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This module provides a JSON-driven animation system for Reachy Mini,
inspired by SimpleDances project and reachy_mini_conversation_app.
Animations are defined as periodic oscillations that can be layered
on top of other movements. The speaking animation uses multi-frequency
oscillators for more natural head sway.
"""
import json
import logging
import math
import random
import threading
import time
from dataclasses import dataclass
from pathlib import Path
from typing import Dict, Optional
_LOGGER = logging.getLogger(__name__)
_MODULE_DIR = Path(__file__).parent
_ANIMATIONS_FILE = _MODULE_DIR / "animations" / "conversation_animations.json"
@dataclass
class AnimationParams:
"""Parameters for a single animation with per-axis frequencies."""
name: str
description: str
# Position amplitudes (meters)
x_amplitude_m: float = 0.0
y_amplitude_m: float = 0.0
z_amplitude_m: float = 0.0
# Position offsets (meters)
x_offset_m: float = 0.0
y_offset_m: float = 0.0
z_offset_m: float = 0.0
# Orientation amplitudes (radians)
roll_amplitude_rad: float = 0.0
pitch_amplitude_rad: float = 0.0
yaw_amplitude_rad: float = 0.0
# Orientation offsets (radians)
roll_offset_rad: float = 0.0
pitch_offset_rad: float = 0.0
yaw_offset_rad: float = 0.0
# Antenna
antenna_amplitude_rad: float = 0.0
antenna_move_name: str = "both"
# Per-axis frequencies (Hz) - if not specified, uses main frequency_hz
frequency_hz: float = 0.5
pitch_frequency_hz: float = 0.0
yaw_frequency_hz: float = 0.0
roll_frequency_hz: float = 0.0
x_frequency_hz: float = 0.0
y_frequency_hz: float = 0.0
z_frequency_hz: float = 0.0
# Phase offset for variation
phase_offset: float = 0.0
class AnimationPlayer:
"""Plays JSON-defined animations for conversation states.
Features:
- Multi-frequency oscillators for natural motion
- Random phase offsets per animation start for variation
- Smooth transitions between animations
"""
def __init__(self):
self._animations: Dict[str, AnimationParams] = {}
self._amplitude_scale: float = 1.0
self._transition_duration: float = 0.3
self._current_animation: Optional[str] = None
self._target_animation: Optional[str] = None
self._transition_start: float = 0.0
self._phase_start: float = 0.0
self._lock = threading.Lock()
# Random phase offsets for each axis (regenerated on animation change)
self._phase_pitch: float = 0.0
self._phase_yaw: float = 0.0
self._phase_roll: float = 0.0
self._phase_x: float = 0.0
self._phase_y: float = 0.0
self._phase_z: float = 0.0
self._load_config()
def _load_config(self) -> None:
"""Load animations and actions from JSON file."""
if not _ANIMATIONS_FILE.exists():
_LOGGER.warning("Animations file not found: %s", _ANIMATIONS_FILE)
return
try:
with open(_ANIMATIONS_FILE, "r", encoding="utf-8") as f:
data = json.load(f)
settings = data.get("settings", {})
self._amplitude_scale = settings.get("amplitude_scale", 1.0)
self._transition_duration = settings.get("transition_duration_s", 0.3)
# Load animations
animations = data.get("animations", {})
for name, params in animations.items():
self._animations[name] = AnimationParams(
name=name,
description=params.get("description", ""),
x_amplitude_m=params.get("x_amplitude_m", 0.0),
y_amplitude_m=params.get("y_amplitude_m", 0.0),
z_amplitude_m=params.get("z_amplitude_m", 0.0),
x_offset_m=params.get("x_offset_m", 0.0),
y_offset_m=params.get("y_offset_m", 0.0),
z_offset_m=params.get("z_offset_m", 0.0),
roll_amplitude_rad=params.get("roll_amplitude_rad", 0.0),
pitch_amplitude_rad=params.get("pitch_amplitude_rad", 0.0),
yaw_amplitude_rad=params.get("yaw_amplitude_rad", 0.0),
roll_offset_rad=params.get("roll_offset_rad", 0.0),
pitch_offset_rad=params.get("pitch_offset_rad", 0.0),
yaw_offset_rad=params.get("yaw_offset_rad", 0.0),
antenna_amplitude_rad=params.get("antenna_amplitude_rad", 0.0),
antenna_move_name=params.get("antenna_move_name", "both"),
frequency_hz=params.get("frequency_hz", 0.5),
pitch_frequency_hz=params.get("pitch_frequency_hz", 0.0),
yaw_frequency_hz=params.get("yaw_frequency_hz", 0.0),
roll_frequency_hz=params.get("roll_frequency_hz", 0.0),
x_frequency_hz=params.get("x_frequency_hz", 0.0),
y_frequency_hz=params.get("y_frequency_hz", 0.0),
z_frequency_hz=params.get("z_frequency_hz", 0.0),
phase_offset=params.get("phase_offset", 0.0),
)
_LOGGER.info("Loaded %d animations", len(self._animations))
except Exception as e:
_LOGGER.error("Failed to load animations: %s", e)
def _randomize_phases(self) -> None:
"""Generate random phase offsets for natural variation."""
self._phase_pitch = random.random() * 2 * math.pi
self._phase_yaw = random.random() * 2 * math.pi
self._phase_roll = random.random() * 2 * math.pi
self._phase_x = random.random() * 2 * math.pi
self._phase_y = random.random() * 2 * math.pi
self._phase_z = random.random() * 2 * math.pi
def set_animation(self, name: str) -> bool:
"""Set the current animation with smooth transition."""
with self._lock:
if name not in self._animations and name is not None:
_LOGGER.warning("Unknown animation: %s", name)
return False
if name == self._current_animation:
return True
self._target_animation = name
self._transition_start = time.perf_counter()
# Randomize phases for new animation
self._randomize_phases()
_LOGGER.debug("Transitioning to animation: %s", name)
return True
def stop(self) -> None:
"""Stop all animations."""
with self._lock:
self._current_animation = None
self._target_animation = None
def get_offsets(self, dt: float = 0.0) -> Dict[str, float]:
"""Calculate current animation offsets.
Uses multi-frequency oscillators for natural motion.
Each axis can have its own frequency for more organic movement.
Args:
dt: Delta time (unused, kept for API compatibility)
Returns:
Dict with keys: pitch, yaw, roll, x, y, z, antenna_left, antenna_right
"""
with self._lock:
now = time.perf_counter()
# Handle transition
if self._target_animation != self._current_animation:
elapsed = now - self._transition_start
if elapsed >= self._transition_duration:
self._current_animation = self._target_animation
self._phase_start = now
# No animation
if self._current_animation is None:
return {
"pitch": 0.0, "yaw": 0.0, "roll": 0.0,
"x": 0.0, "y": 0.0, "z": 0.0,
"antenna_left": 0.0, "antenna_right": 0.0,
}
params = self._animations.get(self._current_animation)
if params is None:
return {
"pitch": 0.0, "yaw": 0.0, "roll": 0.0,
"x": 0.0, "y": 0.0, "z": 0.0,
"antenna_left": 0.0, "antenna_right": 0.0,
}
elapsed = now - self._phase_start
base_freq = params.frequency_hz
# Calculate blend factor for smooth transitions
blend = 1.0
if self._target_animation != self._current_animation:
blend = min((now - self._transition_start) / self._transition_duration, 1.0)
# Per-axis frequencies (fall back to base frequency if not specified)
pitch_freq = params.pitch_frequency_hz if params.pitch_frequency_hz > 0 else base_freq
yaw_freq = params.yaw_frequency_hz if params.yaw_frequency_hz > 0 else base_freq
roll_freq = params.roll_frequency_hz if params.roll_frequency_hz > 0 else base_freq
x_freq = params.x_frequency_hz if params.x_frequency_hz > 0 else base_freq
y_freq = params.y_frequency_hz if params.y_frequency_hz > 0 else base_freq
z_freq = params.z_frequency_hz if params.z_frequency_hz > 0 else base_freq
# Calculate oscillations with per-axis frequencies and random phases
pitch = (params.pitch_offset_rad +
params.pitch_amplitude_rad *
math.sin(2 * math.pi * pitch_freq * elapsed + self._phase_pitch))
yaw = (params.yaw_offset_rad +
params.yaw_amplitude_rad *
math.sin(2 * math.pi * yaw_freq * elapsed + self._phase_yaw))
roll = (params.roll_offset_rad +
params.roll_amplitude_rad *
math.sin(2 * math.pi * roll_freq * elapsed + self._phase_roll))
x = (params.x_offset_m +
params.x_amplitude_m *
math.sin(2 * math.pi * x_freq * elapsed + self._phase_x))
y = (params.y_offset_m +
params.y_amplitude_m *
math.sin(2 * math.pi * y_freq * elapsed + self._phase_y))
z = (params.z_offset_m +
params.z_amplitude_m *
math.sin(2 * math.pi * z_freq * elapsed + self._phase_z))
# Antenna movement
antenna_phase = 2 * math.pi * base_freq * elapsed
if params.antenna_move_name == "both":
left = right = params.antenna_amplitude_rad * math.sin(antenna_phase)
elif params.antenna_move_name == "wiggle":
left = params.antenna_amplitude_rad * math.sin(antenna_phase)
right = params.antenna_amplitude_rad * math.sin(antenna_phase + math.pi)
else:
left = params.antenna_amplitude_rad * math.sin(antenna_phase)
right = params.antenna_amplitude_rad * math.sin(antenna_phase + math.pi / 2)
# Apply scale and blend
scale = self._amplitude_scale * blend
return {
"pitch": pitch * scale,
"yaw": yaw * scale,
"roll": roll * scale,
"x": x * scale,
"y": y * scale,
"z": z * scale,
"antenna_left": left * scale,
"antenna_right": right * scale,
}
@property
def current_animation(self) -> Optional[str]:
"""Get the current animation name."""
with self._lock:
return self._current_animation
@property
def available_animations(self) -> list:
"""Get list of available animation names."""
return list(self._animations.keys())
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