get sound from emotions lib

hand_tracker_v2/main.py

@@ -9,6 +9,7 @@ from hand_tracker import HandTracker
 from scipy.spatial.transform import Rotation as R
 from utils import finger_orientation_deg, angle_diff, allow_multiturn
 import os
+from recorded_moves import RecordedMoves
 
 DEBUG = True
 FREQUENCY = 50  # Hz
@@ -100,7 +101,7 @@ class HandTrackerV2(ReachyMiniApp):
         cv2.waitKey(1)
 
 
-    def update_hand_pos(self, im, reachy_mini):
+    def update_hand_pos(self, im):
         if self.hand_tracker is None:
             self.hand_tracker = HandTracker(model_complexity=0)
         hands = self.hand_tracker.get_hands_positions(im)
@@ -130,11 +131,7 @@ class HandTrackerV2(ReachyMiniApp):
     def play_sound(self,reachy_mini, sound_name: str):
         if time.time() - self.last_play_sound < 2.0:
             return
-        sound_path = os.path.join(
-            os.path.dirname(__file__),
-            "sounds",
-            f"{sound_name}.wav"
-        )
+        sound_path = self.recorded_moves.sounds[sound_name]
         reachy_mini.media.play_sound(sound_path)
         self.last_play_sound = time.time()
 
@@ -167,9 +164,9 @@ class HandTrackerV2(ReachyMiniApp):
                 if all(count == stable_hand_count for count in self.hand_count_history):
                     # Le nombre de mains est stable, comparer avec précédent
                     if stable_hand_count > self.previous_number_hands:
-                        self.play_sound(reachy_mini, "happy")
+                        self.play_sound(reachy_mini, "success2")
                     elif stable_hand_count < self.previous_number_hands:
-                        self.play_sound(reachy_mini, "sad")
+                        self.play_sound(reachy_mini, "irritated1")
 
                     self.previous_number_hands = stable_hand_count
 
@@ -183,7 +180,7 @@ class HandTrackerV2(ReachyMiniApp):
             if time_since_last_hand > self.idle_timeout:
                 # Enter idle once
                 if not self.is_idle:
-                    print(">>> ENTERING IDLE MODE")
+                    print("Entering IDLE mode")
                     self.previous_antenna_angles = reachy_mini.get_present_antenna_joint_positions()
 
                     self.is_idle = True
@@ -285,6 +282,8 @@ class HandTrackerV2(ReachyMiniApp):
         self.hand_count_history = []  # buffer des derniers counts
         self.hand_count_buffer_size = 3  # nombre de frames consécutives pour valider
 
+        self.recorded_moves = RecordedMoves("pollen-robotics/reachy-mini-emotions-library")
+
 
 
         tracking_thread = threading.Thread(
@@ -301,7 +300,7 @@ class HandTrackerV2(ReachyMiniApp):
             if self.width is None or self.height is None:
                 self.height, self.width = im.shape[:2]
 
-            self.update_hand_pos(im, reachy_mini)
+            self.update_hand_pos(im)
             if DEBUG:
                 self.draw(im)
             # time.sleep(0.02)

hand_tracker_v2/recorded_moves.py

@@ -0,0 +1,35 @@
+import json
+from glob import glob
+from pathlib import Path
+from typing import Any, Dict
+from huggingface_hub import snapshot_download
+
+class RecordedMoves:
+    """Load a library of recorded moves from a HuggingFace dataset."""
+
+    def __init__(self, hf_dataset_name: str):
+        """Initialize RecordedMoves."""
+        self.hf_dataset_name = hf_dataset_name
+        self.local_path = snapshot_download(self.hf_dataset_name, repo_type="dataset")
+        # self.local_path = Path(__file__).parent.parent.parent / hf_dataset_name
+        # print(self.local_path)
+        self.moves: Dict[str, Any] = {}
+        self.sounds: Dict[str, Any] = {}
+
+        self.process()
+
+    def process(self) -> None:
+        """Populate recorded moves and sounds."""
+        move_paths_tmp = glob(f"{self.local_path}/*.json")
+        move_paths = [Path(move_path) for move_path in move_paths_tmp]
+        for move_path in move_paths:
+            move_name = move_path.stem
+
+            move = json.load(open(move_path, "r"))
+            self.moves[move_name] = move
+        
+        sound_paths_tmp = glob(f"{self.local_path}/*.wav")
+        sound_paths = [Path(sound_path) for sound_path in sound_paths_tmp]
+        for sound_path in sound_paths:
+            sound_name = sound_path.stem
+            self.sounds[sound_name] = str(sound_path)