reachy_mini/pr_739/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]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/interpolation.py#L13)

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]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/interpolation.py#L58)

Linearly interpolate between two poses in 6D space.

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

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/interpolation.py#L96)

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]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/interpolation.py#L135)

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]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/interpolation.py#L161)

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]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/interpolation.py#L187)

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]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/interpolation.py#L87)

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]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/hardware_config/parser.py#L9)

Motor configuration.

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

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/hardware_config/parser.py#L23)

Serial configuration.

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

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/hardware_config/parser.py#L30)

Reachy Mini configuration.

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

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/hardware_config/parser.py#L38)

Parse the YAML configuration file and return a ReachyMiniConfig.

## Rerun Visualization

## 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]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/wireless_version/utils.py#L8)

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

**Parameters:**

command : list or tuple of command arguments (not a string)

logger : logger object with .info and .error methods

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

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/wireless_version/update.py#L10)

Perform a software update by upgrading the reachy_mini package and restarting the daemon.

This updates both:
- The daemon venv (where the daemon runs)
- The apps_venv (where apps run) - to keep SDK in sync

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

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/wireless_version/startup_check.py#L17)

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]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/wireless_version/startup_check.py#L80)

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]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/wireless_version/startup_check.py#L190)

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]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/wireless_version/startup_check.py#L255)

Check if the apps_venv SDK version matches daemon and update if needed.

This ensures that when the daemon is updated, the SDK in the apps_venv
is also updated to match, so apps get the latest fixes automatically.

## Core Utilities[[reachy_mini.utils.create_head_pose]]

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

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_739/src/reachy_mini/utils/__init__.py#L13)

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