reachy_mini/pr_1069/en/API/utils.md

Utils

Interpolation Functions[[reachy_mini.utils.interpolation.minimum_jerk]]

reachy_mini.utils.interpolation.minimum_jerk[[reachy_mini.utils.interpolation.minimum_jerk]]

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Compute the minimum jerk interpolation function from starting position to goal position.

reachy_mini.utils.interpolation.linear_pose_interpolation[[reachy_mini.utils.interpolation.linear_pose_interpolation]]

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Linearly interpolate between two poses in 6D space.

reachy_mini.utils.interpolation.time_trajectory[[reachy_mini.utils.interpolation.time_trajectory]]

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Compute the time trajectory value based on the specified interpolation method.

reachy_mini.utils.interpolation.delta_angle_between_mat_rot[[reachy_mini.utils.interpolation.delta_angle_between_mat_rot]]

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Compute the angle (in radians) between two 3x3 rotation matrices P and Q.

This is equivalent to the angular distance in axis-angle space. It is computed via the trace of the relative rotation matrix.

References:

• https://math.stackexchange.com/questions/2113634/comparing-two-rotation-matrices
• http://www.boris-belousov.net/2016/12/01/quat-dist/

Parameters:

P : A 3x3 rotation matrix.

Q : Another 3x3 rotation matrix.

Returns:

The angle in radians between the two rotations.

reachy_mini.utils.interpolation.distance_between_poses[[reachy_mini.utils.interpolation.distance_between_poses]]

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Compute three types of distance between two 4x4 homogeneous transformation matrices.

The result combines translation (in mm) and rotation (in degrees) using an arbitrary but emotionally satisfying equivalence: 1 degree ≈ 1 mm.

Parameters:

pose1 : A 4x4 homogeneous transformation matrix representing the first pose.

pose2 : A 4x4 homogeneous transformation matrix representing the second pose.

Returns:

A tuple of

• translation distance in meters,
• angular distance in radians,
• unhinged distance in magic-mm (translation in mm + rotation in degrees).

reachy_mini.utils.interpolation.compose_world_offset[[reachy_mini.utils.interpolation.compose_world_offset]]

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Compose an absolute world-frame pose with a world-frame offset.

• translations add in world: t_final = t_abs + t_off
• 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.

Parameters

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.

Returns

T_final : (4,4) ndarray Resulting pose in world frame.

reachy_mini.utils.interpolation.InterpolationTechnique[[reachy_mini.utils.interpolation.InterpolationTechnique]]

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Enumeration of interpolation techniques.

Hardware Configuration[[reachy_mini.utils.hardware_config.parser.MotorConfig]]

reachy_mini.utils.hardware_config.parser.MotorConfig[[reachy_mini.utils.hardware_config.parser.MotorConfig]]

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Motor configuration.

reachy_mini.utils.hardware_config.parser.SerialConfig[[reachy_mini.utils.hardware_config.parser.SerialConfig]]

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Serial configuration.

reachy_mini.utils.hardware_config.parser.ReachyMiniConfig[[reachy_mini.utils.hardware_config.parser.ReachyMiniConfig]]

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Reachy Mini configuration.

reachy_mini.utils.hardware_config.parser.parse_yaml_config[[reachy_mini.utils.hardware_config.parser.parse_yaml_config]]

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Parse the YAML configuration file and return a ReachyMiniConfig.

Rerun Visualization[[reachy_mini.utils.rerun.Rerun]]

reachy_mini.utils.rerun.Rerun[[reachy_mini.utils.rerun.Rerun]]

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Rerun logging for Reachy Mini.

log_camerareachy_mini.utils.rerun.Rerun.log_camerahttps://github.com/pollen-robotics/reachy_mini/blob/vr_1069/src/reachy_mini/utils/rerun.py#L130[] Log the camera image to Rerun.

log_movements[[reachy_mini.utils.rerun.Rerun.log_movements]]

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Log the movement data to Rerun.

set_absolute_path_to_urdf[[reachy_mini.utils.rerun.Rerun.set_absolute_path_to_urdf]]

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Set the absolute paths in the URDF file. Rerun cannot read the "package://" paths.

start[[reachy_mini.utils.rerun.Rerun.start]]

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Start the Rerun logging threads.

stop[[reachy_mini.utils.rerun.Rerun.stop]]

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Stop the Rerun logging threads.

Wireless Version Utilities[[reachy_mini.utils.wireless_version.utils.call_logger_wrapper]]

reachy_mini.utils.wireless_version.utils.call_logger_wrapper[[reachy_mini.utils.wireless_version.utils.call_logger_wrapper]]

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Run a shell command asynchronously, streaming stdout and stderr to logger in real time.

Parameters:

command : Shell command string.

logger : logger object with .info and .error methods

env : Optional environment variables dict. If None, inherits current environment.

reachy_mini.utils.wireless_version.update.update_reachy_mini[[reachy_mini.utils.wireless_version.update.update_reachy_mini]]

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Update reachy_mini package and restart daemon.

Parameters:

logger : Logger for streaming output.

pre_release : If True, install pre-release from PyPI (ignored if git_ref set).

git_ref : If set, install from this GitHub tag/branch instead of PyPI.

reachy_mini.utils.wireless_version.startup_check.check_and_fix_venvs_ownership[[reachy_mini.utils.wireless_version.startup_check.check_and_fix_venvs_ownership]]

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For wireless units, check if files under venvs_path are owned by user pollen and fix if needed.

Parameters:

venvs_path : Path to the virtual environments directory (default: /venvs)

custom_logger : Optional logger to use instead of the module logger

reachy_mini.utils.wireless_version.startup_check.check_and_update_bluetooth_service[[reachy_mini.utils.wireless_version.startup_check.check_and_update_bluetooth_service]]

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Check if bluetooth service needs updating and update if different.

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.

reachy_mini.utils.wireless_version.startup_check.check_and_update_wireless_launcher[[reachy_mini.utils.wireless_version.startup_check.check_and_update_wireless_launcher]]

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Check if wireless daemon service needs updating and update if different.

Compares the source reachy-mini-daemon.service with the installed version. If they differ, copies the new version and reloads systemd.

reachy_mini.utils.wireless_version.startup_check.check_and_sync_apps_venv_sdk[[reachy_mini.utils.wireless_version.startup_check.check_and_sync_apps_venv_sdk]]

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Check if apps_venv SDK matches daemon install source and sync if needed.

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.

reachy_mini.utils.wireless_version.update_available.is_update_available[[reachy_mini.utils.wireless_version.update_available.is_update_available]]

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Check if an update is available for the given package.

reachy_mini.utils.wireless_version.update_available.get_pypi_version[[reachy_mini.utils.wireless_version.update_available.get_pypi_version]]

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Get the latest version of a package from PyPI.

reachy_mini.utils.wireless_version.update_available.get_local_version[[reachy_mini.utils.wireless_version.update_available.get_local_version]]

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Get the currently installed version of a package.

Core Utilities[[reachy_mini.utils.create_head_pose]]

reachy_mini.utils.create_head_pose[[reachy_mini.utils.create_head_pose]]

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Create a homogeneous transformation matrix representing a pose in 6D space (position and orientation).

Parameters:

x (float) : X coordinate of the position.

y (float) : Y coordinate of the position.

z (float) : Z coordinate of the position.

roll (float) : Roll angle

pitch (float) : Pitch angle

yaw (float) : Yaw angle

mm (bool) : If True, convert position from millimeters to meters.

degrees (bool) : If True, interpret roll, pitch, and yaw as degrees; otherwise as radians.

Returns:

np.ndarray

A 4x4 homogeneous transformation matrix representing the pose.

URDF Parsing[[reachy_mini.utils.parse_urdf_for_kinematics.get_data]]

reachy_mini.utils.parse_urdf_for_kinematics.get_data[[reachy_mini.utils.parse_urdf_for_kinematics.get_data]]

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Generate the urdf_kinematics.json file.