cleaning up

reachy_mini_red_light_green_light/main.py

@@ -20,8 +20,8 @@ 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
+        cap = find_camera()
+        # cap = cv2.VideoCapture(0)  # debug
         if cap is None:
             raise RuntimeError("No camera found. Please connect a camera.")
 
@@ -34,6 +34,9 @@ class RedLightGreenLightApp(ReachyMiniApp):
         people_detector = PeopleDetector(model_path=pose_landmarker_path, max_poses=3)
 
         def sequence():
+            """
+            Red light green light sequence.
+            """
             time.sleep(1)
             sleep_head_joint_positions = SLEEP_HEAD_JOINT_POSITIONS.copy()
             sleep_head_joint_positions[0] = np.deg2rad(170)
@@ -82,12 +85,6 @@ class RedLightGreenLightApp(ReachyMiniApp):
                 antennas_joint_positions=SLEEP_ANTENNAS_JOINT_POSITIONS,
                 duration=sleep_3_time,
             )
-            # sleep_head_joint_positions[0] = np.deg2rad(170)
-            # reachy_mini._goto_joint_positions(
-            #     head_joint_positions=sleep_head_joint_positions,
-            #     antennas_joint_positions=SLEEP_ANTENNAS_JOINT_POSITIONS,
-            #     duration=sleep_3_time,
-            # )
             print("SOLEIL !!!")
             reachy_mini.play_sound("dance1.wav")
             reachy_mini.goto_target(np.eye(4), antennas=[0.0, 0.0], duration=0.5)
@@ -123,22 +120,6 @@ class RedLightGreenLightApp(ReachyMiniApp):
                             look_at_px[0], look_at_px[1], duration=0.3
                         )
 
-                        # normalized_look_at = (
-                        #     ((look_at_px[0] / frame.shape[1]) - 0.5) * 2,
-                        #     ((look_at_px[1] / frame.shape[0]) - 0.5) * 2,
-                        # )  # Normalize to [-1, 1]
-                        # yaw_range = [-80, 80]
-                        # target_yaw = (
-                        #     normalized_look_at[0] * (yaw_range[1] - yaw_range[0]) / 2
-                        #     + (yaw_range[1] + yaw_range[0]) / 2
-                        # )
-                        # pose = create_head_pose(
-                        #     yaw=-target_yaw,
-                        # )
-                        # reachy_mini.goto_target(
-                        #     head=pose, antennas=[0.5, 0.0], duration=0.3
-                        # )
-
                         last_watched = time.time()
                         buffer = []
                         moved = []
@@ -210,8 +191,7 @@ class RedLightGreenLightApp(ReachyMiniApp):
                     time.sleep(2)
                     return
 
-                cv2.imshow("Pose Detection", frame)
-                cv2.waitKey(1)
+                time.sleep(0.01)
 
             cv2.destroyAllWindows()