From 485dee8c39574c1a2259b71e106475e6ec0c41ee Mon Sep 17 00:00:00 2001
From: Kasper Marinus <k.marinus@students.uu.nl>
Date: Mon, 11 May 2026 16:04:24 +0200
Subject: [PATCH] feat: pitch setting

---
 src/robot_interface/core/config.py               | 16 +++++++++++++++-
 .../endpoints/actuation_receiver.py              |  1 +
 2 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/src/robot_interface/core/config.py b/src/robot_interface/core/config.py
index 3a19c48..38ed902 100644
--- a/src/robot_interface/core/config.py
+++ b/src/robot_interface/core/config.py
@@ -114,6 +114,17 @@ class MainConfig(object):
         self.max_handler_time_ms = get_config(max_handler_time_ms, "MAIN__MAX_HANDLER_TIME_MS", 50, int)
 
 
+class RobotConfig(object):
+    """
+    Configuration of Pepper-specific parameters, like speech pitch.
+    
+    :ivar pitch: The relative pitch offset of Pepper's voice, in relation to its base pitch.
+    :vartype pitch: float
+    """
+    def __init__(self, pitch=None):
+        self.pitch = get_config(pitch, "ROBOT_PITCH", 0.0, float)
+    
+
 class Settings(object):
     """
     Global settings container.
@@ -126,12 +137,15 @@ class Settings(object):
     :vartype audio_config: AudioConfig
     :ivar main_config: Main system-level configuration.
     :vartype main_config: MainConfig
+    :ivar robot_config: Robot configuration.
+    :vartype robot_config: RobotConfig
     """
-    def __init__(self, agent_settings=None, video_config=None, audio_config=None, main_config=None):
+    def __init__(self, agent_settings=None, video_config=None, audio_config=None, main_config=None, robot_config=None):
         self.agent_settings = agent_settings or AgentSettings()
         self.video_config = video_config or VideoConfig()
         self.audio_config = audio_config or AudioConfig()
         self.main_config = main_config or MainConfig()
+        self.robot_config = robot_config or RobotConfig()
 
 
 settings = Settings()
diff --git a/src/robot_interface/endpoints/actuation_receiver.py b/src/robot_interface/endpoints/actuation_receiver.py
index 1e31f38..00c246a 100644
--- a/src/robot_interface/endpoints/actuation_receiver.py
+++ b/src/robot_interface/endpoints/actuation_receiver.py
@@ -68,6 +68,7 @@ class ActuationReceiver(ReceiverBase):
 
         if not self._tts_service:
             self._tts_service = state.qi_session.service("ALTextToSpeech")
+            self._tts_service.setParameter("pitchShift", settings.robot_config.pitch)
 
         if message.get("is_priority"):
             # Bypass queue and speak immediately