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| <link rel="modulepreload" href="/docs/reachy_mini/pr_1069/en/_app/immutable/chunks/Docstring.e0431ad7.js"><!-- HEAD_svelte-u9bgzb_START --><meta name="hf:doc:metadata" content="{"title":"Utils","local":"utils","sections":[{"title":"Interpolation Functions","local":"reachy_mini.utils.interpolation.minimum_jerk","sections":[],"depth":2},{"title":"Parameters","local":"parameters","sections":[],"depth":2},{"title":"Returns","local":"returns","sections":[],"depth":2},{"title":"Hardware Configuration","local":"reachy_mini.utils.hardware_config.parser.MotorConfig","sections":[],"depth":2},{"title":"Rerun Visualization","local":"reachy_mini.utils.rerun.Rerun","sections":[],"depth":2},{"title":"Wireless Version Utilities","local":"reachy_mini.utils.wireless_version.utils.call_logger_wrapper","sections":[],"depth":2},{"title":"Core Utilities","local":"reachy_mini.utils.create_head_pose","sections":[],"depth":2},{"title":"URDF Parsing","local":"reachy_mini.utils.parse_urdf_for_kinematics.get_data","sections":[],"depth":2}],"depth":1}"><!-- HEAD_svelte-u9bgzb_END --> <p></p> <div class="items-center shrink-0 min-w-[100px] max-sm:min-w-[50px] justify-end ml-auto flex" style="float: right; margin-left: 10px; display: inline-flex; position: relative; z-index: 10;"><div class="inline-flex rounded-md max-sm:rounded-sm"><button class="inline-flex items-center gap-1 h-7 max-sm:h-7 px-2 max-sm:px-1.5 text-sm font-medium text-gray-800 border border-r-0 rounded-l-md max-sm:rounded-l-sm border-gray-200 bg-white hover:shadow-inner dark:border-gray-850 dark:bg-gray-950 dark:text-gray-200 dark:hover:bg-gray-800" aria-live="polite"><span class="inline-flex items-center justify-center rounded-md p-0.5 max-sm:p-0 hover:text-gray-800 dark:hover:text-gray-200"><svg class="sm:size-3.5 size-3" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg></span> <span>Copy page</span></button> <button class="inline-flex items-center justify-center w-6 max-sm:w-5 h-7 max-sm:h-7 disabled:pointer-events-none text-sm text-gray-500 hover:text-gray-700 dark:hover:text-white rounded-r-md max-sm:rounded-r-sm border border-l transition border-gray-200 bg-white hover:shadow-inner dark:border-gray-850 dark:bg-gray-950 dark:text-gray-200 dark:hover:bg-gray-800" aria-haspopup="menu" aria-expanded="false" aria-label="Open copy menu"><svg class="transition-transform text-gray-400 overflow-visible sm:size-3.5 size-3 rotate-0" width="1em" height="1em" viewBox="0 0 12 7" fill="none" xmlns="http://www.w3.org/2000/svg"><path d="M1 1L6 6L11 1" stroke="currentColor"></path></svg></button></div> </div> <h1 class="relative group"><a id="utils" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#utils"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Utils</span></h1> <h2 class="relative group"><a id="reachy_mini.utils.interpolation.minimum_jerk" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.interpolation.minimum_jerk"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Interpolation Functions</span></h2> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.interpolation.minimum_jerk"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.interpolation.minimum_jerk</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.interpolation.minimum_jerk" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.interpolation.minimum_jerk"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/interpolation.py#L13" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">starting_position<span class="opacity-60">: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">goal_position<span class="opacity-60">: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">duration<span class="opacity-60">: float</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">starting_velocity<span class="opacity-60">: typing.Optional[numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]] = None</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">starting_acceleration<span class="opacity-60">: typing.Optional[numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]] = None</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">final_velocity<span class="opacity-60">: typing.Optional[numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]] = None</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">final_acceleration<span class="opacity-60">: typing.Optional[numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]] = None</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-85b8y6">Compute the minimum jerk interpolation function from starting position to goal position.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.interpolation.linear_pose_interpolation"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.interpolation.linear_pose_interpolation</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.interpolation.linear_pose_interpolation" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.interpolation.linear_pose_interpolation"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/interpolation.py#L58" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">start_pose<span class="opacity-60">: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">target_pose<span class="opacity-60">: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">t<span class="opacity-60">: float</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-17erbge">Linearly interpolate between two poses in 6D space.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.interpolation.time_trajectory"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.interpolation.time_trajectory</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.interpolation.time_trajectory" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.interpolation.time_trajectory"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/interpolation.py#L96" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">t<span class="opacity-60">: float</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">method<span class="opacity-60">: InterpolationTechnique = <InterpolationTechnique.MIN_JERK: 'minjerk'></span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-y3ys87">Compute the time trajectory value based on the specified interpolation method.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.interpolation.delta_angle_between_mat_rot"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.interpolation.delta_angle_between_mat_rot</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.interpolation.delta_angle_between_mat_rot" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.interpolation.delta_angle_between_mat_rot"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/interpolation.py#L135" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">P<span class="opacity-60">: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">Q<span class="opacity-60">: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> <p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800" data-svelte-h="svelte-lt6pb6">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p> <ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.interpolation.delta_angle_between_mat_rot.P" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.interpolation.delta_angle_between_mat_rot.P"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>P</strong> — A 3x3 rotation matrix.<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.interpolation.delta_angle_between_mat_rot.Q" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.interpolation.delta_angle_between_mat_rot.Q"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>Q</strong> — Another 3x3 rotation matrix.<!-- HTML_TAG_END --> </span></span> </li></ul> </div></div> <p data-svelte-h="svelte-24nws7">Compute the angle (in radians) between two 3x3 rotation matrices <code>P</code> and <code>Q</code>.</p> <p data-svelte-h="svelte-mjfhuo">This is equivalent to the angular distance in axis-angle space. | |
| It is computed via the trace of the relative rotation matrix.</p> <p data-svelte-h="svelte-k74mug">References:</p> <ul data-svelte-h="svelte-1r8zgru"><li><a href="https://math.stackexchange.com/questions/2113634/comparing-two-rotation-matrices" rel="nofollow">https://math.stackexchange.com/questions/2113634/comparing-two-rotation-matrices</a></li> <li><a href="http://www.boris-belousov.net/2016/12/01/quat-dist/" rel="nofollow">http://www.boris-belousov.net/2016/12/01/quat-dist/</a></li></ul></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.interpolation.distance_between_poses"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.interpolation.distance_between_poses</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.interpolation.distance_between_poses" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.interpolation.distance_between_poses"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/interpolation.py#L161" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">pose1<span class="opacity-60">: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">pose2<span class="opacity-60">: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> <span class="font-bold" data-svelte-h="svelte-1j6k10o">→</span> <span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><script context="module">export const metadata = 'undefined';</script><span>A tuple of</span><!-- HTML_TAG_END --></span></p> <div class="!mb-10 relative docstring-details "> <p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800" data-svelte-h="svelte-lt6pb6">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p> <ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.interpolation.distance_between_poses.pose1" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.interpolation.distance_between_poses.pose1"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>pose1</strong> — A 4x4 homogeneous transformation matrix representing the first pose.<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.interpolation.distance_between_poses.pose2" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.interpolation.distance_between_poses.pose2"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>pose2</strong> — A 4x4 homogeneous transformation matrix representing the second pose.<!-- HTML_TAG_END --> </span></span> </li></ul> <div id="reachy_mini.utils.interpolation.distance_between_poses.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p> <!-- HTML_TAG_START --><script context="module">export const metadata = 'undefined';</script> | |
| <p>A tuple of</p> | |
| <!-- HTML_TAG_END --> <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div> <p class="text-base"><!-- HTML_TAG_START --><script context="module">export const metadata = 'undefined';</script> | |
| <ul> | |
| <li>translation distance in meters,</li> | |
| <li>angular distance in radians,</li> | |
| <li>unhinged distance in magic-mm (translation in mm + rotation in degrees).</li> | |
| </ul> | |
| <!-- HTML_TAG_END --></p> </div></div> <p data-svelte-h="svelte-mcpgki">Compute three types of distance between two 4x4 homogeneous transformation matrices.</p> <p data-svelte-h="svelte-1qppefn">The result combines translation (in mm) and rotation (in degrees) using an arbitrary but | |
| emotionally satisfying equivalence: 1 degree ≈ 1 mm.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.interpolation.compose_world_offset"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.interpolation.compose_world_offset</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.interpolation.compose_world_offset" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.interpolation.compose_world_offset"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/interpolation.py#L187" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">T_abs<span class="opacity-60">: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">T_off_world<span class="opacity-60">: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]]</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">reorthonormalize<span class="opacity-60">: bool = False</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-18bwwn7">Compose an absolute world-frame pose with a world-frame offset.</p> <ul data-svelte-h="svelte-16efalq"><li>translations add in world: t_final = t_abs + t_off</li> <li>rotations compose in world: R_final = R_off @ R_abs | |
| This rotates the frame in place (about its own origin) by a rotation | |
| defined in world axes, and shifts it by a world translation.</li></ul> <h2 class="relative group"><a id="parameters" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#parameters"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Parameters</span></h2> <p data-svelte-h="svelte-1w0y7y5">T_abs : (4,4) ndarray | |
| Absolute pose in world frame. | |
| T_off_world : (4,4) ndarray | |
| Offset transform specified in world axes (dx,dy,dz in world; dR about world axes). | |
| reorthonormalize : bool | |
| If True, SVD-orthonormalize the resulting rotation to fight drift.</p> <h2 class="relative group"><a id="returns" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#returns"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Returns</span></h2> <p data-svelte-h="svelte-1hcu3wj">T_final : (4,4) ndarray | |
| Resulting pose in world frame.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.interpolation.InterpolationTechnique"><!-- HTML_TAG_START --><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">reachy_mini.utils.interpolation.</span><span class="font-semibold">InterpolationTechnique</span></span></h3><!-- HTML_TAG_END --> <a id="reachy_mini.utils.interpolation.InterpolationTechnique" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.interpolation.InterpolationTechnique"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/interpolation.py#L87" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">*values<span class="opacity-60"></span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-yn1mer">Enumeration of interpolation techniques.</p></div> <h2 class="relative group"><a id="reachy_mini.utils.hardware_config.parser.MotorConfig" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.hardware_config.parser.MotorConfig"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Hardware Configuration</span></h2> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.hardware_config.parser.MotorConfig"><!-- HTML_TAG_START --><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">reachy_mini.utils.hardware_config.parser.</span><span class="font-semibold">MotorConfig</span></span></h3><!-- HTML_TAG_END --> <a id="reachy_mini.utils.hardware_config.parser.MotorConfig" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.hardware_config.parser.MotorConfig"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/hardware_config/parser.py#L9" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">id<span class="opacity-60">: int</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">offset<span class="opacity-60">: int</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">angle_limit_min<span class="opacity-60">: int</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">angle_limit_max<span class="opacity-60">: int</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">return_delay_time<span class="opacity-60">: int</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">shutdown_error<span class="opacity-60">: int</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">operating_mode<span class="opacity-60">: int</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">pid<span class="opacity-60">: tuple[int, int, int] | None = None</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-zkwrox">Motor configuration.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.hardware_config.parser.SerialConfig"><!-- HTML_TAG_START --><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">reachy_mini.utils.hardware_config.parser.</span><span class="font-semibold">SerialConfig</span></span></h3><!-- HTML_TAG_END --> <a id="reachy_mini.utils.hardware_config.parser.SerialConfig" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.hardware_config.parser.SerialConfig"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/hardware_config/parser.py#L23" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">baudrate<span class="opacity-60">: int</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-1bb4jps">Serial configuration.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.hardware_config.parser.ReachyMiniConfig"><!-- HTML_TAG_START --><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">reachy_mini.utils.hardware_config.parser.</span><span class="font-semibold">ReachyMiniConfig</span></span></h3><!-- HTML_TAG_END --> <a id="reachy_mini.utils.hardware_config.parser.ReachyMiniConfig" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.hardware_config.parser.ReachyMiniConfig"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/hardware_config/parser.py#L30" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">version<span class="opacity-60">: str</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">serial<span class="opacity-60">: SerialConfig</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">motors<span class="opacity-60">: dict[str, reachy_mini.utils.hardware_config.parser.MotorConfig]</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-tjxyv9">Reachy Mini configuration.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.hardware_config.parser.parse_yaml_config"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.hardware_config.parser.parse_yaml_config</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.hardware_config.parser.parse_yaml_config" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.hardware_config.parser.parse_yaml_config"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/hardware_config/parser.py#L38" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">filename<span class="opacity-60">: str</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-1b7fb6">Parse the YAML configuration file and return a ReachyMiniConfig.</p></div> <h2 class="relative group"><a id="reachy_mini.utils.rerun.Rerun" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.rerun.Rerun"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Rerun Visualization</span></h2> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.rerun.Rerun"><!-- HTML_TAG_START --><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">reachy_mini.utils.rerun.</span><span class="font-semibold">Rerun</span></span></h3><!-- HTML_TAG_END --> <a id="reachy_mini.utils.rerun.Rerun" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.rerun.Rerun"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/rerun.py#L27" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">reachymini<span class="opacity-60">: ReachyMini</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">app_id<span class="opacity-60">: str = 'reachy_mini_rerun'</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">spawn<span class="opacity-60">: bool = True</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-vyo8o3">Rerun logging for Reachy Mini.</p> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.rerun.Rerun.log_camera"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>log_camera</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.rerun.Rerun.log_camera" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.rerun.Rerun.log_camera"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/rerun.py#L130" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-1crwn9m">Log the camera image to Rerun.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.rerun.Rerun.log_movements"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>log_movements</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.rerun.Rerun.log_movements" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.rerun.Rerun.log_movements"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/rerun.py#L186" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-18jhhrh">Log the movement data to Rerun.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.rerun.Rerun.set_absolute_path_to_urdf"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>set_absolute_path_to_urdf</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.rerun.Rerun.set_absolute_path_to_urdf" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.rerun.Rerun.set_absolute_path_to_urdf"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/rerun.py#L95" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">urdf_path<span class="opacity-60">: str</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">abs_path<span class="opacity-60">: str</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-rkqv8e">Set the absolute paths in the URDF file. Rerun cannot read the “package://” paths.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.rerun.Rerun.start"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>start</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.rerun.Rerun.start" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.rerun.Rerun.start"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/rerun.py#L105" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-1r9w48z">Start the Rerun logging threads.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.rerun.Rerun.stop"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>stop</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.rerun.Rerun.stop" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.rerun.Rerun.stop"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/rerun.py#L111" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-1xijw8t">Stop the Rerun logging threads.</p></div></div> <h2 class="relative group"><a id="reachy_mini.utils.wireless_version.utils.call_logger_wrapper" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.wireless_version.utils.call_logger_wrapper"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Wireless Version Utilities</span></h2> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.wireless_version.utils.call_logger_wrapper"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.wireless_version.utils.call_logger_wrapper</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.wireless_version.utils.call_logger_wrapper" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.wireless_version.utils.call_logger_wrapper"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/wireless_version/utils.py#L112" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">command<span class="opacity-60">: str</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">logger<span class="opacity-60">: Logger</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">env<span class="opacity-60">: dict[str, str] | None = None</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> <p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800" data-svelte-h="svelte-lt6pb6">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p> <ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.wireless_version.utils.call_logger_wrapper.command" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.wireless_version.utils.call_logger_wrapper.command"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>command</strong> — Shell command string.<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.wireless_version.utils.call_logger_wrapper.logger" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.wireless_version.utils.call_logger_wrapper.logger"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>logger</strong> — logger object with .info and .error methods<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.wireless_version.utils.call_logger_wrapper.env" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.wireless_version.utils.call_logger_wrapper.env"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>env</strong> — Optional environment variables dict. If None, inherits current environment.<!-- HTML_TAG_END --> </span></span> </li></ul> </div></div> <p data-svelte-h="svelte-1w8ttex">Run a shell command asynchronously, streaming stdout and stderr to logger in real time.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.wireless_version.update.update_reachy_mini"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.wireless_version.update.update_reachy_mini</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.wireless_version.update.update_reachy_mini" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.wireless_version.update.update_reachy_mini"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/wireless_version/update.py#L9" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">logger<span class="opacity-60">: Logger</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">pre_release<span class="opacity-60">: bool = False</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">git_ref<span class="opacity-60">: str | None = None</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> <p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800" data-svelte-h="svelte-lt6pb6">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p> <ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.wireless_version.update.update_reachy_mini.logger" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.wireless_version.update.update_reachy_mini.logger"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>logger</strong> — Logger for streaming output.<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.wireless_version.update.update_reachy_mini.pre_release" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.wireless_version.update.update_reachy_mini.pre_release"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>pre_release</strong> — If True, install pre-release from PyPI (ignored if git_ref set).<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.wireless_version.update.update_reachy_mini.git_ref" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.wireless_version.update.update_reachy_mini.git_ref"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>git_ref</strong> — If set, install from this GitHub tag/branch instead of PyPI.<!-- HTML_TAG_END --> </span></span> </li></ul> </div></div> <p data-svelte-h="svelte-1viv6d3">Update reachy_mini package and restart daemon.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.wireless_version.startup_check.check_and_fix_venvs_ownership"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.wireless_version.startup_check.check_and_fix_venvs_ownership</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.wireless_version.startup_check.check_and_fix_venvs_ownership" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.wireless_version.startup_check.check_and_fix_venvs_ownership"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/wireless_version/startup_check.py#L17" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">venvs_path<span class="opacity-60">: str = '/venvs'</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">custom_logger<span class="opacity-60">: logging.Logger | None = None</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> <p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800" data-svelte-h="svelte-lt6pb6">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p> <ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.wireless_version.startup_check.check_and_fix_venvs_ownership.venvs_path" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.wireless_version.startup_check.check_and_fix_venvs_ownership.venvs_path"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>venvs_path</strong> — Path to the virtual environments directory (default: /venvs)<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.wireless_version.startup_check.check_and_fix_venvs_ownership.custom_logger" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.wireless_version.startup_check.check_and_fix_venvs_ownership.custom_logger"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>custom_logger</strong> — Optional logger to use instead of the module logger<!-- HTML_TAG_END --> </span></span> </li></ul> </div></div> <p data-svelte-h="svelte-1gsulv5">For wireless units, check if files under venvs_path are owned by user pollen and fix if needed.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.wireless_version.startup_check.check_and_update_bluetooth_service"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.wireless_version.startup_check.check_and_update_bluetooth_service</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.wireless_version.startup_check.check_and_update_bluetooth_service" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.wireless_version.startup_check.check_and_update_bluetooth_service"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/wireless_version/startup_check.py#L80" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-133ufy9">Check if bluetooth service needs updating and update if different.</p> <p data-svelte-h="svelte-qzyge3">Compares the source bluetooth_service.py with the installed version at | |
| /bluetooth/bluetooth_service.py. If they differ, copies the new version | |
| and restarts the bluetooth service. Also syncs the commands/ folder.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.wireless_version.startup_check.check_and_update_wireless_launcher"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.wireless_version.startup_check.check_and_update_wireless_launcher</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.wireless_version.startup_check.check_and_update_wireless_launcher" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.wireless_version.startup_check.check_and_update_wireless_launcher"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/wireless_version/startup_check.py#L190" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-lnny2j">Check if wireless daemon service needs updating and update if different.</p> <p data-svelte-h="svelte-1avp72i">Compares the source reachy-mini-daemon.service with the installed version. | |
| If they differ, copies the new version and reloads systemd.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.wireless_version.startup_check.check_and_sync_apps_venv_sdk"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.wireless_version.startup_check.check_and_sync_apps_venv_sdk</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.wireless_version.startup_check.check_and_sync_apps_venv_sdk" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.wireless_version.startup_check.check_and_sync_apps_venv_sdk"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/wireless_version/startup_check.py#L255" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-gqp51w">Check if apps_venv SDK matches daemon install source and sync if needed.</p> <p data-svelte-h="svelte-zbrszf">Compares both version AND install source (PyPI vs git ref). If daemon was | |
| installed from a git ref, apps_venv will be synced to the same ref.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.wireless_version.update_available.is_update_available"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.wireless_version.update_available.is_update_available</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.wireless_version.update_available.is_update_available" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.wireless_version.update_available.is_update_available"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/wireless_version/update_available.py#L36" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">package_name<span class="opacity-60">: str</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">pre_release<span class="opacity-60">: bool</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-1lzx18p">Check if an update is available for the given package.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.wireless_version.update_available.get_pypi_version"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.wireless_version.update_available.get_pypi_version</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.wireless_version.update_available.get_pypi_version" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.wireless_version.update_available.get_pypi_version"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/wireless_version/update_available.py#L47" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">package_name<span class="opacity-60">: str</span></span> </span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">pre_release<span class="opacity-60">: bool</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-hrlgjy">Get the latest version of a package from PyPI.</p></div> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.wireless_version.update_available.get_local_version"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.wireless_version.update_available.get_local_version</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.wireless_version.update_available.get_local_version" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.wireless_version.update_available.get_local_version"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/wireless_version/update_available.py#L65" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">package_name<span class="opacity-60">: str</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-a6jlyj">Get the currently installed version of a package.</p></div> <h2 class="relative group"><a id="reachy_mini.utils.create_head_pose" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.create_head_pose"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>Core Utilities</span></h2> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.create_head_pose"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.create_head_pose</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.create_head_pose" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.create_head_pose"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/__init__.py#L13" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">x<span class="opacity-60">: float = 0</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">y<span class="opacity-60">: float = 0</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">z<span class="opacity-60">: float = 0</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">roll<span class="opacity-60">: float = 0</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">pitch<span class="opacity-60">: float = 0</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">yaw<span class="opacity-60">: float = 0</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">mm<span class="opacity-60">: bool = False</span></span> </span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">degrees<span class="opacity-60">: bool = True</span></span> </span> <span data-svelte-h="svelte-1jq0pl7">)</span> <span class="font-bold" data-svelte-h="svelte-1j6k10o">→</span> <span class="rounded hover:bg-gray-400 cursor-pointer"><!-- HTML_TAG_START --><script context="module">export const metadata = 'undefined';</script><span>np.ndarray</span><!-- HTML_TAG_END --></span></p> <div class="!mb-10 relative docstring-details "> <p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800" data-svelte-h="svelte-lt6pb6">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p> <ul class="px-2"><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.create_head_pose.x" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.create_head_pose.x"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>x</strong> (float) — X coordinate of the position.<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.create_head_pose.y" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.create_head_pose.y"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>y</strong> (float) — Y coordinate of the position.<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.create_head_pose.z" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.create_head_pose.z"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>z</strong> (float) — Z coordinate of the position.<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.create_head_pose.roll" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.create_head_pose.roll"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>roll</strong> (float) — Roll angle<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.create_head_pose.pitch" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.create_head_pose.pitch"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>pitch</strong> (float) — Pitch angle<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.create_head_pose.yaw" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.create_head_pose.yaw"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>yaw</strong> (float) — Yaw angle<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.create_head_pose.mm" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.create_head_pose.mm"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>mm</strong> (bool) — If True, convert position from millimeters to meters.<!-- HTML_TAG_END --> </span></span> </li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="reachy_mini.utils.create_head_pose.degrees" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.create_head_pose.degrees"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span><!-- HTML_TAG_START --><strong>degrees</strong> (bool) — If True, interpret roll, pitch, and yaw as degrees; otherwise as radians.<!-- HTML_TAG_END --> </span></span> </li></ul> <div id="reachy_mini.utils.create_head_pose.returns" class="flex items-center font-semibold space-x-3 text-base !mt-0 !mb-0 text-gray-800 rounded "><p class="text-base">Returns</p> <!-- HTML_TAG_START --><script context="module">export const metadata = 'undefined';</script> | |
| <p>np.ndarray</p> | |
| <!-- HTML_TAG_END --> <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700"></span></div> <p class="text-base"><!-- HTML_TAG_START --><script context="module">export const metadata = 'undefined';</script> | |
| <p>A 4x4 homogeneous transformation matrix representing the pose.</p> | |
| <!-- HTML_TAG_END --></p> </div></div> <p data-svelte-h="svelte-1remrym">Create a homogeneous transformation matrix representing a pose in 6D space (position and orientation).</p></div> <h2 class="relative group"><a id="reachy_mini.utils.parse_urdf_for_kinematics.get_data" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#reachy_mini.utils.parse_urdf_for_kinematics.get_data"><span><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></span></a> <span>URDF Parsing</span></h2> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"> <div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="reachy_mini.utils.parse_urdf_for_kinematics.get_data"><!-- HTML_TAG_START --><h4 class="!m-0"><span class="flex-1 rounded-xl py-0.5 break-all bg-gradient-to-r from-blue-50/60 to-white dark:from-gray-900 dark:to-gray-950 text-blue-700 dark:text-blue-300 font-medium px-2"><svg width="1em" height="1em" viewBox="0 0 32 33" class="mr-1 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg"><path d="M5.80566 18.3545C4.90766 17.4565 4.90766 16.0005 5.80566 15.1025L14.3768 6.53142C15.2748 5.63342 16.7307 5.63342 17.6287 6.53142L26.1999 15.1025C27.0979 16.0005 27.0979 17.4565 26.1999 18.3545L17.6287 26.9256C16.7307 27.8236 15.2748 27.8236 14.3768 26.9256L5.80566 18.3545Z" fill="currentColor" fill-opacity="0.25"/><path fill-rule="evenodd" clip-rule="evenodd" d="M16.4801 13.9619C16.4801 12.9761 16.7467 12.5436 16.9443 12.3296C17.1764 12.078 17.5731 11.8517 18.2275 11.707C18.8821 11.5623 19.638 11.5342 20.4038 11.5582C20.7804 11.57 21.1341 11.5932 21.4719 11.6156L21.5263 11.6193C21.8195 11.6389 22.1626 11.6618 22.4429 11.6618V7.40825C22.3209 7.40825 22.1219 7.39596 21.7544 7.37149C21.4202 7.34925 20.9976 7.32115 20.5371 7.30672C19.6286 7.27824 18.4672 7.29779 17.3093 7.55377C16.1512 7.8098 14.8404 8.33724 13.8181 9.4452C12.7612 10.5907 12.2266 12.1236 12.2266 13.9619V15.0127H10.6836V19.2662H12.2266V26.6332H16.4801V19.2662H20.3394V15.0127H16.4801V13.9619Z" fill="currentColor"/></svg>reachy_mini.utils.parse_urdf_for_kinematics.get_data</span></h4><!-- HTML_TAG_END --> <a id="reachy_mini.utils.parse_urdf_for_kinematics.get_data" class="header-link invisible with-hover:group-hover:visible pr-2" href="#reachy_mini.utils.parse_urdf_for_kinematics.get_data"><svg class="" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg></a> <a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/parse_urdf_for_kinematics.py#L17" target="_blank"><span data-svelte-h="svelte-1kd6by1"><</span> <span class="hidden md:block mx-0.5 hover:!underline" data-svelte-h="svelte-122apf4">source</span> <span data-svelte-h="svelte-x0xyl0">></span></a></span> <p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span data-svelte-h="svelte-8mvn6a">(</span> <span data-svelte-h="svelte-1jq0pl7">)</span> </p> <div class="!mb-10 relative docstring-details "> </div></div> <p data-svelte-h="svelte-1xq8e0g">Generate the urdf_kinematics.json file.</p></div> <a class="!text-gray-400 !no-underline text-sm flex items-center not-prose mt-4" href="https://github.com/pollen-robotics/reachy_mini/blob/main/docs/source/API/utils.mdx" target="_blank"><svg class="mr-1" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M31,16l-7,7l-1.41-1.41L28.17,16l-5.58-5.59L24,9l7,7z"></path><path d="M1,16l7-7l1.41,1.41L3.83,16l5.58,5.59L8,23l-7-7z"></path><path d="M12.419,25.484L17.639,6.552l1.932,0.518L14.351,26.002z"></path></svg> <span data-svelte-h="svelte-zjs2n5"><span class="underline">Update</span> on GitHub</span></a> <p></p> | |
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