reachy_mini/pr_1069/en/API/motion.md

# Motion

## Base Classes[[reachy_mini.motion.move.Move]]

#### reachy_mini.motion.move.Move[[reachy_mini.motion.move.Move]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/motion/move.py#L11)

Abstract base class for defining a move on the ReachyMini robot.

evaluatereachy_mini.motion.move.Move.evaluatehttps://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/motion/move.py#L25[{"name": "t", "val": ": float"}]- **t** -- The time at which to evaluate the move (in seconds). It will always be between 0 and duration.0headThe head position (4x4 homogeneous matrix).
antennas: The antennas positions (rad).
body_yaw: The body yaw angle (rad).
Evaluate the move at time t, typically called at a high-frequency (eg. 100Hz).

**Parameters:**

t : The time at which to evaluate the move (in seconds). It will always be between 0 and duration.

**Returns:**

`head`

The head position (4x4 homogeneous matrix).
antennas: The antennas positions (rad).
body_yaw: The body yaw angle (rad).

## Goto Moves[[reachy_mini.motion.goto.GotoMove]]

#### reachy_mini.motion.goto.GotoMove[[reachy_mini.motion.goto.GotoMove]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/motion/goto.py#L15)

A goto move to a target head pose and/or antennas position.

evaluatereachy_mini.motion.goto.GotoMove.evaluatehttps://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/motion/goto.py#L51[{"name": "t", "val": ": float"}]
Evaluate the goto at time t.

## Recorded Moves[[reachy_mini.motion.recorded_move.RecordedMove]]

#### reachy_mini.motion.recorded_move.RecordedMove[[reachy_mini.motion.recorded_move.RecordedMove]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/motion/recorded_move.py#L70)

Represent a recorded move.

evaluatereachy_mini.motion.recorded_move.RecordedMove.evaluatehttps://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/motion/recorded_move.py#L98[{"name": "t", "val": ": float"}]headThe head position (4x4 homogeneous matrix).
antennas: The antennas positions (rad).
body_yaw: The body yaw angle (rad).
Evaluate the move at time t.

**Returns:**

`head`

The head position (4x4 homogeneous matrix).
antennas: The antennas positions (rad).
body_yaw: The body yaw angle (rad).

#### reachy_mini.motion.recorded_move.RecordedMoves[[reachy_mini.motion.recorded_move.RecordedMoves]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/motion/recorded_move.py#L156)

Load a library of recorded moves from a HuggingFace dataset.

Uses local cache only to avoid blocking network calls during playback.
The dataset should be pre-downloaded at daemon startup via preload_default_datasets().
If not cached, falls back to network download (which may cause delays).

getreachy_mini.motion.recorded_move.RecordedMoves.gethttps://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/motion/recorded_move.py#L209[{"name": "move_name", "val": ": str"}]
Get a recorded move by name.
#### list_moves[[reachy_mini.motion.recorded_move.RecordedMoves.list_moves]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/motion/recorded_move.py#L218)

List all moves in the loaded library.
#### process[[reachy_mini.motion.recorded_move.RecordedMoves.process]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/motion/recorded_move.py#L189)

Populate recorded moves and sounds.