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feat: reachy_voice on Reachy Mini SDK 1.8.0 becomes the app (replaces reachy_claw)#8

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Love4yzp merged 8 commits into
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feat/merge-reachy-voice
Jun 12, 2026
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feat: reachy_voice on Reachy Mini SDK 1.8.0 becomes the app (replaces reachy_claw)#8
Love4yzp merged 8 commits into
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feat/merge-reachy-voice

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@Love4yzp Love4yzp commented Jun 12, 2026

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What

Establishes reachy_voice on reachy-mini SDK 1.8.0 as the new app baseline, replacing the old reachy_claw app.

  • src/reachy_claw/ → legacy/reachy_claw/ (kept for reference; not packaged/imported). Its high-value features (diary, skills, Home Assistant, voice-cloning, conversation modes, multi-LLM backends) will be ported onto the new base in follow-ups.
  • The reachy_voice app is now src/reachy_voice/ — the packaged app + entry-point + deploy.
  • pyproject: reachy-mini>=1.8.0, packages=["src/reachy_voice"], reachy_mini_apps → reachy_voice.main:ReachyVoiceApp; vendored openvoicestream-agent wheel kept.
  • Deploy: deploy/jetson/voice/ (Dockerfile/compose/entrypoint), builds FROM reachy-claw:slv-v7.

Why

The old reachy_claw app is pinned to an outdated SDK and monkey-patches internal SDK GStreamer/media classes — fragile across SDK upgrades. reachy_voice is a clean re-implementation on SDK 1.8.0 + ovs_agent that sidesteps that (no_media + vision-trt + stable motion APIs), and adds SDK-calibrated gaze + an engagement-gated attention tracker.

Also: Tier-A dashboard APIs

The shared dashboard frontend is unchanged, but the reachy_voice backend was missing several endpoints. This wires up the pure-port ones (no SDK / no conversation-core dependency), in src/reachy_voice/tier_a.py: GET /api/ollama/models, restart_services (Docker socket), capture proxies (get_capture_info/clear_captures//api/captures/*).

Testing

  • tests/voice/: 95 passed, 7 skipped (skips are SDK/GStreamer conditional, off-Jetson). ruff check . clean. CI scoped to tests/voice (legacy reachy_claw tests kept under tests/ root as reference, not run).
  • Smoke-deployed on the Jetson (Mac can't import the app — needs GStreamer/gi): built reachy-voice:0.2.0 from this branch, swapped it in, verified live — motion compositor (100 moves), vision, audio, edge-LLM, daemon/SDK control, and the new /api/ollama/models all working. reachy-voice:v0.1 kept for rollback.

Self-review fixes included

  • compose: mount /var/run/docker.sock (restart-services was a silent no-op) + image tag 0.2.0
  • restart_services: broadcast error when all restarts fail (not done); get_running_loop()
  • CI/pyproject: scope tests to tests/voice (legacy tests broke collection)
  • .gitignore: hf-hub/

Not in this PR (follow-up)

  • Tier B/C dashboard APIs (config handlers, send_message, motor, emotion broadcast)
  • Conversation modes (monologue/interpreter) + LLM-backend switching
  • vision-trt camera-race self-heal
  • Migrating legacy reachy_claw features onto the new base

🤖 Generated with Claude Code

Love4yzp and others added 8 commits June 12, 2026 15:58
@Love4yzp @claude
feat(merge): reachy_voice becomes the app; legacy old reachy_claw
b46dff5 
Bring the reachy_voice app from the separate reachy-voice repo into this
repo as the packaged app, replacing the old reachy_claw package.

- src/reachy_voice: full working tree (incl. untracked static/app.js,
  profiles/, all .py); main.py gains a main() console entry point
  (byte-equivalent to the existing __main__ block).
- tests/voice: migrated reachy-voice tests (imports unchanged — already
  absolute `from reachy_voice...`).
- legacy/reachy_claw: old package moved here for later feature ports;
  not packaged, not imported by the new app.
- tests/conftest.py: defer reachy_claw imports into fixtures so the moved
  package no longer breaks collection of the tests/voice tree.
- deploy/jetson/voice: add the reachy-voice APP image (Dockerfile/compose/
  entrypoint, COPY src/reachy_voice, build context = repo root, FROM
  reachy-claw:slv-v7, hf-hub + entrypoint preserved). The pre-existing SLV
  speech-backend compose is preserved as docker-compose.slv-backend.yml.
- pyproject.toml: name reachy-voice, deps reconciled to reachy-voice's
  (reachy-mini>=1.8.0 + voice deps), hatch wheel packages=[src/reachy_voice],
  scripts + reachy_mini_apps entry point -> reachy_voice.main:ReachyVoiceApp,
  vendored openvoicestream-agent source kept pointing at the in-repo wheel.

Tests: tests/voice -> 66 passed, 7 skipped (intrinsic SDK/gi importorskip).

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@Love4yzp @claude
feat(dashboard): Tier-A pure-port APIs (ollama models, restart, captu…
274791a 
…res)

Port the self-contained dashboard endpoints the shared frontend
(static/app.js) calls but the reachy_voice backend lacked. All are
HTTP reverse-proxy / Docker Engine socket calls — no reachy-mini SDK,
no conversation core, no deferred feature.

New module reachy_voice/tier_a.py holds the logic (decoupled from
FastAPI/websocket plumbing so it's unit-testable with a mocked httpx
transport):

  - GET /api/ollama/models?url=  -> proxy {url}/api/tags, return model
    names, fall back to a default list on error.
  - WS restart_services -> restart docker containers in order via
    /var/run/docker.sock, poll health before advancing, broadcast
    restart_status. Default order uses reachy-voice (NOT reachy-claw):
    vision-trt -> reachy-daemon -> reachy-voice; remote vision-trt is
    skipped.
  - WS get_capture_info -> capture_info {path,count}; WS clear_captures
    -> capture_reset; GET /api/captures/list + /api/captures/image/{f}
    reverse-proxy vision-trt :8630. Vision host derived from
    config.vision_mjpeg.

main.py wires these into the settings app's HTTP routes and /ws loop;
all existing handlers (get/set_volume, /stream, /debug/*, /language)
untouched.

Tests under tests/voice (29 new, all green; mock httpx + docker socket
+ vision-trt, no hardware).

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@Love4yzp @claude
fix(review): docker.sock mount + scope CI to tests/voice + restart-fa…
864896b 
…il handling

Self-review fixes before the SDK 1.8.0 baseline:
- compose: mount /var/run/docker.sock (dashboard "restart services" was a silent
  no-op without it) + align image tag to 0.2.0
- pyproject + ci.yml: scope tests to tests/voice (44 legacy reachy_claw tests under
  tests/ root import the moved-away package and broke CI collection)
- tier_a.py: broadcast restart "error" when all restarts fail (not "done");
  asyncio.get_running_loop() instead of deprecated get_event_loop()
- .gitignore: hf-hub/ (never commit the 107MB pre-staged HF cache)

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@Love4yzp @claude
ci: install libportaudio2 (sounddevice import) + matrix 3.11/3.12 + f…
12cf643 
…ail-fast off

The voice test suite imports the audio stack (sounddevice), which dlopens
PortAudio at import time; the runner lacked libportaudio2, breaking collection
of tests/voice/test_conversation.py. Also drop the 3.10 matrix entry (uv ignores
it under requires-python>=3.11) and disable fail-fast for clean per-version signal.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@Love4yzp @claude
test(sdk-contract): skip gstreamer import checks when Gst typelib absent
f0e57f3 
The two GStreamer-backed import checks guarded only on `gi`, but CI has `gi`
without the `Gst` typelib, so they raised ValueError instead of skipping. Guard
on `gi.require_version("Gst","1.0")` so they skip on dev/CI and run on the robot.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@Love4yzp @claude
docs: add repo-specific AGENTS.md for reachy-voice
4529818 
Architecture (5-container runtime + data flow), repo layout, build/test/deploy,
SDK 1.8.0 conventions (no_media, set_target_*, play_move, daemon :38001), and
hard constraints. Deliberately excludes the upstream JS/Web/scaffolding "golden
path" — this is an on-robot Python app.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@Love4yzp @claude
deploy: image tag v0.2.0 (match v-prefixed convention)
f77b7c6 
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@Love4yzp @claude
ci: restore test (3.10) matrix entry (required by master branch prote…
63957f3 
…ction)

master's branch protection requires the "test (3.10)" status check; dropping it
from the matrix left PR checks incomplete (mergeStateStatus BLOCKED). uv runs the
3.10 job on 3.12 (requires-python>=3.11) so it passes under that job name.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
@Love4yzp Love4yzp merged commit f8b1a79 into master Jun 12, 2026
4 checks passed
@Love4yzp Love4yzp deleted the feat/merge-reachy-voice branch June 12, 2026 10:21
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