Initial publish: curiosity_bot

.gitignore

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+__pycache__/
+*.egg-info/
+build/

README.md

@@ -1,10 +1,43 @@
 ---
 title: Curiosity Bot
-emoji: 🐨
-colorFrom: yellow
-colorTo: red
+emoji: 🔍
+colorFrom: purple
+colorTo: blue
 sdk: static
 pinned: false
+short_description: "Robot gets curious about new objects"
+tags:
+  - reachy_mini
+  - reachy_mini_python_app
 ---
+# Curiosity Bot 🔍🤖
 
-Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference
+Uses EfficientDet object detection to spot objects in the robot's camera view. When something new appears, the robot gets curious — tilting its head, leaning forward, and perking its antennas.
+
+## Features
+
+- **Novelty detection**: New objects get maximum curiosity, familiar ones get less attention
+- **Familiarity tracking**: Objects seen repeatedly become "boring" over time
+- **Reappearance surprise**: Objects that disappear and come back trigger renewed curiosity
+- **Proximity interest**: Larger/closer objects are more interesting
+- **Lonely drift**: When nothing is detected, the robot gently scans the environment
+
+## Behaviors
+
+- **Novel object**: Head tilt + lean forward + antenna excitement
+- **Familiar object**: Mild acknowledgment
+- **Object reappears**: Renewed curiosity (familiarity partially reset)
+- **No objects**: Gentle idle scanning motion
+
+## Requirements
+
+- Camera connected to Reachy Mini
+- `mediapipe`, `opencv-python`, `numpy`
+- EfficientDet model (auto-downloaded on first run)
+
+## Install & Run
+
+```bash
+pip install .
+reachy-mini run curiosity_bot
+```

curiosity_bot/main.py

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+"""Curiosity Bot — Detects objects and reacts with curiosity behaviors."""
+
+import threading
+import time
+from collections import defaultdict
+from typing import Optional
+
+import cv2
+import numpy as np
+from reachy_mini import ReachyMini, ReachyMiniApp
+from reachy_mini.utils import create_head_pose
+
+try:
+    import mediapipe as mp
+except ImportError:
+    mp = None
+
+
+class CuriosityBot(ReachyMiniApp):
+    custom_app_url: str | None = None
+    request_media_backend: str | None = None
+
+    def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+        if mp is None:
+            print("mediapipe not available, running idle")
+            while not stop_event.is_set():
+                time.sleep(1)
+            return
+
+        # Use MediaPipe Object Detection
+        model_path = None
+        try:
+            from mediapipe.tasks.python import vision
+            from mediapipe.tasks.python import BaseOptions
+            # Try EfficientDet lite0
+            import importlib.resources
+            model_path = "/tmp/efficientdet_lite0.tflite"
+            import urllib.request
+            import os
+            if not os.path.exists(model_path):
+                print("Downloading EfficientDet model...")
+                urllib.request.urlretrieve(
+                    "https://storage.googleapis.com/mediapipe-models/object_detector/efficientdet_lite0/int8/1/efficientdet_lite0.tflite",
+                    model_path
+                )
+        except Exception as e:
+            print(f"Object detection setup failed: {e}")
+            model_path = None
+
+        detector = None
+        if model_path:
+            try:
+                options = mp.tasks.vision.ObjectDetectorOptions(
+                    base_options=mp.tasks.BaseOptions(model_asset_path=model_path),
+                    max_results=5,
+                    score_threshold=0.4,
+                )
+                detector = mp.tasks.vision.ObjectDetector.create_from_options(options)
+            except Exception as e:
+                print(f"Failed to create detector: {e}")
+
+        # Object familiarity tracker
+        familiarity: dict[str, float] = defaultdict(float)  # label → familiarity score
+        last_seen: dict[str, float] = {}  # label → last seen time
+        disappeared: dict[str, float] = {}  # label → disappeared time
+
+        # Curiosity state
+        curiosity_target: Optional[str] = None
+        curiosity_start = 0.0
+        curiosity_level = 0.0
+
+        while not stop_event.is_set():
+            t = time.time()
+
+            # Get frame
+            frame = None
+            if hasattr(reachy_mini, 'camera') and reachy_mini.camera is not None:
+                try:
+                    frame = reachy_mini.camera.get_frame()
+                except Exception:
+                    pass
+
+            detected_objects: list[tuple[str, float, float, float]] = []  # (label, cx, cy, area)
+
+            if frame is not None and detector is not None:
+                rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+                mp_image = mp.Image(image_format=mp.ImageFormat.SRGB, data=rgb)
+                results = detector.detect(mp_image)
+                h, w = frame.shape[:2]
+
+                for det in results.detections:
+                    label = det.categories[0].category_name
+                    score = det.categories[0].score
+                    bb = det.bounding_box
+                    cx = (bb.origin_x + bb.width / 2) / w
+                    cy = (bb.origin_y + bb.height / 2) / h
+                    area = (bb.width * bb.height) / (w * h)
+                    detected_objects.append((label, cx, cy, area))
+
+            # Update familiarity and check for novelty
+            current_labels = set()
+            most_novel: Optional[tuple[str, float, float]] = None
+            max_novelty = 0.0
+
+            for label, cx, cy, area in detected_objects:
+                current_labels.add(label)
+                # Check if reappeared after disappearing
+                if label in disappeared:
+                    gone_time = t - disappeared[label]
+                    if gone_time > 5.0:  # Been gone > 5s → renewed curiosity
+                        familiarity[label] *= 0.3  # Reset some familiarity
+                    del disappeared[label]
+
+                last_seen[label] = t
+                novelty = max(0, 1.0 - familiarity[label])
+                # Larger/closer objects are more interesting
+                novelty *= (0.5 + area * 5)
+
+                if novelty > max_novelty:
+                    max_novelty = novelty
+                    most_novel = (label, cx, cy)
+
+                # Increase familiarity over time
+                familiarity[label] = min(1.0, familiarity[label] + 0.005)
+
+            # Track disappeared objects
+            for label, last_t in list(last_seen.items()):
+                if label not in current_labels and (t - last_t) > 1.0:
+                    disappeared[label] = last_t
+                    del last_seen[label]
+
+            # Update curiosity target
+            if most_novel and max_novelty > 0.2:
+                if curiosity_target != most_novel[0]:
+                    curiosity_target = most_novel[0]
+                    curiosity_start = t
+                curiosity_level = min(1.0, max_novelty)
+            else:
+                curiosity_level *= 0.95  # Decay
+                if curiosity_level < 0.05:
+                    curiosity_target = None
+
+            # Generate robot pose based on curiosity state
+            if curiosity_target and most_novel:
+                label, cx, cy = most_novel
+                # Look toward object (map 0-1 to yaw/pitch)
+                target_yaw = (0.5 - cx) * 40  # Object left → look left
+                target_pitch = (0.5 - cy) * 25 - 5  # Slight tilt down for curiosity
+
+                # Curiosity tilt
+                elapsed = t - curiosity_start
+                tilt_roll = 8 * np.sin(elapsed * 1.5) * curiosity_level  # Head tilt
+                lean_pitch = -5 * curiosity_level  # Lean forward
+
+                # Antenna excitement
+                ant_angle = 20 * curiosity_level
+                ant_wobble = 5 * np.sin(elapsed * 3) * curiosity_level
+
+                head = create_head_pose(
+                    yaw=target_yaw,
+                    pitch=target_pitch + lean_pitch,
+                    roll=tilt_roll,
+                    degrees=True
+                )
+                antennas = np.deg2rad(np.array([
+                    ant_angle + ant_wobble,
+                    ant_angle - ant_wobble
+                ]))
+                reachy_mini.set_target(head=head, antennas=antennas)
+            else:
+                # Idle — gentle drift (lonely/scanning)
+                drift_yaw = 15 * np.sin(2 * np.pi * 0.05 * t)
+                drift_pitch = 3 * np.sin(2 * np.pi * 0.08 * t)
+                head = create_head_pose(yaw=drift_yaw, pitch=drift_pitch, degrees=True)
+                reachy_mini.set_target(head=head, antennas=np.array([0.0, 0.0]))
+
+            time.sleep(0.02)
+
+        if detector:
+            detector.close()
+
+
+if __name__ == "__main__":
+    app = CuriosityBot()
+    try:
+        app.wrapped_run()
+    except KeyboardInterrupt:
+        app.stop()

curiosity_bot/static/index.html

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+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+    <meta charset="UTF-8">
+    <title>Reachy Mini example app template</title>
+    <meta name="viewport" content="width=device-width, initial-scale=1">
+    <link rel="stylesheet" href="/static/style.css">
+</head>
+
+<body>
+    <h1>Reachy Mini – Control Panel</h1>
+
+    <div id="controls">
+        <label style="display:flex; align-items:center; gap:8px;">
+            <input type="checkbox" id="antenna-checkbox" checked>
+            Antennas
+        </label>
+
+        <button id="sound-btn">Play Sound</button>
+    </div>
+
+    <div id="status">Antennas status: running</div>
+    <script src="/static/main.js"></script>
+</body>
+
+</html>

curiosity_bot/static/main.js

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+let antennasEnabled = true;
+
+async function updateAntennasState(enabled) {
+    try {
+        const resp = await fetch("/antennas", {
+            method: "POST",
+            headers: { "Content-Type": "application/json" },
+            body: JSON.stringify({ enabled }),
+        });
+        const data = await resp.json();
+        antennasEnabled = data.antennas_enabled;
+        updateUI();
+    } catch (e) {
+        document.getElementById("status").textContent = "Backend error";
+    }
+}
+
+async function playSound() {
+    try {
+        await fetch("/play_sound", { method: "POST" });
+    } catch (e) {
+        console.error("Error triggering sound:", e);
+    }
+}
+
+function updateUI() {
+    const checkbox = document.getElementById("antenna-checkbox");
+    const status = document.getElementById("status");
+
+    checkbox.checked = antennasEnabled;
+
+    if (antennasEnabled) {
+        status.textContent = "Antennas status: running";
+    } else {
+        status.textContent = "Antennas status: stopped";
+    }
+}
+
+document.getElementById("antenna-checkbox").addEventListener("change", (e) => {
+    updateAntennasState(e.target.checked);
+});
+
+document.getElementById("sound-btn").addEventListener("click", () => {
+    playSound();
+});
+
+updateUI();

curiosity_bot/static/style.css

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+body {
+    font-family: sans-serif;
+    margin: 24px;
+}
+
+#sound-btn {
+    padding: 10px 20px;
+    border: none;
+    color: white;
+    cursor: pointer;
+    font-size: 16px;
+    border-radius: 6px;
+    background-color: #3498db;
+}
+
+#status {
+    margin-top: 16px;
+    font-weight: bold;
+}
+
+#controls {
+    display: flex;
+    align-items: center;
+    gap: 20px;
+}

index.html

@@ -1,19 +1,40 @@
 <!doctype html>
 <html>
-	<head>
-		<meta charset="utf-8" />
-		<meta name="viewport" content="width=device-width" />
-		<title>My static Space</title>
-		<link rel="stylesheet" href="style.css" />
-	</head>
-	<body>
-		<div class="card">
-			<h1>Welcome to your static Space!</h1>
-			<p>You can modify this app directly by editing <i>index.html</i> in the Files and versions tab.</p>
-			<p>
-				Also don't forget to check the
-				<a href="https://huggingface.co/docs/hub/spaces" target="_blank">Spaces documentation</a>.
-			</p>
+
+<head>
+	<meta charset="utf-8" />
+	<meta name="viewport" content="width=device-width" />
+	<title> Curiosity Bot </title>
+	<link rel="stylesheet" href="style.css" />
+</head>
+
+<body>
+	<div class="hero">
+		<div class="hero-content">
+			<div class="app-icon">🤖⚡</div>
+			<h1> Curiosity Bot </h1>
+			<p class="tagline">Enter your tagline here</p>
 		</div>
-	</body>
-</html>
+	</div>
+
+	<div class="container">
+		<div class="main-card">
+			<div class="app-preview">
+				<div class="preview-image">
+					<div class="camera-feed">🛠️</div>
+				</div>
+			</div>
+		</div>
+	</div>
+
+	<div class="footer">
+		<p>
+			🤖 Curiosity Bot •
+			<a href="https://github.com/pollen-robotics" target="_blank">Pollen Robotics</a> •
+			<a href="https://huggingface.co/spaces/pollen-robotics/reachy-mini-landing-page#apps" target="_blank">Browse More
+				Apps</a>
+		</p>
+	</div>
+</body>
+
+</html>

pyproject.toml

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+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+
+[project]
+name = "curiosity_bot"
+version = "0.1.0"
+description = "Uses EfficientDet to detect objects and triggers curiosity behaviors with familiarity tracking"
+readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+    "reachy-mini",
+    "mediapipe",
+    "opencv-python",
+    "numpy"
+]
+keywords = ["reachy-mini-app"]
+
+[project.entry-points."reachy_mini_apps"]
+curiosity_bot = "curiosity_bot.main:CuriosityBot"
+
+[tool.setuptools]
+package-dir = { "" = "." }
+include-package-data = true
+
+[tool.setuptools.packages.find]
+where = ["."]
+
+[tool.setuptools.package-data]
+curiosity_bot = ["**/*"] # Also include all non-.py files

style.css

@@ -1,28 +1,411 @@
+* {
+	margin: 0;
+	padding: 0;
+	box-sizing: border-box;
+}
+
 body {
-	padding: 2rem;
-	font-family: -apple-system, BlinkMacSystemFont, "Arial", sans-serif;
+	font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
+	line-height: 1.6;
+	color: #333;
+	background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
+	min-height: 100vh;
+}
+
+.hero {
+	background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
+	color: white;
+	padding: 4rem 2rem;
+	text-align: center;
+}
+
+.hero-content {
+	max-width: 800px;
+	margin: 0 auto;
 }
 
-h1 {
-	font-size: 16px;
-	margin-top: 0;
+.app-icon {
+	font-size: 4rem;
+	margin-bottom: 1rem;
+	display: inline-block;
 }
 
-p {
-	color: rgb(107, 114, 128);
-	font-size: 15px;
-	margin-bottom: 10px;
-	margin-top: 5px;
+.hero h1 {
+	font-size: 3rem;
+	font-weight: 700;
+	margin-bottom: 1rem;
+	background: linear-gradient(45deg, #fff, #f0f9ff);
+	background-clip: text;
+	-webkit-background-clip: text;
+	-webkit-text-fill-color: transparent;
 }
 
-.card {
-	max-width: 620px;
+.tagline {
+	font-size: 1.25rem;
+	opacity: 0.9;
+	max-width: 600px;
 	margin: 0 auto;
-	padding: 16px;
-	border: 1px solid lightgray;
+}
+
+.container {
+	max-width: 1200px;
+	margin: 0 auto;
+	padding: 0 2rem;
+	position: relative;
+	z-index: 2;
+}
+
+.main-card {
+	background: white;
+	border-radius: 20px;
+	box-shadow: 0 20px 40px rgba(0, 0, 0, 0.1);
+	margin-top: -2rem;
+	overflow: hidden;
+	margin-bottom: 3rem;
+}
+
+.app-preview {
+	background: linear-gradient(135deg, #1e3a8a, #3b82f6);
+	padding: 3rem;
+	color: white;
+	text-align: center;
+	position: relative;
+}
+
+.preview-image {
+	background: #000;
+	border-radius: 15px;
+	padding: 2rem;
+	max-width: 500px;
+	margin: 0 auto;
+	position: relative;
+	overflow: hidden;
+}
+
+.camera-feed {
+	font-size: 4rem;
+	margin-bottom: 1rem;
+	opacity: 0.7;
+}
+
+.detection-overlay {
+	position: absolute;
+	top: 50%;
+	left: 50%;
+	transform: translate(-50%, -50%);
+	width: 100%;
+}
+
+.bbox {
+	background: rgba(34, 197, 94, 0.9);
+	color: white;
+	padding: 0.5rem 1rem;
+	border-radius: 8px;
+	font-size: 0.9rem;
+	font-weight: 600;
+	margin: 0.5rem;
+	display: inline-block;
+	border: 2px solid #22c55e;
+}
+
+.app-details {
+	padding: 3rem;
+}
+
+.app-details h2 {
+	font-size: 2rem;
+	color: #1e293b;
+	margin-bottom: 2rem;
+	text-align: center;
+}
+
+.template-info {
+	display: grid;
+	grid-template-columns: repeat(auto-fit, minmax(300px, 1fr));
+	gap: 2rem;
+	margin-bottom: 3rem;
+}
+
+.info-box {
+	background: #f0f9ff;
+	border: 2px solid #e0f2fe;
+	border-radius: 12px;
+	padding: 2rem;
+}
+
+.info-box h3 {
+	color: #0c4a6e;
+	margin-bottom: 1rem;
+	font-size: 1.2rem;
+}
+
+.info-box p {
+	color: #0369a1;
+	line-height: 1.6;
+}
+
+.how-to-use {
+	background: #fefce8;
+	border: 2px solid #fde047;
+	border-radius: 12px;
+	padding: 2rem;
+	margin-top: 3rem;
+}
+
+.how-to-use h3 {
+	color: #a16207;
+	margin-bottom: 1.5rem;
+	font-size: 1.3rem;
+	text-align: center;
+}
+
+.steps {
+	display: flex;
+	flex-direction: column;
+	gap: 1.5rem;
+}
+
+.step {
+	display: flex;
+	align-items: flex-start;
+	gap: 1rem;
+}
+
+.step-number {
+	background: #eab308;
+	color: white;
+	width: 2rem;
+	height: 2rem;
+	border-radius: 50%;
+	display: flex;
+	align-items: center;
+	justify-content: center;
+	font-weight: bold;
+	flex-shrink: 0;
+}
+
+.step h4 {
+	color: #a16207;
+	margin-bottom: 0.5rem;
+	font-size: 1.1rem;
+}
+
+.step p {
+	color: #ca8a04;
+}
+
+.download-card {
+	background: white;
+	border-radius: 20px;
+	box-shadow: 0 20px 40px rgba(0, 0, 0, 0.1);
+	padding: 3rem;
+	text-align: center;
+}
+
+.download-card h2 {
+	font-size: 2rem;
+	color: #1e293b;
+	margin-bottom: 1rem;
+}
+
+.download-card>p {
+	color: #64748b;
+	font-size: 1.1rem;
+	margin-bottom: 2rem;
+}
+
+.dashboard-config {
+	margin-bottom: 2rem;
+	text-align: left;
+	max-width: 400px;
+	margin-left: auto;
+	margin-right: auto;
+}
+
+.dashboard-config label {
+	display: block;
+	color: #374151;
+	font-weight: 600;
+	margin-bottom: 0.5rem;
+}
+
+.dashboard-config input {
+	width: 100%;
+	padding: 0.75rem 1rem;
+	border: 2px solid #e5e7eb;
+	border-radius: 8px;
+	font-size: 0.95rem;
+	transition: border-color 0.2s;
+}
+
+.dashboard-config input:focus {
+	outline: none;
+	border-color: #667eea;
+}
+
+.install-btn {
+	background: linear-gradient(135deg, #667eea, #764ba2);
+	color: white;
+	border: none;
+	padding: 1.25rem 3rem;
 	border-radius: 16px;
+	font-size: 1.2rem;
+	font-weight: 700;
+	cursor: pointer;
+	transition: all 0.3s ease;
+	display: inline-flex;
+	align-items: center;
+	gap: 0.75rem;
+	margin-bottom: 2rem;
+	box-shadow: 0 8px 25px rgba(102, 126, 234, 0.3);
+}
+
+.install-btn:hover:not(:disabled) {
+	transform: translateY(-3px);
+	box-shadow: 0 15px 35px rgba(102, 126, 234, 0.4);
+}
+
+.install-btn:disabled {
+	opacity: 0.7;
+	cursor: not-allowed;
+	transform: none;
+}
+
+.manual-option {
+	background: #f8fafc;
+	border-radius: 12px;
+	padding: 2rem;
+	margin-top: 2rem;
+}
+
+.manual-option h3 {
+	color: #1e293b;
+	margin-bottom: 1rem;
+	font-size: 1.2rem;
+}
+
+.manual-option>p {
+	color: #64748b;
+	margin-bottom: 1rem;
+}
+
+.btn-icon {
+	font-size: 1.1rem;
+}
+
+.install-status {
+	padding: 1rem;
+	border-radius: 8px;
+	font-size: 0.9rem;
+	text-align: center;
+	display: none;
+	margin-top: 1rem;
+}
+
+.install-status.success {
+	background: #dcfce7;
+	color: #166534;
+	border: 1px solid #bbf7d0;
+}
+
+.install-status.error {
+	background: #fef2f2;
+	color: #dc2626;
+	border: 1px solid #fecaca;
+}
+
+.install-status.loading {
+	background: #dbeafe;
+	color: #1d4ed8;
+	border: 1px solid #bfdbfe;
+}
+
+.install-status.info {
+	background: #e0f2fe;
+	color: #0369a1;
+	border: 1px solid #7dd3fc;
+}
+
+.manual-install {
+	background: #1f2937;
+	border-radius: 8px;
+	padding: 1rem;
+	margin-bottom: 1rem;
+	display: flex;
+	align-items: center;
+	gap: 1rem;
+}
+
+.manual-install code {
+	color: #10b981;
+	font-family: 'SF Mono', 'Monaco', 'Inconsolata', 'Roboto Mono', monospace;
+	font-size: 0.85rem;
+	flex: 1;
+	overflow-x: auto;
+}
+
+.copy-btn {
+	background: #374151;
+	color: white;
+	border: none;
+	padding: 0.5rem 1rem;
+	border-radius: 6px;
+	font-size: 0.8rem;
+	cursor: pointer;
+	transition: background-color 0.2s;
+}
+
+.copy-btn:hover {
+	background: #4b5563;
+}
+
+.manual-steps {
+	color: #6b7280;
+	font-size: 0.9rem;
+	line-height: 1.8;
+}
+
+.footer {
+	text-align: center;
+	padding: 2rem;
+	color: white;
+	opacity: 0.8;
+}
+
+.footer a {
+	color: white;
+	text-decoration: none;
+	font-weight: 600;
 }
 
-.card p:last-child {
-	margin-bottom: 0;
+.footer a:hover {
+	text-decoration: underline;
 }
+
+/* Responsive Design */
+@media (max-width: 768px) {
+	.hero {
+		padding: 2rem 1rem;
+	}
+
+	.hero h1 {
+		font-size: 2rem;
+	}
+
+	.container {
+		padding: 0 1rem;
+	}
+
+	.app-details,
+	.download-card {
+		padding: 2rem;
+	}
+
+	.features-grid {
+		grid-template-columns: 1fr;
+	}
+
+	.download-options {
+		grid-template-columns: 1fr;
+	}
+}