Enhance typing

src/reachy_mini_conversation_demo/dance_emotion_moves.py

@@ -32,7 +32,7 @@ class DanceQueueMove(Move):  # type: ignore[misc]
         """Duration property required by official Move interface."""
         return float(self.dance_move.duration)
 
-    def evaluate(self, t: float) -> Tuple[NDArray[np.float32] | None, NDArray[np.float32] | None, float | None]:
+    def evaluate(self, t: float) -> tuple[NDArray[np.float64] | None, NDArray[np.float64] | None, float | None]:
         """Evaluate dance move at time t."""
         try:
             # Get the pose from the dance move
@@ -50,7 +50,7 @@ class DanceQueueMove(Move):  # type: ignore[misc]
             from reachy_mini.utils import create_head_pose
 
             neutral_head_pose = create_head_pose(0, 0, 0, 0, 0, 0, degrees=True)
-            return (neutral_head_pose, np.array([0.0, 0.0]), 0.0)
+            return (neutral_head_pose, np.array([0.0, 0.0], dtype=np.float64), 0.0)
 
 
 class EmotionQueueMove(Move):  # type: ignore[misc]
@@ -66,7 +66,7 @@ class EmotionQueueMove(Move):  # type: ignore[misc]
         """Duration property required by official Move interface."""
         return float(self.emotion_move.duration)
 
-    def evaluate(self, t: float) -> Tuple[NDArray[np.float32] | None, NDArray[np.float32] | None, float | None]:
+    def evaluate(self, t: float) -> tuple[NDArray[np.float64] | None, NDArray[np.float64] | None, float | None]:
         """Evaluate emotion move at time t."""
         try:
             # Get the pose from the emotion move
@@ -84,7 +84,7 @@ class EmotionQueueMove(Move):  # type: ignore[misc]
             from reachy_mini.utils import create_head_pose
 
             neutral_head_pose = create_head_pose(0, 0, 0, 0, 0, 0, degrees=True)
-            return (neutral_head_pose, np.array([0.0, 0.0]), 0.0)
+            return (neutral_head_pose, np.array([0.0, 0.0], dtype=np.float64), 0.0)
 
 
 class GotoQueueMove(Move):  # type: ignore[misc]
@@ -114,7 +114,7 @@ class GotoQueueMove(Move):  # type: ignore[misc]
         """Duration property required by official Move interface."""
         return self._duration
 
-    def evaluate(self, t: float) -> Tuple[NDArray[np.float32] | None, NDArray[np.float32] | None, float | None]:
+    def evaluate(self, t: float) -> tuple[NDArray[np.float64] | None, NDArray[np.float64] | None, float | None]:
         """Evaluate goto move at time t using linear interpolation."""
         try:
             from reachy_mini.utils import create_head_pose
@@ -138,6 +138,7 @@ class GotoQueueMove(Move):  # type: ignore[misc]
                     self.start_antennas[0] + (self.target_antennas[0] - self.start_antennas[0]) * t_clamped,
                     self.start_antennas[1] + (self.target_antennas[1] - self.start_antennas[1]) * t_clamped,
                 ],
+                dtype=np.float64,
             )
 
             # Interpolate body yaw
@@ -147,6 +148,7 @@ class GotoQueueMove(Move):  # type: ignore[misc]
 
         except Exception as e:
             logger.error(f"Error evaluating goto move at t={t}: {e}")
-            # Return target pose on error - convert antennas to numpy array
-            target_antennas_array = np.array([self.target_antennas[0], self.target_antennas[1]])
-            return (self.target_head_pose, target_antennas_array, self.target_body_yaw)
+            # Return target pose on error - convert to float64
+            target_head_pose_f64 = self.target_head_pose.astype(np.float64)
+            target_antennas_array = np.array([self.target_antennas[0], self.target_antennas[1]], dtype=np.float64)
+            return (target_head_pose_f64, target_antennas_array, self.target_body_yaw)

src/reachy_mini_conversation_demo/moves.py

@@ -97,7 +97,7 @@ class BreathingMove(Move):  # type: ignore[misc]
         """Duration property required by official Move interface."""
         return float("inf")  # Continuous breathing (never ends naturally)
 
-    def evaluate(self, t: float) -> Tuple[NDArray[np.float32] | None, NDArray[np.float32] | None, float | None]:
+    def evaluate(self, t: float) -> tuple[NDArray[np.float64] | None, NDArray[np.float64] | None, float | None]:
         """Evaluate breathing move at time t."""
         if t < self.interpolation_duration:
             # Phase 1: Interpolate to neutral base position
@@ -112,7 +112,7 @@ class BreathingMove(Move):  # type: ignore[misc]
             antennas_interp = (
                 1 - interpolation_t
             ) * self.interpolation_start_antennas + interpolation_t * self.neutral_antennas
-            antennas = antennas_interp.astype(np.float32)
+            antennas = antennas_interp.astype(np.float64)
 
         else:
             # Phase 2: Breathing patterns from neutral base
@@ -124,7 +124,7 @@ class BreathingMove(Move):  # type: ignore[misc]
 
             # Antenna sway (opposite directions)
             antenna_sway = self.antenna_sway_amplitude * np.sin(2 * np.pi * self.antenna_frequency * breathing_time)
-            antennas = np.array([antenna_sway, -antenna_sway], dtype=np.float32)
+            antennas = np.array([antenna_sway, -antenna_sway], dtype=np.float64)
 
         # Return in official Move interface format: (head_pose, antennas_array, body_yaw)
         return (head_pose, antennas, 0.0)

src/reachy_mini_conversation_demo/vision/processors.py

@@ -9,6 +9,7 @@ from dataclasses import dataclass
 import cv2
 import numpy as np
 import torch
+from numpy.typing import NDArray
 from transformers import AutoProcessor, AutoModelForImageTextToText
 from huggingface_hub import snapshot_download
 
@@ -90,7 +91,7 @@ class VisionProcessor:
 
     def process_image(
         self,
-        cv2_image: np.ndarray[Any, Any],
+        cv2_image: NDArray[np.uint8],
         prompt: str = "Briefly describe what you see in one sentence.",
     ) -> str:
         """Process CV2 image and return description with retry logic."""

src/reachy_mini_conversation_demo/vision/yolo_head_tracker.py

@@ -1,8 +1,9 @@
 from __future__ import annotations
 import logging
-from typing import Any, Tuple
+from typing import Tuple
 
 import numpy as np
+from numpy.typing import NDArray
 
 
 try:
@@ -84,7 +85,7 @@ class HeadTracker:
         best_idx = valid_indices[np.argmax(scores)]
         return int(best_idx)
 
-    def _bbox_to_mp_coords(self, bbox: np.ndarray[Any, Any], w: int, h: int) -> np.ndarray[Any, Any]:
+    def _bbox_to_mp_coords(self, bbox: NDArray[np.float32], w: int, h: int) -> NDArray[np.float32]:
         """Convert bounding box center to MediaPipe-style coordinates [-1, 1].
 
         Args:
@@ -105,7 +106,7 @@ class HeadTracker:
 
         return np.array([norm_x, norm_y], dtype=np.float32)
 
-    def get_head_position(self, img: np.ndarray[Any, Any]) -> Tuple[np.ndarray[Any, Any] | None, float | None]:
+    def get_head_position(self, img: NDArray[np.uint8]) -> Tuple[NDArray[np.float32] | None, float | None]:
         """Get head position from face detection.
 
         Args: