"""Animation player for conversation state animations. 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())