remove emotion-library moves + praise; tune detection thresholds

- main.py: drop _PERSONALITY_*_EMOTIONS dicts and play_move(emo, ...)
calls — they hammered the motor controller (Serial I/O errors) and
fought TTS audio. Shame path keeps TTS + lightweight count-based
animation. Putdown handler is silent (just streak timer).
- audio.py auto-path now prefers Groq Orpheus when groq_key is set
(ElevenLabs > Groq > Edge). enable_orpheus_tags fires when Groq is
in play (provider=groq or auto+key), so the LLM emits [angry] etc
whenever Orpheus will consume them.
- config.py: PICKUP_THRESHOLD 3 -> 2 frames (Pi 5 hits ~3 fps so 3
frames was a full second), DETECTION_CONFIDENCE 0.3 -> 0.2 (more
eager pickup detection).
- UI: drop emotion-animations + praise checkboxes from settings modal
(along with the JS handlers). praise field still accepted for
back-compat but ignored server-side.

judgy_reachy_no_phone/audio.py

@@ -413,7 +413,8 @@ class TextToSpeech:
         # For ElevenLabs and Edge (auto path), strip Orpheus tags so they aren't spoken verbatim
         text_no_tags = strip_orpheus_tags(text)
 
-        # Explicit ElevenLabs OR auto with ElevenLabs key: try ElevenLabs
+        # Auto path: ElevenLabs (if works) > Groq Orpheus (if key) > Edge (fallback).
+        # Explicit "elevenlabs": same as auto-with-eleven, falls through to Edge on failure.
         # Try ElevenLabs first if available and under limit
         if self.eleven_client and (self.chars_used + len(text_no_tags)) < self.MONTHLY_LIMIT:
             # Check cache first
@@ -441,9 +442,20 @@ class TextToSpeech:
                     continue
 
             # All voices failed
-            logger.warning(f"All ElevenLabs voices failed for {self.personality}, falling back to Edge TTS")
+            logger.warning(f"All ElevenLabs voices failed for {self.personality}, falling back to Groq/Edge")
 
-        # Fallback to Edge TTS (always works, unlimited)
+        # In the auto path, prefer Groq Orpheus over Edge when groq_key is available.
+        # (Explicit provider="edge"/"groq"/"elevenlabs" already short-circuited above.)
+        if self.groq_key:
+            try:
+                wav_path = output_path.rsplit(".", 1)[0] + ".wav"
+                logger.info(f"Auto-path -> Groq Orpheus voice={self.groq_tts_voice}")
+                # Tags pass through to Orpheus
+                return await self._synthesize_groq(text, wav_path)
+            except Exception as e:
+                logger.warning(f"Groq TTS failed in auto-path: {e}, falling back to Edge TTS")
+
+        # Final fallback: Edge TTS (always works, unlimited)
         logger.info(f"Using Edge TTS with voice: {edge_voice}")
         return await self._synthesize_edge(text_no_tags, output_path, edge_voice)
 

judgy_reachy_no_phone/config.py

@@ -8,9 +8,11 @@ from dataclasses import dataclass
 class Config:
     """App configuration."""
     # Detection settings
-    PICKUP_THRESHOLD: int = 3          # Frames to confirm phone pickup
+    # Pi 5 camera path yields ~3 fps; threshold=2 -> ~0.7 s held phone before
+    # first shame (vs 1 s with the upstream default of 3 frames).
+    PICKUP_THRESHOLD: int = 2          # Frames to confirm phone pickup
     PUTDOWN_THRESHOLD: int = 15        # Frames to confirm phone put down (~3 sec)
-    DETECTION_CONFIDENCE: float = 0.3  # Higher = fewer false positives
+    DETECTION_CONFIDENCE: float = 0.2  # Higher = fewer false positives
     COOLDOWN_SECONDS: float = 10.0     # Min time between shames
 
     # API Keys (optional - leave empty for free defaults)

judgy_reachy_no_phone/main.py

@@ -408,85 +408,35 @@ class JudgyReachyNoPhone(ReachyMiniApp):
             text = self.llm.get_response(count)
             logger.info(f"Response: {text}")
 
-            # Generate and play audio
+            # Generate and play audio + generic animation only.
+            # (Emotion-library play_move() was triggering motor I/O errors —
+            # removed in favor of the lightweight personality-agnostic animation.)
             try:
                 loop = asyncio.new_event_loop()
                 asyncio.set_event_loop(loop)
                 audio_path = loop.run_until_complete(self.tts.synthesize(text))
                 loop.close()
 
-                # Play audio
                 reachy.media.play_sound(audio_path)
-
-                # Emotion-library move (motion only — sound=False so it doesn't fight TTS)
-                # falls back to count-based generic animation if emotions disabled or unavailable.
-                emo_name = _pick_emotion(self.llm.personality, "shame") if self.emotions_enabled else None
-                if emo_name and self.emotions:
-                    try:
-                        emo = self.emotions.get(emo_name)
-                        logger.info(f"Playing shame emotion: {emo_name} (personality={self.llm.personality})")
-                        reachy.play_move(emo, sound=False)
-                    except Exception as e:
-                        logger.warning(f"Emotion '{emo_name}' failed: {e}; falling back to generic animation")
-                        get_animation_for_count(count)(reachy)
-                else:
-                    animation = get_animation_for_count(count)
-                    animation(reachy)
+                animation = get_animation_for_count(count)
+                animation(reachy)
 
             except Exception as e:
                 logger.error(f"Shame response error: {e}")
-                # Fallback: just animate
                 play_sound_safe(reachy, "confused1.wav")
                 disappointed_shake(reachy)
 
     def _handle_phone_putdown(self, reachy: ReachyMini):
-        """Handle phone put down event."""
-        logger.info("Phone put down!")
-
-        # Start new streak
+        """Handle phone put down event.
+
+        Praise was removed per user preference — the robot should react when
+        the phone is picked up, but stay silent when it's put down (the user
+        doesn't need a reward for the absence of a problem).
+        Only the streak timer restarts; no audio, no motion.
+        """
+        logger.info("Phone put down (silent — praise disabled)")
         self.current_streak_start = time.time()
 
-        # Check if using Pure Reachy mode (no TTS, just emotions)
-        if self.llm.personality == "pure_reachy" and self.emotions:
-            # Randomly pick a praise emotion from the config list
-            import random
-            personality_data = PERSONALITIES["pure_reachy"]
-            praise_emotions = personality_data.get("praise_emotions", ["yes1"])
-            emotion_name = random.choice(praise_emotions)
-            emotion = self.emotions.get(emotion_name)
-            logger.info(f"Pure Reachy praise: {emotion_name}")
-
-            # Play emotion (includes sound + animation automatically)
-            reachy.play_move(emotion)
-        else:
-            # Normal mode: Get praise via TTS
-            text = self.llm.get_praise()
-            logger.info(f"Praise: {text}")
-
-            try:
-                loop = asyncio.new_event_loop()
-                asyncio.set_event_loop(loop)
-                audio_path = loop.run_until_complete(self.tts.synthesize(text))
-                loop.close()
-
-                reachy.media.play_sound(audio_path)
-
-                emo_name = _pick_emotion(self.llm.personality, "praise") if self.emotions_enabled else None
-                if emo_name and self.emotions:
-                    try:
-                        emo = self.emotions.get(emo_name)
-                        logger.info(f"Playing praise emotion: {emo_name} (personality={self.llm.personality})")
-                        reachy.play_move(emo, sound=False)
-                    except Exception as e:
-                        logger.warning(f"Emotion '{emo_name}' failed: {e}; falling back to approving_nod")
-                        approving_nod(reachy)
-                else:
-                    approving_nod(reachy)
-
-            except Exception as e:
-                logger.debug(f"Praise error: {e}")
-                approving_nod(reachy)
-
     def _run_ui(self, reachy_mini: ReachyMini, stop_event: threading.Event):
         """Setup FastAPI routes for the UI."""
 
@@ -606,7 +556,7 @@ class JudgyReachyNoPhone(ReachyMiniApp):
                     user_name=req.user_name,
                     custom_prompt=req.custom_prompt,
                     model=req.model,
-                    enable_orpheus_tags=(req.tts_provider == "groq"),
+                    enable_orpheus_tags=bool(req.groq_key) and req.tts_provider in ("groq", "auto"),
                 )
                 self.emotions_enabled = req.emotions_enabled
 
@@ -776,7 +726,7 @@ class JudgyReachyNoPhone(ReachyMiniApp):
                 user_name=req.user_name,
                 custom_prompt=req.custom_prompt,
                 model=req.model,
-                enable_orpheus_tags=(req.tts_provider == "groq"),
+                enable_orpheus_tags=bool(req.groq_key) and req.tts_provider in ("groq", "auto"),
             )
             self.emotions_enabled = req.emotions_enabled
 
@@ -812,7 +762,8 @@ class JudgyReachyNoPhone(ReachyMiniApp):
                 text = self.llm.get_response(self.detector.phone_count)
                 logger.info(f"Test response: {text}")
 
-                # Play audio and animate
+                # Play audio + lightweight count-based animation. Emotion-library
+                # play_move() removed — was the source of motor I/O errors.
                 try:
                     loop = asyncio.new_event_loop()
                     asyncio.set_event_loop(loop)
@@ -820,20 +771,8 @@ class JudgyReachyNoPhone(ReachyMiniApp):
                     loop.close()
 
                     reachy_mini.media.play_sound(audio_path)
-
-                    # Emotion-library move for the personality (motion only, sound=False)
-                    emo_name = _pick_emotion(req.personality, "shame") if req.emotions_enabled else None
-                    if emo_name and self.emotions:
-                        try:
-                            emo = self.emotions.get(emo_name)
-                            logger.info(f"Test playing emotion: {emo_name} (personality={req.personality})")
-                            reachy_mini.play_move(emo, sound=False)
-                        except Exception as e:
-                            logger.warning(f"Test emotion '{emo_name}' failed: {e}; generic animation")
-                            get_animation_for_count(self.detector.phone_count)(reachy_mini)
-                    else:
-                        animation = get_animation_for_count(self.detector.phone_count)
-                        animation(reachy_mini)
+                    animation = get_animation_for_count(self.detector.phone_count)
+                    animation(reachy_mini)
                 except Exception as e:
                     logger.error(f"Test error: {e}")
                     play_sound_safe(reachy_mini, "confused1.wav")
@@ -852,7 +791,7 @@ class JudgyReachyNoPhone(ReachyMiniApp):
                 user_name=req.user_name,
                 custom_prompt=req.custom_prompt,
                 model=req.model,
-                enable_orpheus_tags=(req.tts_provider == "groq"),
+                enable_orpheus_tags=bool(req.groq_key) and req.tts_provider in ("groq", "auto"),
             )
             self.emotions_enabled = req.emotions_enabled
             logger.info(

judgy_reachy_no_phone/static/index.html

@@ -180,18 +180,6 @@
                     <label for="cooldown">Cooldown between shames (seconds): <span id="cooldown-value">10</span></label>
                     <input type="range" id="cooldown" min="10" max="120" value="10" step="5">
                 </div>
-                <div class="form-group">
-                    <label class="checkbox-label">
-                        <input type="checkbox" id="praise-toggle" checked>
-                        Praise when phone is put down
-                    </label>
-                </div>
-                <div class="form-group">
-                    <label class="checkbox-label">
-                        <input type="checkbox" id="emotions-toggle" checked>
-                        Emotion animations (head/antenna moves from Reachy emotion library)
-                    </label>
-                </div>
             </div>
             <div class="settings-footer">
                 <button class="btn btn-done" id="done-settings">✓ Done</button>

judgy_reachy_no_phone/static/main.js

@@ -16,22 +16,17 @@ function getCustomSettings() {
     const model = (document.getElementById('groq-model')?.value || '').trim();
     const ttsProvider = (document.getElementById('tts-provider')?.value || 'auto').trim();
     const groqTtsVoice = (document.getElementById('groq-tts-voice')?.value || '').trim();
-    // Default to true if checkbox missing in older DOM
-    const emotionsEl = document.getElementById('emotions-toggle');
-    const emotionsEnabled = emotionsEl ? !!emotionsEl.checked : true;
     localStorage.setItem('userName', userName);
     localStorage.setItem('customPrompt', customPrompt);
     localStorage.setItem('groqModel', model);
     localStorage.setItem('ttsProvider', ttsProvider);
     localStorage.setItem('groqTtsVoice', groqTtsVoice);
-    localStorage.setItem('emotionsEnabled', emotionsEnabled ? '1' : '0');
     return {
         user_name: userName,
         custom_prompt: customPrompt,
         model: model,
         tts_provider: ttsProvider,
         groq_tts_voice: groqTtsVoice,
-        emotions_enabled: emotionsEnabled,
     };
 }
 
@@ -50,12 +45,6 @@ function hydrateCustomSettings() {
             if (v !== null) el.value = v;
         }
     }
-    // Hydrate emotions toggle (default ON if never set)
-    const emo = document.getElementById('emotions-toggle');
-    if (emo) {
-        const stored = localStorage.getItem('emotionsEnabled');
-        emo.checked = stored === null ? true : stored === '1';
-    }
     // Also hydrate groq-key & eleven-key from localStorage if present (existing UX gap).
     const gk = document.getElementById('groq-key');
     if (gk && localStorage.getItem('groqKey')) gk.value = localStorage.getItem('groqKey');
@@ -130,7 +119,7 @@ async function updateUIForAPIKeys() {
     const groqKey = document.getElementById('groq-key').value;
     const elevenKey = document.getElementById('eleven-key').value;
     const cooldown = document.getElementById('cooldown').value;
-    const praise = document.getElementById('praise-toggle').checked;
+    const praise = document.getElementById('praise-toggle')?.checked ?? true;
 
     // If no API keys at all, show default message
     if (!groqKey && !elevenKey) {
@@ -379,7 +368,7 @@ async function toggleMonitoring() {
     const groqKey = document.getElementById('groq-key').value;
     const elevenKey = document.getElementById('eleven-key').value;
     const cooldown = document.getElementById('cooldown').value;
-    const praise = document.getElementById('praise-toggle').checked;
+    const praise = document.getElementById('praise-toggle')?.checked ?? true;
 
     // Get voice override for selected personality
     const voiceOverride = voiceOverrides[selectedPersonality] || {};
@@ -428,7 +417,7 @@ async function testShame() {
     const groqKey = document.getElementById('groq-key').value;
     const elevenKey = document.getElementById('eleven-key').value;
     const cooldown = document.getElementById('cooldown').value;
-    const praise = document.getElementById('praise-toggle').checked;
+    const praise = document.getElementById('praise-toggle')?.checked ?? true;
 
     // Get voice override for selected personality
     const voiceOverride = voiceOverrides[selectedPersonality] || {};
@@ -460,7 +449,7 @@ async function updatePersonalityWhileRunning() {
     const groqKey = document.getElementById('groq-key').value;
     const elevenKey = document.getElementById('eleven-key').value;
     const cooldown = document.getElementById('cooldown').value;
-    const praise = document.getElementById('praise-toggle').checked;
+    const praise = document.getElementById('praise-toggle')?.checked ?? true;
     const voiceOverride = voiceOverrides[selectedPersonality] || {};
 
     try {
@@ -580,7 +569,6 @@ async function initialize() {
     document.getElementById('groq-model')?.addEventListener('change', () => getCustomSettings());
     document.getElementById('tts-provider')?.addEventListener('change', () => getCustomSettings());
     document.getElementById('groq-tts-voice')?.addEventListener('change', () => getCustomSettings());
-    document.getElementById('emotions-toggle')?.addEventListener('change', () => getCustomSettings());
 
     // Initial UI update
     updateDisplay();