Speaking: pause face tracking, use lively nodding animation (1.5Hz)

reachy_mini_ha_voice/animations/conversation_animations.json

@@ -26,14 +26,14 @@
       "frequency_hz": 0.5
     },
     "speaking": {
-      "description": "Animation while TTS is playing - lively head movement",
-      "pitch_amplitude_rad": 0.06,
-      "yaw_amplitude_rad": 0.05,
-      "roll_amplitude_rad": 0.04,
-      "z_amplitude_m": 0.004,
-      "antenna_amplitude_rad": 0.35,
+      "description": "Speaking animation - lively nodding like talking",
+      "pitch_amplitude_rad": 0.08,
+      "yaw_amplitude_rad": 0.06,
+      "roll_amplitude_rad": 0.03,
+      "z_amplitude_m": 0.005,
+      "antenna_amplitude_rad": 0.4,
       "antenna_move_name": "wiggle",
-      "frequency_hz": 0.9
+      "frequency_hz": 1.5
     },
     "happy": {
       "description": "Happy/positive response",

reachy_mini_ha_voice/satellite.py

@@ -747,9 +747,16 @@ class VoiceSatelliteProtocol(APIServer):
 
     def _reachy_on_listening(self) -> None:
         """Called when listening for speech (HA state: Listening)."""
-        # Enable high-frequency face tracking during conversation
+        # Enable high-frequency face tracking during listening
         self._set_conversation_mode(True)
         
+        # Resume face tracking (may have been paused during speaking)
+        if self.camera_server is not None:
+            try:
+                self.camera_server.set_face_tracking_enabled(True)
+            except Exception as e:
+                _LOGGER.debug("Failed to resume face tracking: %s", e)
+        
         # Disable tap detection during conversation to prevent false triggers from robot movement
         tap_detector = getattr(self.state, 'tap_detector', None)
         if tap_detector:
@@ -767,6 +774,13 @@ class VoiceSatelliteProtocol(APIServer):
 
     def _reachy_on_thinking(self) -> None:
         """Called when processing speech (HA state: Processing)."""
+        # Resume face tracking (may have been paused during speaking)
+        if self.camera_server is not None:
+            try:
+                self.camera_server.set_face_tracking_enabled(True)
+            except Exception as e:
+                _LOGGER.debug("Failed to resume face tracking: %s", e)
+        
         if not self.state.motion_enabled or not self.state.reachy_mini:
             return
         try:
@@ -778,6 +792,14 @@ class VoiceSatelliteProtocol(APIServer):
 
     def _reachy_on_speaking(self) -> None:
         """Called when TTS is playing (HA state: Responding)."""
+        # Pause face tracking during speaking - robot will use speaking animation instead
+        if self.camera_server is not None:
+            try:
+                self.camera_server.set_face_tracking_enabled(False)
+                _LOGGER.debug("Face tracking paused during speaking")
+            except Exception as e:
+                _LOGGER.debug("Failed to pause face tracking: %s", e)
+        
         if not self.state.motion_enabled or not self.state.reachy_mini:
             return
         try:
@@ -787,11 +809,18 @@ class VoiceSatelliteProtocol(APIServer):
         except Exception as e:
             _LOGGER.error("Reachy Mini motion error: %s", e)
 
-    def _reachy_on_idle(self) -> None:
+    def _reachy_on_listening(self) -> None:
         """Called when returning to idle state (HA state: Idle)."""
         # Disable high-frequency face tracking, switch to adaptive mode
         self._set_conversation_mode(False)
         
+        # Resume face tracking (may have been paused during speaking)
+        if self.camera_server is not None:
+            try:
+                self.camera_server.set_face_tracking_enabled(True)
+            except Exception as e:
+                _LOGGER.debug("Failed to resume face tracking: %s", e)
+        
         # Re-enable tap detection when conversation ends
         tap_detector = getattr(self.state, 'tap_detector', None)
         if tap_detector: