reachy_mini/pr_1321/en/API/motion.md

Motion

Base Classes[[reachy_mini.motion.move.Move]]

reachy_mini.motion.move.Move[[reachy_mini.motion.move.Move]]

reachy_mini.motion.move.Move()

Source

Abstract base class for defining a move on the ReachyMini robot.

evaluate[[reachy_mini.motion.move.Move.evaluate]]

evaluate(t: float)

Source

Parameters:

t : The time at which to evaluate the move (in seconds). It will always be between 0 and duration.

Returns: head

The head position (4x4 homogeneous matrix). antennas: The antennas positions (rad). body_yaw: The body yaw angle (rad).

Evaluate the move at time t, typically called at a high-frequency (eg. 100Hz).

Goto Moves[[reachy_mini.motion.goto.GotoMove]]

reachy_mini.motion.goto.GotoMove[[reachy_mini.motion.goto.GotoMove]]

reachy_mini.motion.goto.GotoMove(start_head_pose: ndarray, target_head_pose: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]] | None, start_antennas: ndarray, target_antennas: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]] | None, start_body_yaw: float, target_body_yaw: float | None, duration: float, method: InterpolationTechnique)

Source

A goto move to a target head pose and/or antennas position.

evaluate[[reachy_mini.motion.goto.GotoMove.evaluate]]

evaluate(t: float)

Source

Evaluate the goto at time t.

Recorded Moves[[reachy_mini.motion.recorded_move.RecordedMove]]

reachy_mini.motion.recorded_move.RecordedMove[[reachy_mini.motion.recorded_move.RecordedMove]]

reachy_mini.motion.recorded_move.RecordedMove(move: typing.Dict[str, typing.Any], sound_path: typing.Optional[pathlib.Path] = None)

Source

Represent a recorded move.

evaluate[[reachy_mini.motion.recorded_move.RecordedMove.evaluate]]

evaluate(t: float)

Source

Returns: head

The head position (4x4 homogeneous matrix). antennas: The antennas positions (rad). body_yaw: The body yaw angle (rad).

Evaluate the move at time t.

reachy_mini.motion.recorded_move.RecordedMoves[[reachy_mini.motion.recorded_move.RecordedMoves]]

reachy_mini.motion.recorded_move.RecordedMoves(hf_dataset_name: str)

Source

Load a library of recorded moves from a HuggingFace dataset.

Uses local cache only to avoid blocking network calls during playback. The dataset should be pre-downloaded at daemon startup via preload_default_datasets(). If not cached, falls back to network download (which may cause delays).

get[[reachy_mini.motion.recorded_move.RecordedMoves.get]]

get(move_name: str)

Source

Get a recorded move by name.

list_moves[[reachy_mini.motion.recorded_move.RecordedMoves.list_moves]]

list_moves()

Source

List all moves in the loaded library.

process[[reachy_mini.motion.recorded_move.RecordedMoves.process]]

process()

Source

Populate recorded moves and sounds.