update

pyproject.toml

@@ -11,9 +11,9 @@ readme = "README.md"
 requires-python = ">=3.8"
 # dependencies = ["reachy-mini"]
 dependencies = [
-    "reachy-mini@git+https://github.com/pollen-robotics/reachy_mini",
-    "mediapipe",
-] # TODO open
+    "reachy-mini",
+    "reachy-mini-toolbox[vision]>=1.0.1"
+]
 
 [tool.setuptools]
 package-dir = { "" = "." }

red_light_green_light/main.py

@@ -5,7 +5,8 @@ from importlib.resources import files
 import cv2
 import numpy as np
 from reachy_mini import ReachyMiniApp
-from reachy_mini.utils.camera import find_camera
+
+# from reachy_mini.utils.camera import find_camera
 from reachy_mini.reachy_mini import (
     SLEEP_ANTENNAS_JOINT_POSITIONS,
     SLEEP_HEAD_JOINT_POSITIONS,
@@ -21,11 +22,6 @@ UPPER_BODY_LANDMARKS = [11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22]
 
 class RedLightGreenLightApp(ReachyMiniApp):
     def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
-        cap = find_camera()
-        # cap = cv2.VideoCapture(0)  # debug
-        if cap is None:
-            raise RuntimeError("No camera found. Please connect a camera.")
-
         # arbitrary 3 maximum people are tracked. Maybe make it a parameter?
         pose_landmarker_path: str = str(
             files(red_light_green_light).joinpath("pose_landmarker_full.task")
@@ -49,7 +45,7 @@ class RedLightGreenLightApp(ReachyMiniApp):
             sleep_2_time = np.random.rand() + 0.4 * 1.3
             sleep_3_time = np.random.rand() + 0.3 * 3.0
             print("1...")
-            reachy_mini.play_sound("count.wav")
+            reachy_mini.media.play_sound("count.wav")
             sleep_head_joint_positions[0] = np.deg2rad(160)
             reachy_mini._goto_joint_positions(
                 head_joint_positions=sleep_head_joint_positions,
@@ -63,7 +59,7 @@ class RedLightGreenLightApp(ReachyMiniApp):
                 duration=sleep_1_time,
             )
             print("2...")
-            reachy_mini.play_sound("count.wav")
+            reachy_mini.media.play_sound("count.wav")
             sleep_head_joint_positions[0] = np.deg2rad(150)
             reachy_mini._goto_joint_positions(
                 head_joint_positions=sleep_head_joint_positions,
@@ -77,7 +73,7 @@ class RedLightGreenLightApp(ReachyMiniApp):
                 duration=sleep_2_time,
             )
             print("3...")
-            reachy_mini.play_sound("count.wav")
+            reachy_mini.media.play_sound("count.wav")
             sleep_head_joint_positions[0] = np.deg2rad(0)
             reachy_mini._goto_joint_positions(
                 head_joint_positions=sleep_head_joint_positions,
@@ -85,7 +81,7 @@ class RedLightGreenLightApp(ReachyMiniApp):
                 duration=sleep_3_time,
             )
             print("SOLEIL !!!")
-            reachy_mini.play_sound("dance1.wav")
+            reachy_mini.media.play_sound("dance1.wav")
             reachy_mini.goto_target(np.eye(4), antennas=[0.0, 0.0], duration=0.5)
 
         def scan():
@@ -97,11 +93,11 @@ class RedLightGreenLightApp(ReachyMiniApp):
             )  # Random scan duration between 4 and 7 seconds
             buffer = []
             moved = []
-            reachy_mini.play_sound("confused1.wav")
+            reachy_mini.media.play_sound("confused1.wav")
             last_watched = time.time()
             while time.time() - t0 < scan_for:
-                ret, frame = cap.read()
-                if not ret:
+                frame = reachy_mini.media.get_frame()
+                if frame is None:
                     break
 
                 # Look at a random player
@@ -185,7 +181,7 @@ class RedLightGreenLightApp(ReachyMiniApp):
                     reachy_mini.goto_target(
                         head=pose, antennas=[-0.5, 0.5], duration=1.0
                     )
-                    reachy_mini.play_sound("impatient1.wav")
+                    reachy_mini.media.play_sound("impatient1.wav")
 
                     time.sleep(2)
                     return