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robotd: idle look-around moves during a look, leans the neck, opens the beak, yawns - #408
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A held look read as frozen: the only motion was a ~2° drift at under 0.1 Hz. The gaze now shifts a few degrees around the look every 0.4–1.2 s, the way eyes re-fixate, and looks are shorter (1–3 s rather than 1.5–4.5 s), moves a little quicker, the drift faster and dozing shallower — so it moves more often. Every number is now `[idle]` in robotd.toml, editable from `robotctl configure`, with an `enabled` switch. Read once at startup; values it would divide by or ranges put backwards are refused by name. Assisted-by: Claude:claude-opus-5-5
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Nothing reported whether the robot was idle, so tuning it meant guessing from the head. One line when a spell starts, one with its length when it has faded out. Assisted-by: Claude:claude-opus-5-5
After yawn_after_s idle it yawns about every yawn_every_s: the beak opens to yawn_open and the head tips by yawn_pitch, silently. The mouth takes the wider of the yawn and what a client asked. A new glance lands at least glance_min from the last look. Assisted-by: Claude:claude-opus-5-5
Each new look draws a neck lean of up to glance_neck forward or back and a beak opening of up to glance_mouth, eased with the glance and held through the look's nudges. The yawn adds on top of the beak. Assisted-by: Claude:claude-opus-5-5
The mouth's 0..1 runs from -5 degrees, held past shut, to +30. At glance_mouth 0.15, scaled by reach and a uniform draw, a look opened it to about -3 degrees on average: still shut, seen on the robot. Now 0.4 by default, each look opening it between half and all of that, not shrunk by dozing. Assisted-by: Claude:claude-opus-5-5
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A held look read as frozen — the only motion during it was a ~2° drift at under 0.1 Hz — and the head was the only thing that moved.
glance_min(0.2 rad) from the last one, so it never lands where the head already is.glance_neck(0.15 rad) forward or back, and opens the beak to between half and all ofglance_mouth(0.4 — about +2° to +9°; the mouth's 0..1 starts at −5°, held past shut, so much less does not show). The idle beak takes the wider of itself and what a client asked.yawn_after_s(45 s) idle, about everyyawn_every_s(90 s), foryawn_s(3 s): the beak opens byyawn_open(0.6) on top of the look's, and the head tips byyawn_pitch(−0.15 rad). Silent; glances hold while it yawns.idle look-around startedwhen a spell starts,idle look-around stopped spell_s=…once it has faded out.[idle]inrobotd.toml— inrobotctl configure, withidle.enabledon the front page. Read once at startup, so a change asks to restartrobotd. Divisors at zero, probabilities and openings over 1, and backwards ranges are refused by key name.Tested with
cargo test -p robotd -p robotd-params -p robotctlon macOS. On olducky, 97a3b9b runs and the journal shows spells starting; the beak opening as it now stands (3a293d4) is not yet seen on a board.🤖 Generated with Claude Code