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| <link rel="modulepreload" href="/docs/reachy_mini/pr_1069/en/_app/immutable/chunks/CodeBlock.f56fd9c8.js"><!-- HEAD_svelte-u9bgzb_START --><meta name="hf:doc:metadata" content="{"title":"IMU","local":"imu","sections":[],"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="imu" 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="#imu"><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>IMU</span></h1> <p data-svelte-h="svelte-1pc1uaa">This example demonstrates how to access the IMU sensor data (accelerometer, gyroscope, quaternion orientation, and temperature) from a wireless Reachy Mini.</p> <p data-svelte-h="svelte-1rzt4vq">Note: IMU is only available on the wireless version of Reachy Mini.</p> <div class="code-block relative "><div class="absolute top-2.5 right-4"><button class="inline-flex items-center relative text-sm focus:text-green-500 cursor-pointer focus:outline-none transition duration-200 ease-in-out opacity-0 mx-0.5 text-gray-600 " title="code excerpt" type="button"><svg class="" 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> <div class="absolute pointer-events-none transition-opacity bg-black text-white py-1 px-2 leading-tight rounded font-normal shadow left-1/2 top-full transform -translate-x-1/2 translate-y-2 opacity-0"><div class="absolute bottom-full left-1/2 transform -translate-x-1/2 w-0 h-0 border-black border-4 border-t-0" style="border-left-color: transparent; border-right-color: transparent; "></div> Copied</div></button></div> <pre class="language-python "><!-- HTML_TAG_START --> | |
| <span class="hljs-keyword">import</span> time | |
| <span class="hljs-keyword">from</span> typing <span class="hljs-keyword">import</span> cast | |
| <span class="hljs-keyword">from</span> reachy_mini <span class="hljs-keyword">import</span> ReachyMini | |
| <span class="hljs-keyword">with</span> ReachyMini(media_backend=<span class="hljs-string">"no_media"</span>) <span class="hljs-keyword">as</span> mini: | |
| <span class="hljs-built_in">print</span>(<span class="hljs-string">"Starting IMU monitoring..."</span>) | |
| <span class="hljs-built_in">print</span>(<span class="hljs-string">"Press Ctrl+C to stop\n"</span>) | |
| <span class="hljs-keyword">try</span>: | |
| <span class="hljs-keyword">while</span> <span class="hljs-literal">True</span>: | |
| imu_data = mini.imu | |
| <span class="hljs-keyword">if</span> imu_data <span class="hljs-keyword">is</span> <span class="hljs-literal">None</span>: | |
| <span class="hljs-built_in">print</span>(<span class="hljs-string">"IMU not available (Lite version or no data received yet)"</span>) | |
| time.sleep(<span class="hljs-number">1.0</span>) | |
| <span class="hljs-keyword">continue</span> | |
| <span class="hljs-comment"># Extract data</span> | |
| accel_x, accel_y, accel_z = cast(<span class="hljs-built_in">list</span>[<span class="hljs-built_in">float</span>], imu_data[<span class="hljs-string">"accelerometer"</span>]) | |
| gyro_x, gyro_y, gyro_z = cast(<span class="hljs-built_in">list</span>[<span class="hljs-built_in">float</span>], imu_data[<span class="hljs-string">"gyroscope"</span>]) | |
| quat_w, quat_x, quat_y, quat_z = cast(<span class="hljs-built_in">list</span>[<span class="hljs-built_in">float</span>], imu_data[<span class="hljs-string">"quaternion"</span>]) | |
| temperature = cast(<span class="hljs-built_in">float</span>, imu_data[<span class="hljs-string">"temperature"</span>]) | |
| <span class="hljs-comment"># Display data</span> | |
| <span class="hljs-built_in">print</span>( | |
| <span class="hljs-string">f"Accelerometer (m/s²): X=<span class="hljs-subst">{accel_x:<span class="hljs-number">7.3</span>f}</span> Y=<span class="hljs-subst">{accel_y:<span class="hljs-number">7.3</span>f}</span> Z=<span class="hljs-subst">{accel_z:<span class="hljs-number">7.3</span>f}</span>"</span> | |
| ) | |
| <span class="hljs-built_in">print</span>( | |
| <span class="hljs-string">f"Gyroscope (rad/s): X=<span class="hljs-subst">{gyro_x:<span class="hljs-number">7.3</span>f}</span> Y=<span class="hljs-subst">{gyro_y:<span class="hljs-number">7.3</span>f}</span> Z=<span class="hljs-subst">{gyro_z:<span class="hljs-number">7.3</span>f}</span>"</span> | |
| ) | |
| <span class="hljs-built_in">print</span>( | |
| <span class="hljs-string">f"Quaternion (w,x,y,z): W=<span class="hljs-subst">{quat_w:<span class="hljs-number">6.3</span>f}</span> X=<span class="hljs-subst">{quat_x:<span class="hljs-number">6.3</span>f}</span> Y=<span class="hljs-subst">{quat_y:<span class="hljs-number">6.3</span>f}</span> Z=<span class="hljs-subst">{quat_z:<span class="hljs-number">6.3</span>f}</span>"</span> | |
| ) | |
| <span class="hljs-built_in">print</span>(<span class="hljs-string">f"Temperature: <span class="hljs-subst">{temperature:<span class="hljs-number">.1</span>f}</span>°C"</span>) | |
| <span class="hljs-built_in">print</span>(<span class="hljs-string">"-"</span> * <span class="hljs-number">80</span>) | |
| time.sleep(<span class="hljs-number">0.1</span>) <span class="hljs-comment"># 10Hz display rate</span> | |
| <span class="hljs-keyword">except</span> KeyboardInterrupt: | |
| <span class="hljs-built_in">print</span>(<span class="hljs-string">"\nStopping IMU monitoring"</span>)<!-- HTML_TAG_END --></pre></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/examples/imu.md" 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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