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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":"Head Position GUI","local":"head-position-gui","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="head-position-gui" 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="#head-position-gui"><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>Head Position GUI</span></h1> <p data-svelte-h="svelte-rb0hly">This example provides a graphical user interface (GUI) using Tkinter to interactively control Reachy Mini’s head position and orientation. You can adjust the head’s roll, pitch, yaw angles, and X, Y, Z position using sliders, as well as control the body yaw and see animated antenna movements.</p> <p data-svelte-h="svelte-1roo86m"><strong>Features:</strong></p> <ul data-svelte-h="svelte-1vtslnv"><li>Real-time control of head orientation (roll, pitch, yaw)</li> <li>Real-time control of head position (X, Y, Z)</li> <li>Body yaw control</li> <li>Animated antenna movements (sine wave oscillation)</li> <li>Interactive sliders with live updates at 50Hz</li></ul> <p data-svelte-h="svelte-qbjyqk"><strong>Usage:</strong></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-bash "><!-- HTML_TAG_START -->python mini_head_position_gui.py<!-- HTML_TAG_END --></pre></div> <p data-svelte-h="svelte-1k8yvqc">A GUI window will open with sliders for all controllable parameters. Adjust the sliders to see the robot respond in real-time.</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">import</span> tkinter <span class="hljs-keyword">as</span> tk | |
| <span class="hljs-keyword">import</span> numpy <span class="hljs-keyword">as</span> np | |
| <span class="hljs-keyword">from</span> scipy.spatial.transform <span class="hljs-keyword">import</span> Rotation <span class="hljs-keyword">as</span> R | |
| <span class="hljs-keyword">from</span> reachy_mini <span class="hljs-keyword">import</span> ReachyMini | |
| <span class="hljs-keyword">from</span> reachy_mini.utils <span class="hljs-keyword">import</span> create_head_pose | |
| <span class="hljs-keyword">def</span> <span class="hljs-title function_">main</span>() -> <span class="hljs-literal">None</span>: | |
| <span class="hljs-string">"""Run a GUI to set the head position and orientation of Reachy Mini."""</span> | |
| <span class="hljs-keyword">with</span> ReachyMini(media_backend=<span class="hljs-string">"no_media"</span>) <span class="hljs-keyword">as</span> mini: | |
| t0 = time.time() | |
| root = tk.Tk() | |
| root.title(<span class="hljs-string">"Set Head Euler Angles"</span>) | |
| roll_var = tk.DoubleVar(value=<span class="hljs-number">0.0</span>) | |
| pitch_var = tk.DoubleVar(value=<span class="hljs-number">0.0</span>) | |
| yaw_var = tk.DoubleVar(value=<span class="hljs-number">0.0</span>) | |
| tk.Label(root, text=<span class="hljs-string">"Roll (deg):"</span>).grid(row=<span class="hljs-number">0</span>, column=<span class="hljs-number">0</span>) | |
| tk.Scale( | |
| root, variable=roll_var, from_=-<span class="hljs-number">45</span>, to=<span class="hljs-number">45</span>, orient=tk.HORIZONTAL, length=<span class="hljs-number">200</span> | |
| ).grid(row=<span class="hljs-number">0</span>, column=<span class="hljs-number">1</span>) | |
| tk.Label(root, text=<span class="hljs-string">"Pitch (deg):"</span>).grid(row=<span class="hljs-number">1</span>, column=<span class="hljs-number">0</span>) | |
| tk.Scale( | |
| root, variable=pitch_var, from_=-<span class="hljs-number">45</span>, to=<span class="hljs-number">45</span>, orient=tk.HORIZONTAL, length=<span class="hljs-number">200</span> | |
| ).grid(row=<span class="hljs-number">1</span>, column=<span class="hljs-number">1</span>) | |
| tk.Label(root, text=<span class="hljs-string">"Yaw (deg):"</span>).grid(row=<span class="hljs-number">2</span>, column=<span class="hljs-number">0</span>) | |
| tk.Scale( | |
| root, variable=yaw_var, from_=-<span class="hljs-number">175</span>, to=<span class="hljs-number">175</span>, orient=tk.HORIZONTAL, length=<span class="hljs-number">200</span> | |
| ).grid(row=<span class="hljs-number">2</span>, column=<span class="hljs-number">1</span>) | |
| <span class="hljs-comment"># Add sliders for X, Y, Z position</span> | |
| x_var = tk.DoubleVar(value=<span class="hljs-number">0.0</span>) | |
| y_var = tk.DoubleVar(value=<span class="hljs-number">0.0</span>) | |
| z_var = tk.DoubleVar(value=<span class="hljs-number">0.0</span>) | |
| tk.Label(root, text=<span class="hljs-string">"X (m):"</span>).grid(row=<span class="hljs-number">3</span>, column=<span class="hljs-number">0</span>) | |
| tk.Scale( | |
| root, | |
| variable=x_var, | |
| from_=-<span class="hljs-number">0.05</span>, | |
| to=<span class="hljs-number">0.05</span>, | |
| resolution=<span class="hljs-number">0.001</span>, | |
| orient=tk.HORIZONTAL, | |
| length=<span class="hljs-number">200</span>, | |
| ).grid(row=<span class="hljs-number">3</span>, column=<span class="hljs-number">1</span>) | |
| tk.Label(root, text=<span class="hljs-string">"Y (m):"</span>).grid(row=<span class="hljs-number">4</span>, column=<span class="hljs-number">0</span>) | |
| tk.Scale( | |
| root, | |
| variable=y_var, | |
| from_=-<span class="hljs-number">0.05</span>, | |
| to=<span class="hljs-number">0.05</span>, | |
| resolution=<span class="hljs-number">0.001</span>, | |
| orient=tk.HORIZONTAL, | |
| length=<span class="hljs-number">200</span>, | |
| ).grid(row=<span class="hljs-number">4</span>, column=<span class="hljs-number">1</span>) | |
| tk.Label(root, text=<span class="hljs-string">"Z (m):"</span>).grid(row=<span class="hljs-number">5</span>, column=<span class="hljs-number">0</span>) | |
| tk.Scale( | |
| root, | |
| variable=z_var, | |
| from_=-<span class="hljs-number">0.05</span>, | |
| to=<span class="hljs-number">0.03</span>, | |
| resolution=<span class="hljs-number">0.001</span>, | |
| orient=tk.HORIZONTAL, | |
| length=<span class="hljs-number">200</span>, | |
| ).grid(row=<span class="hljs-number">5</span>, column=<span class="hljs-number">1</span>) | |
| tk.Label(root, text=<span class="hljs-string">"Body Yaw (deg):"</span>).grid(row=<span class="hljs-number">6</span>, column=<span class="hljs-number">0</span>) | |
| body_yaw_var = tk.DoubleVar(value=<span class="hljs-number">0.0</span>) | |
| tk.Scale( | |
| root, | |
| variable=body_yaw_var, | |
| from_=-<span class="hljs-number">180</span>, | |
| to=<span class="hljs-number">180</span>, | |
| resolution=<span class="hljs-number">1.0</span>, | |
| orient=tk.HORIZONTAL, | |
| length=<span class="hljs-number">200</span>, | |
| ).grid(row=<span class="hljs-number">6</span>, column=<span class="hljs-number">1</span>) | |
| mini.goto_target(create_head_pose(), antennas=[<span class="hljs-number">0.0</span>, <span class="hljs-number">0.0</span>], duration=<span class="hljs-number">1.0</span>) | |
| <span class="hljs-keyword">def</span> <span class="hljs-title function_">update_robot</span>() -> <span class="hljs-literal">None</span>: | |
| <span class="hljs-string">"""Update robot position based on GUI values."""</span> | |
| t = time.time() - t0 | |
| target = np.deg2rad(<span class="hljs-number">30</span>) * np.sin(<span class="hljs-number">2</span> * np.pi * <span class="hljs-number">0.5</span> * t) | |
| head = np.eye(<span class="hljs-number">4</span>) | |
| head[:<span class="hljs-number">3</span>, <span class="hljs-number">3</span>] = [<span class="hljs-number">0</span>, <span class="hljs-number">0</span>, <span class="hljs-number">0.0</span>] | |
| <span class="hljs-comment"># Read values from the GUI</span> | |
| roll = np.deg2rad(roll_var.get()) | |
| pitch = np.deg2rad(pitch_var.get()) | |
| yaw = np.deg2rad(yaw_var.get()) | |
| head[:<span class="hljs-number">3</span>, :<span class="hljs-number">3</span>] = R.from_euler( | |
| <span class="hljs-string">"xyz"</span>, [roll, pitch, yaw], degrees=<span class="hljs-literal">False</span> | |
| ).as_matrix() | |
| head[:<span class="hljs-number">3</span>, <span class="hljs-number">3</span>] = [x_var.get(), y_var.get(), z_var.get()] | |
| mini.set_target( | |
| head=head, | |
| body_yaw=np.deg2rad(body_yaw_var.get()), | |
| antennas=np.array([target, -target]), | |
| ) | |
| <span class="hljs-comment"># Schedule next update (20ms = 50Hz)</span> | |
| root.after(<span class="hljs-number">20</span>, update_robot) | |
| <span class="hljs-comment"># Start the update loop</span> | |
| root.after(<span class="hljs-number">20</span>, update_robot) | |
| <span class="hljs-keyword">try</span>: | |
| <span class="hljs-comment"># Run the Tkinter main loop</span> | |
| root.mainloop() | |
| <span class="hljs-keyword">except</span> KeyboardInterrupt: | |
| <span class="hljs-keyword">pass</span> | |
| <span class="hljs-keyword">finally</span>: | |
| root.destroy() | |
| <span class="hljs-keyword">if</span> __name__ == <span class="hljs-string">"__main__"</span>: | |
| main()<!-- 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/mini_head_position_gui.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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