reachy_mini/pr_751/en/API/reachymini.md

# Reachy Mini

## Main class[[reachy_mini.ReachyMini]]

#### reachy_mini.ReachyMini[[reachy_mini.ReachyMini]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L57)

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](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L861)

Disable gravity compensation for the head motors.
#### disable_motors[[reachy_mini.ReachyMini.disable_motors]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L843)

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](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L857)

Enable gravity compensation for the head motors.
#### enable_motors[[reachy_mini.ReachyMini.enable_motors]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L832)

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](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L716)

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](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L692)

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](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L705)

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](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L467)

Put the robot to sleep by moving the head and antennas to a predefined sleep position.
#### goto_target[[reachy_mini.ReachyMini.goto_target]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L399)

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](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L499)

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](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L564)

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](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L865)

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](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L338)

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](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L785)

Set the target joint positions of the antennas.
#### set_target_body_yaw[[reachy_mini.ReachyMini.set_target_body_yaw]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L790)

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](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L761)

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](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L800)

Start recording data.
#### stop_recording[[reachy_mini.ReachyMini.stop_recording]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L805)

Stop recording data and return the recorded data.
#### wake_up[[reachy_mini.ReachyMini.wake_up]]

[Source](https://github.com/pollen-robotics/reachy_mini/blob/vr_751/src/reachy_mini/reachy_mini.py#L451)

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