reachy_voice client-loop (Phase 1): motion tools + ovs/voxedge update + daemon pin#10
Merged
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Codex-designed, file:line-anchored: 4 motion tools, compositor-safe routing, [Faces:] tag stripping, max ovs reuse (thin app shell). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…phase 1) Bring Wave-1 reachy_voice up to ovs client-loop tool-calling, mirroring the proven legacy clientloop and ovs companion_robot/demo_tools shape: - ReachyMotionToolsPlugin registers move_head/move_antennas/play_emotion/ dance into app.tool_registry; tools_enabled=True -> ovs runner drives the client-loop. reachy_voice stays a thin shell over ovs_agent. - motion.py: compositor-safe command_head/command_antennas/play_dance — enqueue a one-shot cmd drained by the single-writer compositor thread (no direct SDK off-thread writes -> no contention with presence/gaze). - conversation.py/dashboard.py: strip [Faces:] echoes (ovs has no tag stripping); emotion [happy] still routes to _on_emotion. - tests/voice: plugin registration+dispatch, tag stripper, client-loop config. 113 passed, ruff clean. Local only; physical motion untested (no robot). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Refresh the vendored ovs library to seeed-local-voice HEAD, in lockstep with voxedge (co-developed; ovs_agent HEAD's runner imports voxedge.engine.turn_driver, absent in stale pypi voxedge 0.0.1a0): - openvoicestream_agent wheel rebuilt from agent d26b7e1: /v2v deadlock hardening (3231c30) + wake-tone/mic-suppress (cfg-gated, default off). - voxedge wheel vendored from voxedge de3f987 (turn-driver unification + v2v slot-leak fix); pinned via [tool.uv.sources] path wheel. - uv.lock regenerated with uv 0.11.19 + aliyun mirror (revision 3 preserved, only the 2 wheels differ from master — no mirror pollution). import ok; tests/voice 113 passed. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
v1.0 installed reachy-mini unpinned -> daemon/app version skew risk. Pin to 1.8.1 to match reachy_voice. Built+pushed reachy-daemon:v1.1 (pin verified in-image). Robot validation deferred (no robot available). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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What
Brings master's Wave-1
reachy_voice(pure conversation) up to client-loop tool-calling, as a thin shell over ovs_agent — plus the ovs-library update and a daemon version pin.Commits
docs(spec)— file:line-anchored Phase-1 spec (docs/specs/2026-06-15-reachy-voice-clientloop-spec.md)feat(reachy_voice)—ReachyMotionToolsPluginregisters 4 tools (move_head/move_antennas/play_emotion/dance) intoapp.tool_registry;tools_enabled=True→ ovsrunner.stream_with_toolsdrives the loop. Motion routed compositor-safe (enqueue → single-writer thread, no direct SDK off-thread).[Faces:]vision-tag stripping ported into the TTS + dashboard paths (ovs has none).build(deps)— lockstep ovs_agent + voxedge wheel bump (the two are co-developed; ovs_agent HEAD's runner importsvoxedge.engine.turn_driver). Pulls in the/v2vdeadlock-hardening + slot-leak fixes.uv.lockregenerated clean (revision 3, aliyun mirror — only the 2 wheels differ).build(deploy)— pinreachy-daemontoreachy-mini==1.8.1to match the app (was unpinned); imagereachy-daemon:v1.1built + pushed.Design principle
reachy_voice stays a thin app over a complete ovs agent — conversation loop, tool registry/dispatch/runner, and
CompanionRobotAppscaffolding are all reused as-is. reachy_voice only contributes the 4 real motion tool bodies (SDK→compositor glue) and tag stripping.Validation
tests/voice113 passed, ruff clean,uv lock --lockedno drift.tool_calls; ovs runner dispatches all 4 tools into the plugin correctly (independent curl + 4-turn harness).Notes
describe_scene/skill_load/ha_*), daemon--no-mediaTODO.🤖 Generated with Claude Code