5a04a7133a
Local STT (Qwen3-ASR), VLM (Gemma 4 26B-A4B), and TTS (Spark-TTS) running on Apple Silicon via MLX, with bracket-tag action system for nod, shake, wiggle, dance, photo, and pre-recorded emotions.
71 lines
2.2 KiB
Python
71 lines
2.2 KiB
Python
"""Demonstrate how to make Reachy Mini look at a point in an image.
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When you click on the image, Reachy Mini will look at the point you clicked on.
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It uses OpenCV to capture video from a camera and display it, and Reachy Mini's
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look_at_image method to make the robot look at the specified point.
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Note: The daemon must be running before executing this script.
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"""
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import argparse
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import cv2
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from reachy_mini import ReachyMini
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def click(event, x, y, flags, param):
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"""Handle mouse click events to get the coordinates of the click."""
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if event == cv2.EVENT_LBUTTONDOWN:
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param["just_clicked"] = True
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param["x"] = x
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param["y"] = y
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def main(backend: str) -> None:
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"""Show the camera feed from Reachy Mini and make it look at clicked points."""
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state = {"x": 0, "y": 0, "just_clicked": False}
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cv2.namedWindow("Reachy Mini Camera")
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cv2.setMouseCallback("Reachy Mini Camera", click, param=state)
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print("Click on the image to make ReachyMini look at that point.")
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print("Press 'q' to quit the camera feed.")
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with ReachyMini(localhost_only=False, media_backend=backend) as reachy_mini:
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try:
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while True:
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frame = reachy_mini.media.get_frame()
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if frame is None:
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print("Failed to grab frame.")
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continue
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cv2.imshow("Reachy Mini Camera", frame)
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if cv2.waitKey(1) & 0xFF == ord("q"):
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print("Exiting...")
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break
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if state["just_clicked"]:
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reachy_mini.look_at_image(state["x"], state["y"], duration=0.3)
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state["just_clicked"] = False
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except KeyboardInterrupt:
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print("Interrupted. Closing viewer...")
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finally:
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cv2.destroyAllWindows()
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(
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description="Display Reachy Mini's camera feed and make it look at clicked points."
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)
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parser.add_argument(
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"--backend",
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type=str,
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choices=["default", "gstreamer", "webrtc"],
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default="default",
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help="Media backend to use.",
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)
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args = parser.parse_args()
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main(backend=args.backend)
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