Buckets:

hf-doc-build
/

doc-dev

host : Hostname or IP of the daemon. Defaults to "reachy-mini.local". In "auto" mode this is only used as a fallback when localhost is unreachable, so the default works out of the box for local development.

port : Port of the daemon's FastAPI server. Defaults to 8000.

connection_mode : Select how to connect to the daemon. Use "localhost_only" to restrict connections to daemons running on localhost, "network" to connect to a remote daemon at host:port, or "auto" (default) to try localhost first then fall back to host:port.

spawn_daemon (bool) : If True, will spawn a daemon to control the robot, defaults to False.

use_sim (bool) : If True and spawn_daemon is True, will spawn a simulated robot, defaults to True.

async_play_move[[reachy_mini.ReachyMini.async_play_move]]

Source

Asynchronously play a Move.

Parameters:

move (Move) : The Move object to be played.

play_frequency (float) : The frequency at which to evaluate the move (in Hz).

initial_goto_duration (float) : Duration for the initial goto to the starting position of the move (in seconds). If 0, no initial goto is performed.

sound (bool) : If True, play the sound associated with the move (if any).

cancel_move[[reachy_mini.ReachyMini.cancel_move]]

Source

Cancel the currently playing move.

This will cause any running play_move or async_play_move to stop at the next iteration of the playback loop. Audio is also stopped.

disable_gravity_compensation[[reachy_mini.ReachyMini.disable_gravity_compensation]]

Source

Disable gravity compensation for the head motors.

disable_motors[[reachy_mini.ReachyMini.disable_motors]]

Source

Disable the motors.

Parameters:

ids (List[str] | None) : List of motor names to disable. If None, all motors will be disabled. Valid names match src/reachy_mini/assets/config/hardware_config.yaml: body_rotation, stewart_1 … stewart_6, right_antenna, left_antenna.

enable_gravity_compensation[[reachy_mini.ReachyMini.enable_gravity_compensation]]

Source

Enable gravity compensation for the head motors.

enable_motors[[reachy_mini.ReachyMini.enable_motors]]

Source

Enable the motors.

Parameters:

ids (List[str] | None) : List of motor names to enable. If None, all motors will be enabled. Valid names match src/reachy_mini/assets/config/hardware_config.yaml: body_rotation, stewart_1 … stewart_6, right_antenna, left_antenna.

get_current_head_pose[[reachy_mini.ReachyMini.get_current_head_pose]]

Source

Get the current head pose as a 4x4 matrix.

Returns:

np.ndarray

A 4x4 matrix representing the current head pose.

get_current_joint_positions[[reachy_mini.ReachyMini.get_current_joint_positions]]

Source

Get the current joint positions of the head and antennas.

Get the current joint positions of the head and antennas (in rad)

Returns:

tuple

A tuple containing two lists:

List of head joint positions (rad) (length 7).
List of antennas joint positions (rad) (length 2).

get_present_antenna_joint_positions[[reachy_mini.ReachyMini.get_present_antenna_joint_positions]]

Source

Get the present joint positions of the antennas.

Get the present joint positions of the antennas (in rad)

Returns:

list

A list of antennas joint positions (rad) (length 2).

goto_sleep[[reachy_mini.ReachyMini.goto_sleep]]

Source

Put the robot to sleep by moving the head and antennas to a predefined sleep position.

goto_target[[reachy_mini.ReachyMini.goto_target]]

Source

Go to a target head pose and/or antennas position using task space interpolation, in "duration" seconds.

Parameters:

head (Optional[np.ndarray]) : 4x4 pose matrix representing the target head pose.

antennas (Optional[Union[np.ndarray, List[float]]]) : 1D array with two elements representing the angles of the antennas in radians.

duration (float) : Duration of the movement in seconds.

method (InterpolationTechnique) : Interpolation method to use ("linear", "minjerk", "ease_in_out", "cartoon"). Default is "minjerk".

body_yaw (float | None) : Body yaw angle in radians. Use None to keep the current yaw.

look_at_image[[reachy_mini.ReachyMini.look_at_image]]

Source

Make the robot head look at a point defined by a pixel position (u,v).

TODO image of reachy mini coordinate system

Parameters:

u (int) : Horizontal coordinate in image frame.

v (int) : Vertical coordinate in image frame.

duration (float) : Duration of the movement in seconds. If 0, the head will snap to the position immediately.

perform_movement (bool) : If True, perform the movement. If False, only calculate and return the pose.

Returns:

np.ndarray

The calculated head pose as a 4x4 matrix.

look_at_world[[reachy_mini.ReachyMini.look_at_world]]

Source

Look at a specific point in 3D space in Reachy Mini's reference frame.

TODO include image of reachy mini coordinate system

Parameters:

x (float) : X coordinate in meters.

y (float) : Y coordinate in meters.

z (float) : Z coordinate in meters.

duration (float) : Duration of the movement in seconds. If 0, the head will snap to the position immediately.

perform_movement (bool) : If True, perform the movement. If False, only calculate and return the pose.

Returns:

np.ndarray

The calculated head pose as a 4x4 matrix.

async_play_move[[reachy_mini.ReachyMini.play_move]]

Asynchronously play a Move.

Parameters:

move (Move) : The Move object to be played.

play_frequency (float) : The frequency at which to evaluate the move (in Hz).

initial_goto_duration (float) : Duration for the initial goto to the starting position of the move (in seconds). If 0, no initial goto is performed.

sound (bool) : If True, play the sound associated with the move (if any).

release_media[[reachy_mini.ReachyMini.release_media]]

Source

Tell the daemon to release camera and audio hardware.

After calling this, the camera and microphone are available for direct access via OpenCV / sounddevice / etc. The SDK's media_manager is switched to NO_MEDIA.

Idempotent: safe to call multiple times.