Initial publish: face_tracker

.gitignore

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

README.md

@@ -1,10 +1,48 @@
 ---
 title: Face Tracker
-emoji: 🐨
-colorFrom: red
-colorTo: green
+emoji: 👤
+colorFrom: purple
+colorTo: blue
 sdk: static
 pinned: false
+short_description: "Robot smoothly follows your face"
+tags:
+  - reachy_mini
+  - reachy_mini_python_app
 ---
+# Face Tracker 👤🤖
 
-Check out the configuration reference at https://huggingface.co/docs/hub/spaces-config-reference
+Detects faces via MediaPipe Face Detection and smoothly tracks the closest/largest face with the robot's head. Includes proximity-based emotional responses.
+
+## Features
+
+- **Smooth tracking**: Proportional controller with exponential smoothing
+- **Largest face priority**: Tracks the biggest (closest) face in frame
+- **Proximity emotions**:
+  - Close (large face) → Happy, antennas up
+  - Medium distance → Mildly content
+  - Far (small face) → Curious
+  - No face → Lonely drift/scanning
+- **Natural movement**: Smooth interpolation prevents jerky head motion
+- **Idle behavior**: Gentle scanning when no face detected for ~1 second
+
+## How It Works
+
+1. Captures frames from Reachy Mini's camera
+2. Detects faces using MediaPipe Face Detection
+3. Calculates face center offset from frame center
+4. Maps offset to head yaw/pitch correction (proportional controller)
+5. Smoothly interpolates toward target position
+6. Adjusts antenna angle based on face proximity (emotion)
+
+## Requirements
+
+- Camera connected to Reachy Mini
+- `mediapipe`, `opencv-python`, `numpy`
+
+## Install & Run
+
+```bash
+pip install .
+reachy-mini run face_tracker
+```

face_tracker/main.py

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+"""Face Tracker — Detects and smoothly tracks faces with proximity-based emotions."""
+
+import threading
+import time
+
+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
+    HAS_MP = True
+except ImportError:
+    HAS_MP = False
+
+
+class FaceTracker(ReachyMiniApp):
+    custom_app_url: str | None = None
+    request_media_backend: str | None = None
+
+    def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
+        if not HAS_MP:
+            print("mediapipe not available, running idle")
+            while not stop_event.is_set():
+                time.sleep(1)
+            return
+
+        # Init face detection
+        face_detection = mp.solutions.face_detection.FaceDetection(
+            model_selection=0,
+            min_detection_confidence=0.5,
+        )
+
+        # Tracking state
+        smoothed_yaw = 0.0
+        smoothed_pitch = 0.0
+        frames_without_face = 0
+        max_frames_no_face = 50  # ~1 second at 50Hz
+
+        # Smoothing factor (lower = smoother)
+        smooth_factor = 0.08
+        # Control gains
+        yaw_gain = 45.0   # degrees max
+        pitch_gain = 30.0
+
+        # Emotion state based on proximity
+        antenna_angle = 0.0
+        emotion_target = 0.0  # -1=sad, 0=neutral, 1=happy
+
+        while not stop_event.is_set():
+            t = time.time()
+
+            frame = None
+            if hasattr(reachy_mini, 'camera') and reachy_mini.camera is not None:
+                try:
+                    frame = reachy_mini.camera.get_frame()
+                except Exception:
+                    pass
+
+            face_cx, face_cy, face_size = None, None, None
+
+            if frame is not None:
+                rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+                results = face_detection.process(rgb)
+
+                if results.detections:
+                    # Find largest/closest face
+                    best = None
+                    best_area = 0
+                    for det in results.detections:
+                        bb = det.location_data.relative_bounding_box
+                        area = bb.width * bb.height
+                        if area > best_area:
+                            best_area = area
+                            best = det
+
+                    if best:
+                        bb = best.location_data.relative_bounding_box
+                        face_cx = bb.xmin + bb.width / 2
+                        face_cy = bb.ymin + bb.height / 2
+                        face_size = bb.width * bb.height
+                        frames_without_face = 0
+
+            if face_cx is not None:
+                # Map face position to head target
+                # Face at center (0.5, 0.5) → no correction
+                error_x = 0.5 - face_cx  # positive = face is left → look left
+                error_y = 0.5 - face_cy  # positive = face is above → look up
+
+                target_yaw = error_x * yaw_gain
+                target_pitch = error_y * pitch_gain
+
+                # Smooth
+                smoothed_yaw += (target_yaw - smoothed_yaw) * smooth_factor
+                smoothed_pitch += (target_pitch - smoothed_pitch) * smooth_factor
+
+                # Proximity-based emotion
+                # Large face = close = happy, small face = far = curious
+                if face_size > 0.08:
+                    emotion_target = 1.0  # Happy (close)
+                elif face_size > 0.03:
+                    emotion_target = 0.3  # Mildly happy
+                else:
+                    emotion_target = -0.3  # Curious (far)
+
+            else:
+                frames_without_face += 1
+                if frames_without_face > max_frames_no_face:
+                    # No face for a while → lonely drift
+                    emotion_target = -0.7
+                    # Gentle scanning
+                    drift = 20 * np.sin(2 * np.pi * 0.06 * t)
+                    smoothed_yaw += (drift - smoothed_yaw) * 0.01
+                    smoothed_pitch += (3 * np.sin(2 * np.pi * 0.04 * t) - smoothed_pitch) * 0.01
+
+            # Smooth emotion → antenna angle
+            if emotion_target > 0:
+                ant_target = emotion_target * 25  # Happy = antennas up
+            else:
+                ant_target = emotion_target * 15  # Sad/curious = droop
+
+            antenna_angle += (ant_target - antenna_angle) * 0.03
+
+            # Apply
+            head = create_head_pose(
+                yaw=smoothed_yaw,
+                pitch=smoothed_pitch,
+                degrees=True
+            )
+            antennas = np.deg2rad(np.array([antenna_angle, antenna_angle]))
+            reachy_mini.set_target(head=head, antennas=antennas)
+
+            time.sleep(0.02)
+
+        face_detection.close()
+
+
+if __name__ == "__main__":
+    app = FaceTracker()
+    try:
+        app.wrapped_run()
+    except KeyboardInterrupt:
+        app.stop()

face_tracker/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>

face_tracker/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();

face_tracker/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> Face Tracker </title>
+	<link rel="stylesheet" href="style.css" />
+</head>
+
+<body>
+	<div class="hero">
+		<div class="hero-content">
+			<div class="app-icon">🤖⚡</div>
+			<h1> Face Tracker </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>
+			🤖 Face Tracker •
+			<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 = "face_tracker"
+version = "0.1.0"
+description = "Detects faces via MediaPipe and smoothly tracks the closest face with proximity-based emotions"
+readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+    "reachy-mini",
+    "mediapipe",
+    "opencv-python",
+    "numpy"
+]
+keywords = ["reachy-mini-app"]
+
+[project.entry-points."reachy_mini_apps"]
+face_tracker = "face_tracker.main:FaceTracker"
+
+[tool.setuptools]
+package-dir = { "" = "." }
+include-package-data = true
+
+[tool.setuptools.packages.find]
+where = ["."]
+
+[tool.setuptools.package-data]
+face_tracker = ["**/*"] # 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;
+	}
+}