ headers: {
62
+ 'Content-Type': 'application/json',
63
+ },
64
+ })
65
+ .then(response => {
66
+ if (!response.ok) {
67
+ return response.json().then(errData => {
68
+ throw new Error(errData.detail || 'Failed to connect to WiFi');
69
+ });
70
+ }
71
+
72
+ // Clear the form fields
73
+ document.getElementById('ssid').value = '';
74
+ document.getElementById('password').value = '';
75
+
76
+ return response.json();
77
+ })
78
+ .then(data => {
79
+ handleStatus({ mode: 'busy' });
80
+ })
81
+ .catch(error => {
82
+ console.error('Error connecting to WiFi:', error);
83
+ alert(`Error connecting to WiFi: ${error.message}`);
84
+ });
85
+ return false; // Prevent form submission
86
+ };
87
+
88
+ let currentMode = null;
89
+
90
+ const handleStatus = (status) => {
91
+ const statusDiv = document.getElementById('wifi-status');
92
+
93
+ const knownNetworksDiv = document.getElementById('known-networks');
94
+ const knownNetworksList = document.getElementById('known-networks-list');
95
+ knownNetworksDiv.classList.remove('hidden');
96
+
97
+ const mode = status.mode;
98
+
99
+ knownNetworksList.innerHTML = '';
100
+ if (status.known_networks !== undefined && Array.isArray(status.known_networks)) {
101
+ status.known_networks.forEach((network) => {
102
+ const li = document.createElement('li');
103
+ li.classList = 'flex flex-row items-center mb-1 gap-4 justify-left';
104
+
105
+ const nameSpan = document.createElement('span');
106
+ nameSpan.innerText = network;
107
+ li.appendChild(nameSpan);
108
+
109
+ // const removeBtn = document.createElement('span');
110
+ // removeBtn.innerText = ' (remove ❌)';
111
+ // removeBtn.style.cursor = 'pointer';
112
+ // removeBtn.title = 'Remove network';
113
+ // removeBtn.onclick = async () => {
114
+ // if (confirm(`Remove network '${network}'?`)) {
115
+ // removeNetwork(network);
116
+ // }
117
+ // };
118
+ // li.appendChild(removeBtn);
119
+
120
+ knownNetworksList.appendChild(li);
121
+ });
122
+ }
123
+
124
+ if (mode == 'hotspot') {
125
+ statusDiv.innerText = 'Hotspot mode active. 🔌';
126
+
127
+ } else if (mode == 'wlan') {
128
+ if (currentMode !== null && currentMode !== 'wlan') {
129
+ alert(`Successfully connected to WiFi network: ${status.connected_network} ✅`);
130
+ }
131
+
132
+ statusDiv.innerText = `Connected to WiFi (SSID: ${status.connected_network}). 📶`;
133
+
134
+ } else if (mode == 'disconnected') {
135
+ statusDiv.innerText = 'WiFi disconnected. ❌';
136
+ } else if (mode == 'busy') {
137
+ statusDiv.innerText = 'Changing your WiFi configuration... Please wait ⏳';
138
+ } else if (mode == 'error') {
139
+ statusDiv.innerText = 'Error connecting to WiFi. ⚠️';
140
+ } else {
141
+ console.warn(`Unknown status: ${status}`);
142
+ }
143
+
144
+ currentMode = mode;
145
+ };
146
+
147
+ const removeNetwork = async (ssid) => {
148
+ const status = await getStatus();
149
+
150
+ // TODO:
151
+ // if ssid !== status.connected_network:
152
+ // remove connection
153
+ // else:
154
+ // refresh nmcli? go back to hotspot if needed?
155
+ };
156
+
157
+ const cleanAndRefresh = async () => {
158
+ const statusDiv = document.getElementById('wifi-status');
159
+ statusDiv.innerText = 'Checking WiFi configuration...';
160
+
161
+ const knownNetworksDiv = document.getElementById('known-networks');
162
+ knownNetworksDiv.classList.add('hidden');
163
+
164
+ const addWifi = document.getElementById('add-wifi');
165
+ addWifi.classList.add('hidden');
166
+
167
+ await scanAndListWifiNetworks();
168
+ await refreshStatus();
169
+
170
+ addWifi.classList.remove('hidden');
171
+ };
172
+
173
+ window.addEventListener('load', async () => {
174
+ await cleanAndRefresh();
175
+ setInterval(refreshStatus, 1000);
176
+ });
@@ -0,0 +1,15 @@
1
+ # Generate static Tailwind CSS
2
+
3
+ ## Requirements
4
+
5
+ (From this folder)
6
+
7
+ ```bash
8
+ pnpm install -D tailwindcss @tailwindcss/cli
9
+ ```
10
+
11
+ ## Generate CSS
12
+
13
+ ```bash
14
+ npx @tailwindcss/cli -i ./styles/app.css -o ../static/css/app.css
15
+ ```