First commit, wip

.gitignore

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+# based on https://github.com/github/gitignore/blob/main/Python.gitignore
+
+.vscode/
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+*.zip
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# generate documentation
+docs/*.html
+docs/*.js
+docs/example/

README.md

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+---
+title: Theremini
+emoji: 🎛️
+colorFrom: purple
+colorTo: indigo
+sdk: static
+pinned: false
+short_description: Play Reachy Mini like a theremin?!
+tags:
+ - reachy_mini
+ - music
+ - theremin
+---
+
+## Overview
+
+Theremini turns Reachy Mini into a music instrument. The robot's head roll sets the pitch, head vertical translation maps to the amplitude, and the right antenna selects the current instrument (FluidSynth GM programs).
+
+## Controls
+
+| Control            | Range                     | Target             |
+|--------------------|---------------------------|--------------------|
+| Head roll          | -60° … +60°               | MIDI notes 48–84   |
+| Head Z translation | -30 mm … +5 mm            | Amplitude 0–100 %  |
+| Right antenna      | -π/3 … +π/3 radians       | Instrument program |

Theremini/__init__.py

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+from .main import Theremini
+
+__all__ = ["Theremini"]

Theremini/main.py

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+from __future__ import annotations
+
+import contextlib
+import io
+import math
+import sys
+import threading
+import time
+from typing import Any
+
+from reachy_mini import ReachyMini, ReachyMiniApp
+from scamp import Session
+from scipy.spatial.transform import Rotation as R
+
+# ────────────────── mapping constants ───────────────────────────────
+ROLL_DEG_RANGE = (-60, 60)  # head roll span
+NOTE_MIDI_RANGE = (48, 84)  # C3–C6
+Z_MM_RANGE = (-30, 5)  # farther → quieter
+AMP_RANGE = (0.0, 1.0)  # mute…full
+RIGHT_ANT_RANGE = (-math.pi / 3, math.pi / 3)  # raw radians → program index
+
+# ────────────────── available instruments (subset of GM bank) ──────
+AVAILABLE_PARTS = [
+    "choir_aahs",
+    "orchestra_hit",
+    "taiko_drum",
+    "trumpet",
+    "french_horn",
+    "soundtrack",
+]
+
+NOTE_NAMES = ["C", "C♯", "D", "D♯", "E", "F", "F♯", "G", "G♯", "A", "A♯", "B"]
+
+
+def midi_to_name(midi_note: int) -> str:
+    return NOTE_NAMES[midi_note % 12] + str(midi_note // 12 - 1)
+
+
+def _aff(x: float, a: float, b: float, y0: float, y1: float) -> float:
+    if x <= a:
+        return y0
+    if x >= b:
+        return y1
+    return (x - a) * (y1 - y0) / (b - a) + y0
+
+
+def _send_cc(instr: Any, ctrl: int, val: int) -> None:
+    if hasattr(instr, "cc"):
+        instr.cc(ctrl, val)
+    elif hasattr(instr, "send_midi_cc"):
+        instr.send_midi_cc(ctrl, val / 127)
+
+
+def _dash_bar(val: float, lo: float, hi: float, width: int = 28) -> str:
+    ratio = max(0.0, min((val - lo) / (hi - lo), 1.0))
+    filled = int(ratio * width)
+    colour = "32" if ratio < 0.5 else "33" if ratio < 0.8 else "31"
+    bar = f"\x1b[{colour}m{'█' * filled}{'-' * (width - filled)}\x1b[0m"
+    return f"{val:8.2f} |{bar}"
+
+
+class Theremini(ReachyMiniApp):
+    """Theremin-like Reachy Mini app driven by head pose and right antenna."""
+
+    custom_app_url: str | None = None
+
+    def __init__(self) -> None:
+        super().__init__()
+        self._session = Session(max_threads=1024)
+        self._parts_cache: dict[int, Any] = {}
+        self._theremin = self._get_part_for_prog(0)
+        self._note_handle: Any | None = None
+        self._current_pitch: int | None = None
+        self._current_prog: int | None = None
+
+    def _get_part_for_prog(self, prog: int):
+        if prog not in self._parts_cache:
+            buf = io.StringIO()
+            with contextlib.redirect_stdout(buf):
+                name = AVAILABLE_PARTS[prog]
+                self._parts_cache[prog] = self._session.new_part(name)
+        return self._parts_cache[prog]
+
+    def _stop_note(self) -> None:
+        if self._note_handle:
+            self._note_handle.end()
+            self._note_handle = None
+            self._current_pitch = None
+
+    def run(self, reachy_mini: ReachyMini, stop_event: threading.Event) -> None:
+        print("Roll → Pitch\nZ → Volume\nRight antenna → Instrument\n")
+        reachy_mini.disable_motors()
+
+        try:
+            while not stop_event.is_set():
+                _, antennas = reachy_mini.get_current_joint_positions()
+                pose = reachy_mini.get_current_head_pose()
+
+                trans_mm = pose[:3, 3] * 1_000
+                roll_deg = math.degrees(R.from_matrix(pose[:3, :3]).as_euler("xyz")[0])
+
+                target_pitch = int(round(_aff(roll_deg, *ROLL_DEG_RANGE, *NOTE_MIDI_RANGE)))
+                amp = max(0.0, min(_aff(trans_mm[2], *Z_MM_RANGE, *AMP_RANGE), 1.0))
+                prog = int(
+                    _aff(antennas[1], *RIGHT_ANT_RANGE, 0, len(AVAILABLE_PARTS) - 0.0001)
+                )
+
+                if prog != self._current_prog:
+                    self._stop_note()
+                    self._theremin = self._get_part_for_prog(prog)
+                    self._current_prog = prog
+
+                if amp == 0.0:
+                    self._stop_note()
+                else:
+                    if self._note_handle is None:
+                        self._note_handle = self._theremin.start_note(
+                            target_pitch, int(amp * 100)
+                        )
+                        self._current_pitch = target_pitch
+                    elif target_pitch != self._current_pitch:
+                        self._stop_note()
+                        self._note_handle = self._theremin.start_note(
+                            target_pitch, int(amp * 100)
+                        )
+                        self._current_pitch = target_pitch
+                    else:
+                        _send_cc(self._theremin, 11, int(amp * 127))
+
+                inst_name = (
+                    AVAILABLE_PARTS[self._current_prog]
+                    if self._current_prog is not None
+                    else "--"
+                )
+                lines = [
+                    f"Instrument     : {self._current_prog if self._current_prog is not None else '--':>3} {inst_name}",
+                    f"Note           : {midi_to_name(target_pitch):>3} ({target_pitch})   Playing: {bool(self._note_handle)}",
+                    f"Head roll  (°) : {_dash_bar(roll_deg, *ROLL_DEG_RANGE)}",
+                    f"Head Z     (mm): {_dash_bar(trans_mm[2], *Z_MM_RANGE)}",
+                    f"Amplitude (0-1): {_dash_bar(amp, 0, 1)}",
+                    f"Right ant (rad): {_dash_bar(antennas[1], *RIGHT_ANT_RANGE)}",
+                ]
+                sys.stdout.write("\r" + "\n".join(lines) + "\033[F" * (len(lines) - 1))
+                sys.stdout.flush()
+
+                time.sleep(0.02)
+        finally:
+            self._stop_note()
+            print("\nTheremin stopped.")
+
+
+if __name__ == "__main__":
+    with ReachyMini() as mini:
+        app = Theremini()
+        stop = threading.Event()
+        try:
+            print("Running 'Theremini' a ReachyMiniApp...")
+            print("Press Ctrl+C to stop the app.")
+            app.run(mini, stop)
+            print("App has stopped.")
+        except KeyboardInterrupt:
+            print("Stopping the app...")
+            stop.set()

index.html

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+<!doctype html>
+<html lang="en">
+
+<head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1" />
+    <title>Theremini • Reachy Mini App</title>
+    <link rel="stylesheet" href="style.css" />
+</head>
+
+<body>
+    <main class="page">
+        <header class="hero">
+            <p class="eyebrow">Reachy Mini App</p>
+            <h1>Theremini</h1>
+            <p class="lede">Head roll drives pitch, head height controls the volume and the right antenna switches instruments. Exactly the same mapping as the original <code>simple_theremini.py</code>, now packaged as an app.</p>
+        </header>
+
+        <section class="card">
+            <h2>Mapping</h2>
+            <table class="config-table">
+                <thead>
+                    <tr>
+                        <th>Input</th>
+                        <th>Range</th>
+                        <th>Output</th>
+                    </tr>
+                </thead>
+                <tbody>
+                    <tr>
+                        <td>Head roll</td>
+                        <td>-60° ⇢ +60°</td>
+                        <td>MIDI notes 48 (C3) ⇢ 84 (C6)</td>
+                    </tr>
+                    <tr>
+                        <td>Head Z</td>
+                        <td>-30 mm ⇢ +5 mm</td>
+                        <td>Amplitude 0 ⇢ 100 %</td>
+                    </tr>
+                    <tr>
+                        <td>Right antenna</td>
+                        <td>-π/3 ⇢ +π/3 rad</td>
+                        <td>Instrument index 0 ⇢ 5</td>
+                    </tr>
+                </tbody>
+            </table>
+        </section>
+
+        <section class="card">
+            <h2>Instrument Programs</h2>
+            <p class="caption">Theremini cycles through a curated subset of FluidSynth GM presets. The robot crossfades by reusing CC 11 just like the original script.</p>
+            <ul class="instrument-list">
+                <li><span class="label">0</span>choir_aahs</li>
+                <li><span class="label">1</span>orchestra_hit</li>
+                <li><span class="label">2</span>taiko_drum</li>
+                <li><span class="label">3</span>trumpet</li>
+                <li><span class="label">4</span>french_horn</li>
+                <li><span class="label">5</span>soundtrack</li>
+            </ul>
+        </section>
+
+        <section class="card">
+            <h2>Runtime Defaults</h2>
+            <dl class="kv">
+                <div>
+                    <dt>Loop frequency</dt>
+                    <dd>50 Hz (sleep 20 ms)</dd>
+                </div>
+                <div>
+                    <dt>Session threads</dt>
+                    <dd>SCAMP Session(max_threads=1024)</dd>
+                </div>
+                <div>
+                    <dt>MIDI expression</dt>
+                    <dd>CC 11 scaled 0 ⇢ 127</dd>
+                </div>
+                <div>
+                    <dt>Volume clamp</dt>
+                    <dd>Amplitude 0.0 ⇢ 1.0</dd>
+                </div>
+            </dl>
+        </section>
+
+        <section class="card future">
+            <h2>Next Iterations</h2>
+            <ul>
+                <li>Expose the mapping ranges and instrument list as editable controls.</li>
+                <li>Plot head pose, antenna and amplitude as tiny charts for quick debugging.</li>
+                <li>Preview GM programs with audio snippets or links.</li>
+            </ul>
+        </section>
+    </main>
+</body>
+
+</html>

pyproject.toml

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+[build-system]
+requires = ["setuptools>=61.0"]
+build-backend = "setuptools.build_meta"
+
+
+[project]
+name = "Theremini"
+version = "0.1.0"
+description = "Add your description here"
+readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+    "reachy-mini",
+    "scamp",
+    "scipy"
+]
+keywords = ["reachy-mini-app"]
+
+[project.entry-points."reachy_mini_apps"]
+Theremini = "Theremini.main:Theremini"

style.css

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+:root {
+    color-scheme: light dark;
+    font-family: "Inter", "Segoe UI", system-ui, -apple-system, BlinkMacSystemFont, sans-serif;
+    line-height: 1.5;
+    font-size: 16px;
+    --bg: #0f172a;
+    --surface: rgba(15, 23, 42, 0.75);
+    --border: rgba(148, 163, 184, 0.35);
+    --text: #e2e8f0;
+    --accent: #a5b4fc;
+    --muted: #94a3b8;
+}
+
+* {
+    box-sizing: border-box;
+}
+
+body {
+    margin: 0;
+    background: radial-gradient(circle at top, #312e81 0%, #0f172a 45%, #020617 100%);
+    color: var(--text);
+    min-height: 100vh;
+}
+
+.page {
+    max-width: 960px;
+    margin: 0 auto;
+    padding: 3rem 1.5rem 4rem;
+    display: flex;
+    flex-direction: column;
+    gap: 1.5rem;
+}
+
+.hero {
+    text-align: center;
+    margin-bottom: 1rem;
+}
+
+.hero h1 {
+    margin: 0.3rem 0 0.8rem;
+    font-size: clamp(2.2rem, 5vw, 3rem);
+}
+
+.hero .eyebrow {
+    letter-spacing: 0.2em;
+    text-transform: uppercase;
+    font-size: 0.78rem;
+    color: var(--muted);
+}
+
+.hero .lede {
+    max-width: 720px;
+    margin: 0 auto;
+    color: rgba(226, 232, 240, 0.85);
+}
+
+.card {
+    background: var(--surface);
+    border: 1px solid var(--border);
+    border-radius: 18px;
+    padding: 1.75rem;
+    box-shadow: 0 25px 40px rgba(2, 6, 23, 0.6);
+}
+
+.card h2 {
+    margin-top: 0;
+    margin-bottom: 1rem;
+    font-size: 1.35rem;
+}
+
+.config-table {
+    width: 100%;
+    border-collapse: collapse;
+    font-size: 0.95rem;
+}
+
+.config-table th,
+.config-table td {
+    padding: 0.8rem;
+    border-bottom: 1px solid rgba(148, 163, 184, 0.3);
+    text-align: left;
+}
+
+.config-table th {
+    text-transform: uppercase;
+    font-size: 0.75rem;
+    letter-spacing: 0.08em;
+    color: var(--muted);
+}
+
+.caption {
+    color: var(--muted);
+    margin-top: -0.3rem;
+    margin-bottom: 1rem;
+}
+
+.instrument-list {
+    list-style: none;
+    padding: 0;
+    margin: 0;
+    display: grid;
+    grid-template-columns: repeat(auto-fit, minmax(200px, 1fr));
+    gap: 0.75rem;
+}
+
+.instrument-list li {
+    background: rgba(49, 46, 129, 0.4);
+    border: 1px solid rgba(129, 140, 248, 0.4);
+    border-radius: 12px;
+    padding: 0.85rem 1rem;
+    display: flex;
+    align-items: center;
+    gap: 0.6rem;
+}
+
+.instrument-list .label {
+    font-variant-numeric: tabular-nums;
+    font-weight: 600;
+    color: var(--accent);
+    width: 2ch;
+}
+
+.kv {
+    display: grid;
+    grid-template-columns: repeat(auto-fit, minmax(220px, 1fr));
+    gap: 0.9rem 1.2rem;
+    margin: 0;
+}
+
+.kv div {
+    background: rgba(15, 23, 42, 0.55);
+    border-radius: 10px;
+    padding: 0.9rem 1rem;
+    border: 1px solid rgba(148, 163, 184, 0.25);
+}
+
+.kv dt {
+    font-size: 0.8rem;
+    text-transform: uppercase;
+    letter-spacing: 0.08em;
+    color: var(--muted);
+    margin-bottom: 0.4rem;
+}
+
+.kv dd {
+    margin: 0;
+    font-weight: 600;
+}
+
+.future ul {
+    margin: 0;
+    padding-left: 1rem;
+    color: rgba(226, 232, 240, 0.9);
+}
+
+.future li + li {
+    margin-top: 0.5rem;
+}
+
+code {
+    background: rgba(15, 23, 42, 0.6);
+    padding: 0.1rem 0.3rem;
+    border-radius: 4px;
+}
+
+@media (max-width: 600px) {
+    .card {
+        padding: 1.25rem;
+    }
+
+    .config-table th,
+    .config-table td {
+        padding: 0.6rem;
+    }
+}