Merge branch 'develop' into 180_2-stream-audiovideo-from-rpi

Author: FabienDanieau

.gitattributes

@@ -11,3 +11,4 @@
 *.stl filter=lfs diff=lfs merge=lfs -text
 *.npz filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
+*.svg filter=lfs diff=lfs merge=lfs -text

.github/workflows/lint.yml

@@ -23,4 +23,5 @@ jobs:
           python -m pip install --upgrade pip
           pip install .[dev]
       - name : Lint with mypy
-        run : mypy -v
+        run : |
+          mypy --install-types --non-interactive

.gitignore

@@ -1,7 +1,256 @@
+# Byte-compiled / optimized / DLL files
 __pycache__/
-reachy_mini.egg-info/
+*.py[codz]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
 *.egg-info/
-build/*
-dist/*
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#   Usually these files are written by a python script from a template
+#   before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py.cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+# Pipfile.lock
+
+# UV
+#   Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+# uv.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+# poetry.lock
+# poetry.toml
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#   pdm recommends including project-wide configuration in pdm.toml, but excluding .pdm-python.
+#   https://pdm-project.org/en/latest/usage/project/#working-with-version-control
+# pdm.lock
+# pdm.toml
+.pdm-python
+.pdm-build/
+
+# pixi
+#   Similar to Pipfile.lock, it is generally recommended to include pixi.lock in version control.
+# pixi.lock
+#   Pixi creates a virtual environment in the .pixi directory, just like venv module creates one
+#   in the .venv directory. It is recommended not to include this directory in version control.
+.pixi
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# Redis
+*.rdb
+*.aof
+*.pid
+
+# RabbitMQ
+mnesia/
+rabbitmq/
+rabbitmq-data/
+
+# ActiveMQ
+activemq-data/
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.envrc
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+.idea/**/contentModel.xml
+
+# Abstra
+#   Abstra is an AI-powered process automation framework.
+#   Ignore directories containing user credentials, local state, and settings.
+#   Learn more at https://abstra.io/docs
+.abstra/
+
+# Visual Studio Code
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+!*.code-workspace
+
+# Ruff stuff:
+.ruff_cache/
+
+# PyPI configuration file
+.pypirc
+
+# Marimo
+marimo/_static/
+marimo/_lsp/
+__marimo__/
+
+# Streamlit
+.streamlit/secrets.toml
+
+# General for macOS
+.DS_Store
+__MACOSX/
+.AppleDouble
+.LSOverride
+Icon[]
+
+# General for Linux
+*~
+.fuse_hidden*
+.directory
+.Trash-*
+.nfs*
+nohup.out
+
+# General for Windows
+Thumbs.db
+Thumbs.db:encryptable
+ehthumbs.db
+ehthumbs_vista.db
+[Dd]esktop.ini
+*.stackdump
+$RECYCLE.BIN/
+*.lnk
+
+# Project specific ignores
 src/reachy_mini_dashboard/installed_apps/*
 examples/debug/measures/*
+.DS_Store

README.md

@@ -60,6 +60,12 @@ The daemon is built in Python, so you need to have Python installed on your comp
 
 You can install Reachy Mini from the source code or from PyPI.
 
+First, make sure `git-lfs` is installed on your system:
+
+- On Linux: `sudo apt install git-lfs`
+- On macOS: `brew install git-lfs`
+- On Windows: [Follow the instructions here](https://docs.github.com/en/repositories/working-with-files/managing-large-files/installing-git-large-file-storage?platform=windows)
+
 From PyPI, you can install the package with:
 
 ```bash
@@ -146,10 +152,18 @@ For more information about the daemon and its options, you can run:
 reachy-mini-daemon --help
 ```
 
-## Run the demo
+### Dashboard
+
+You can access a simple dashboard to monitor the robot's status at [http://localhost:8000/](http://localhost:8000/) when the daemon is running. This lets you turn your robot on and off, run some basic movements, and browse spaces for Reachy Mini!
+
+![Reachy Mini Dashboard](docs/assets/dashboard.png)
+
+## Run the demo & awesome apps
 
 Conversational demo for the Reachy Mini robot combining LLM realtime APIs, vision pipelines, and choreographed motion libraries: [reachy_mini_conversation_demo](https://github.com/pollen-robotics/reachy_mini_conversation_demo).
 
+You can find more awesome apps and demos for Reachy Mini on [Hugging Face spaces](https://huggingface.co/spaces?q=reachy_mini)!
+
 ## Using the Python SDK
 
 The API is designed to be simple and intuitive. You can control the robot's features such as the head, antennas, camera, speakers, and microphone. For instance, to move the head of the robot, you can use the `goto_target` method as shown in the example below:

docs/assets/dashboard.png

@@ -0,0 +1,11 @@
+# Awesome Reachy Mini Apps
+
+This repository contains a collection of awesome applications and demos built for the Reachy Mini robot. These applications showcase the capabilities of Reachy Mini in various domains, including robotics, AI, and human-robot interaction.
+
+Feel free to explore and contribute to this list!
+
+## Applications and Demos
+
+- **[Conversational Demo](https://github.com/pollen-robotics/reachy_mini_conversation_demo)**: by Pollen Robotics. A demo that combines LLM realtime APIs, vision pipelines, and choreographed motion libraries to enable natural conversations with Reachy Mini.
+
+- **[Reachy Mini Dancer](https://github.com/LAURA-agent/reachy_mini_dancer)**: by @Townie. A desktop viewer with daemon UI and choreography system.

docs/awesome-apps.md

@@ -3,6 +3,9 @@
 Open a wav and push samples to the speaker. This is a toy example, in real
 conditions output from a microphone or a text-to-speech engine would be
  pushed to the speaker instead.
+
+It requires the 'rerun-loader-urdf' package to be installed. It's not on PyPI,
+so you need to install it from the GitHub repository: pip install git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git
 """
 
 import logging

examples/rerun_viewer.py

@@ -12,7 +12,7 @@ requires-python = ">=3.10"
 dependencies = [
     "numpy>=2.2.5,<2.3.0",
     "scipy==1.15.3",
-    "reachy_mini_motor_controller>=1.0.0",    
+    "reachy_mini_motor_controller>=1.2.0",    
     "eclipse-zenoh>=1.4.0",
     "opencv-python<=5.0",
     "cv2_enumerate_cameras>=1.2.1",
@@ -29,7 +29,8 @@ dependencies = [
     "aiohttp",
     "log-throttling==0.0.3",
     "pyusb>=1.2.1",
-    "libusb_package>=1.0.26.3"
+    "libusb_package>=1.0.26.3",
+    "pip>=25",
 ]
 
 
@@ -44,20 +45,22 @@ dev = [
     "pre-commit",
     "mypy==1.18.2",
     "rustypot>=1.3.0",
-    "types-requests"
+    "types-requests",
 ]
 examples = ["pynput"]
 mujoco = ["mujoco==3.3.0"]
 nn_kinematics = ["onnxruntime==1.22.1"]
 placo_kinematics = ["placo==0.9.14"]
 gstreamer = ["PyGObject>=3.42.2,<=3.46.0", "gst-signalling==1.1.1"]
-rerun = ["rerun-sdk>=0.23.4",
-         "rerun-loader-urdf @ git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git",
+rerun = [
+    "rerun-sdk>=0.23.4",
+    # See https://github.com/rerun-io/rerun-loader-python-example-urdf/issues/12
+    # "rerun-loader-urdf @ git+https://github.com/rerun-io/rerun-loader-python-example-urdf.git",
 ]
 
 [project.scripts]
 reachy-mini-daemon = "reachy_mini.daemon.app.main:main"
-reachy-mini-make-app = "reachy_mini.apps.apps.app:main"
+reachy-mini-make-app = "reachy_mini.apps.app:main"
 
 [tool.setuptools]
 package-dir = { "" = "src" }

pyproject.toml

@@ -9,6 +9,7 @@ class SourceKind(str, Enum):
     """Kinds of app source."""
 
     HF_SPACE = "hf_space"
+    LOCAL = "local"
     INSTALLED = "installed"