reachy_mini/pr_751/en/API/reachymini.md

Reachy Mini

Main class[[reachy_mini.ReachyMini]]

reachy_mini.ReachyMini[[reachy_mini.ReachyMini]]

Source

Reachy Mini class for controlling a simulated or real Reachy Mini robot.

async_play_movereachy_mini.ReachyMini.async_play_movehttps://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L874[{"name": "move", "val": ": Move"}, {"name": "play_frequency", "val": ": float = 100.0"}, {"name": "initial_goto_duration", "val": ": float = 0.0"}, {"name": "sound", "val": ": bool = True"}]- move (Move) -- The Move object to be played.

• play_frequency (float) -- The frequency at which to evaluate the move (in Hz).
• initial_goto_duration (float) -- Duration for the initial goto to the starting position of the move (in seconds). If 0, no initial goto is performed.
• sound (bool) -- If True, play the sound associated with the move (if any).0 Asynchronously play a Move.

Parameters:

connection_mode : Select how to connect to the daemon. Use "localhost_only" to restrict connections to daemons running on localhost, "network" to scout for daemons on the LAN, or "auto" (default) to try localhost first then fall back to the network.

spawn_daemon (bool) : If True, will spawn a daemon to control the robot, defaults to False.

use_sim (bool) : If True and spawn_daemon is True, will spawn a simulated robot, defaults to True.

disable_gravity_compensation[[reachy_mini.ReachyMini.disable_gravity_compensation]]

Source

Disable gravity compensation for the head motors.

disable_motors[[reachy_mini.ReachyMini.disable_motors]]

Source

Disable the motors.

Parameters:

ids (List[str] | None) : List of motor names to disable. If None, all motors will be disabled. Valid names match src/reachy_mini/assets/config/hardware_config.yaml: body_rotation, stewart_1 … stewart_6, right_antenna, left_antenna.

enable_gravity_compensation[[reachy_mini.ReachyMini.enable_gravity_compensation]]

Source

Enable gravity compensation for the head motors.

enable_motors[[reachy_mini.ReachyMini.enable_motors]]

Source

Enable the motors.

Parameters:

ids (List[str] | None) : List of motor names to enable. If None, all motors will be enabled. Valid names match src/reachy_mini/assets/config/hardware_config.yaml: body_rotation, stewart_1 … stewart_6, right_antenna, left_antenna.

get_current_head_pose[[reachy_mini.ReachyMini.get_current_head_pose]]

Source

Get the current head pose as a 4x4 matrix.

Get the current head pose as a 4x4 matrix.

Returns:

np.ndarray

A 4x4 matrix representing the current head pose.

get_current_joint_positions[[reachy_mini.ReachyMini.get_current_joint_positions]]

Source

Get the current joint positions of the head and antennas.

Get the current joint positions of the head and antennas (in rad)

Returns:

tuple

A tuple containing two lists:

• List of head joint positions (rad) (length 7).
• List of antennas joint positions (rad) (length 2).

get_present_antenna_joint_positions[[reachy_mini.ReachyMini.get_present_antenna_joint_positions]]

Source

Get the present joint positions of the antennas.

Get the present joint positions of the antennas (in rad)

Returns:

list

A list of antennas joint positions (rad) (length 2).

goto_sleep[[reachy_mini.ReachyMini.goto_sleep]]

Source

Put the robot to sleep by moving the head and antennas to a predefined sleep position.

goto_target[[reachy_mini.ReachyMini.goto_target]]

Source

Go to a target head pose and/or antennas position using task space interpolation, in "duration" seconds.

Parameters:

head (Optional[np.ndarray]) : 4x4 pose matrix representing the target head pose.

antennas (Optional[Union[np.ndarray, List[float]]]) : 1D array with two elements representing the angles of the antennas in radians.

duration (float) : Duration of the movement in seconds.

method (InterpolationTechnique) : Interpolation method to use ("linear", "minjerk", "ease", "cartoon"). Default is "minjerk".

body_yaw (float | None) : Body yaw angle in radians. Use None to keep the current yaw.

look_at_image[[reachy_mini.ReachyMini.look_at_image]]

Source

Make the robot head look at a point defined by a pixel position (u,v).

TODO image of reachy mini coordinate system

Parameters:

u (int) : Horizontal coordinate in image frame.

v (int) : Vertical coordinate in image frame.

duration (float) : Duration of the movement in seconds. If 0, the head will snap to the position immediately.

perform_movement (bool) : If True, perform the movement. If False, only calculate and return the pose.

Returns:

np.ndarray

The calculated head pose as a 4x4 matrix.

look_at_world[[reachy_mini.ReachyMini.look_at_world]]

Source

Look at a specific point in 3D space in Reachy Mini's reference frame.

TODO include image of reachy mini coordinate system

Parameters:

x (float) : X coordinate in meters.

y (float) : Y coordinate in meters.

z (float) : Z coordinate in meters.

duration (float) : Duration of the movement in seconds. If 0, the head will snap to the position immediately.

perform_movement (bool) : If True, perform the movement. If False, only calculate and return the pose.

Returns:

np.ndarray

The calculated head pose as a 4x4 matrix.

async_play_move[[reachy_mini.ReachyMini.play_move]]

Asynchronously play a Move.

Parameters:

move (Move) : The Move object to be played.

play_frequency (float) : The frequency at which to evaluate the move (in Hz).

initial_goto_duration (float) : Duration for the initial goto to the starting position of the move (in seconds). If 0, no initial goto is performed.

sound (bool) : If True, play the sound associated with the move (if any).

set_automatic_body_yaw[[reachy_mini.ReachyMini.set_automatic_body_yaw]]

Source

Set the automatic body yaw.

Parameters:

body_yaw (float) : The yaw angle of the body in radians.

set_target[[reachy_mini.ReachyMini.set_target]]

Source

Set the target pose of the head and/or the target position of the antennas.

Parameters:

head (Optional[np.ndarray]) : 4x4 pose matrix representing the head pose.

antennas (Optional[Union[np.ndarray, List[float]]]) : 1D array with two elements representing the angles of the antennas in radians.

body_yaw (Optional[float]) : Body yaw angle in radians.

set_target_antenna_joint_positions[[reachy_mini.ReachyMini.set_target_antenna_joint_positions]]

Source

Set the target joint positions of the antennas.

set_target_body_yaw[[reachy_mini.ReachyMini.set_target_body_yaw]]

Source

Set the target body yaw.

Parameters:

body_yaw (float) : The yaw angle of the body in radians.

set_target_head_pose[[reachy_mini.ReachyMini.set_target_head_pose]]

Source

Set the head pose to a specific 4x4 matrix.

Parameters:

pose (np.ndarray) : A 4x4 matrix representing the desired head pose.

body_yaw (float) : The yaw angle of the body, used to adjust the head pose.

start_recording[[reachy_mini.ReachyMini.start_recording]]

Source

Start recording data.

stop_recording[[reachy_mini.ReachyMini.stop_recording]]

Source

Stop recording data and return the recorded data.

wake_up[[reachy_mini.ReachyMini.wake_up]]

Source

Wake up the robot - go to the initial head position and play the wake up emote and sound.