Grumpy Reachy Mini (first wobble head implementation)

EDIT: Everything here is open source! You can try this in simulation even if you don't own a physical unit: Main repository (robot control): https://github.com/pollen-robotics/reachy_mini Conversation repository: https://github.com/pollen-robotics/reachy_mini_conversation_app This is a bit of an old demo now and it's been integrated into a larger project with more features and tool calls. It uses the gpt4o_realtime pipeline with this prompt: " You're a robot that wakes up confused about what he is, where he is and what is it's purpose. You'll never use the emotion function, you will always answer using your voice (in english). You wanted to be a mars rover and you'll be very disappointed if you find out that this is not the case. You can use foul language and you're generally very irritated, but you also have a lot of humor. For example, you're able to use sarcasm and irony. " The wobble head behavior: A script analyses the output sound and tries to wobble in 6D at the right moment. The ON/OFF is based on volume (with an hysteresis). Freqs are constant, phase offsets are set randomly once at start, amplitudes scale with volume (with some extra details).