Salty commit

marionette/assets/click_the_gear.wav

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c1529545e5cb5105bb520986a5f529103bd8b93c951269bc2b8c594a41f8557
+size 221406

marionette/main.py

@@ -27,6 +27,16 @@ from reachy_mini.utils.interpolation import distance_between_poses
 
 from marionette.motion_models import MotionModelRegistry
 
+# Semi-awaken pose: identity rotation, same XY as sleep, Z raised 1.5cm
+SEMI_AWAKEN_POSE = np.array(
+    [
+        [1.0, 0.0, 0.0, -0.021],
+        [0.0, 1.0, 0.0, 0.001],
+        [0.0, 0.0, 1.0, -0.029],
+        [0.0, 0.0, 0.0, 1.0],
+    ]
+)
+
 try:
     import soundfile as sf
 except Exception:  # pragma: no cover - optional dependency
@@ -537,6 +547,37 @@ class Marionette(ReachyMiniApp):
             # Graceful torque off - move to sleep pose first
             self._goto_sleep_and_release(reachy_mini)
 
+            # "Click the gear" sequence - brief wake-up after sleep
+            click_gear_path = Path(__file__).parent / "assets" / "click_the_gear.wav"
+            if click_gear_path.exists():
+                time.sleep(0.7)  # Wait 700ms after torque off
+                self._safe_enable_motors(reachy_mini)
+
+                # Go to semi-awaken pose (identity rotation, Z raised 1.5cm from sleep)
+                antenna_angle = np.deg2rad(15)
+                reachy_mini.goto_target(
+                    SEMI_AWAKEN_POSE,
+                    antennas=[-antenna_angle, antenna_angle],
+                    duration=0.3,
+                )
+
+                # Play the click_the_gear sound
+                click_gear_duration = 0.0
+                if sf is not None:
+                    try:
+                        info = sf.info(str(click_gear_path))
+                        click_gear_duration = float(info.duration)
+                    except Exception:
+                        click_gear_duration = 2.0  # fallback
+                else:
+                    click_gear_duration = 2.0  # fallback
+
+                reachy_mini.media.play_sound(str(click_gear_path))
+                time.sleep(click_gear_duration)
+
+                # Disable torque again
+                reachy_mini.disable_motors()
+
             while not stop_event.is_set():
                 job_type: str | None = None
                 payload: RecordingRequest | str | None = None