Spaces:
Running
Running
added reachy_mini
Browse filesThis view is limited to 50 files because it contains too many changes. Β See raw diff
- .gitignore +2 -0
- assets/{index-CNd6_Jo_.js β index-DML_FV0p.js} +0 -0
- index.html +1 -1
- reachy_mini +0 -1
- reachy_mini/.gitattributes +18 -0
- reachy_mini/.github/ISSUE_TEMPLATE/bug-report.yml +125 -0
- reachy_mini/.github/workflows/doc.yml +38 -0
- reachy_mini/.github/workflows/lint.yml +39 -0
- reachy_mini/.github/workflows/pytest.yml +39 -0
- reachy_mini/.github/workflows/wheels.yml +26 -0
- reachy_mini/.github/workflows/wheels.yml.bak +181 -0
- reachy_mini/.gitignore +258 -0
- reachy_mini/.pre-commit-config.yaml +10 -0
- reachy_mini/LICENSE +201 -0
- reachy_mini/MANIFEST.in +3 -0
- reachy_mini/README.md +92 -0
- reachy_mini/conftest.py +1 -0
- reachy_mini/docs/SDK/core-concept.md +55 -0
- reachy_mini/docs/SDK/gstreamer-installation.md +173 -0
- reachy_mini/docs/SDK/installation.md +295 -0
- reachy_mini/docs/SDK/integration.md +19 -0
- reachy_mini/docs/SDK/media-architecture.md +37 -0
- reachy_mini/docs/SDK/python-sdk.md +139 -0
- reachy_mini/docs/SDK/quickstart.md +119 -0
- reachy_mini/docs/SDK/readme.md +40 -0
- reachy_mini/docs/assets/back_interface.png +3 -0
- reachy_mini/docs/assets/battery_connector.png +3 -0
- reachy_mini/docs/assets/bluetooth_1.jpg +3 -0
- reachy_mini/docs/assets/bluetooth_2.jpg +3 -0
- reachy_mini/docs/assets/bluetooth_3.jpg +3 -0
- reachy_mini/docs/assets/bluetooth_4.jpg +3 -0
- reachy_mini/docs/assets/dashboard.png +3 -0
- reachy_mini/docs/assets/degrees_of_freedom.png +3 -0
- reachy_mini/docs/assets/digital_assembly_guide_preview_mini.jpg +3 -0
- reachy_mini/docs/assets/digital_assembly_guide_preview_mini_lite.jpg +3 -0
- reachy_mini/docs/assets/dof_table.png +3 -0
- reachy_mini/docs/assets/electronics.png +3 -0
- reachy_mini/docs/assets/head_frame.png +3 -0
- reachy_mini/docs/assets/head_parts.jpg +3 -0
- reachy_mini/docs/assets/marks_aligned.png +3 -0
- reachy_mini/docs/assets/mic_and_camera.png +3 -0
- reachy_mini/docs/assets/motors_detail.png +3 -0
- reachy_mini/docs/assets/motors_upward.png +3 -0
- reachy_mini/docs/assets/pcb_usb_and_switch.png +3 -0
- reachy_mini/docs/assets/qrcode-ap.png +3 -0
- reachy_mini/docs/assets/reachy_mini_components.png +3 -0
- reachy_mini/docs/assets/reachy_mini_dimensions.png +3 -0
- reachy_mini/docs/assets/reachy_mini_hello.gif +3 -0
- reachy_mini/docs/assets/reachymini_media_client.png +3 -0
- reachy_mini/docs/assets/reachymini_media_daemon.png +3 -0
.gitignore
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assets/{index-CNd6_Jo_.js β index-DML_FV0p.js}
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<script type="module" crossorigin src="/assets/index-DML_FV0p.js"></script>
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</head>
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<canvas id="canvas"></canvas>
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reachy_mini
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reachy_mini/.gitattributes
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reachy_mini/.github/ISSUE_TEMPLATE/bug-report.yml
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+
# Reachy Mini issue template modeled after LeRobot's for consistent reports.
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| 2 |
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name: "π Reachy Mini Issue / Request"
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| 3 |
+
description: Report a bug, request an improvement, or ask a technical question.
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| 4 |
+
body:
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| 5 |
+
- type: markdown
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| 6 |
+
attributes:
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value: |
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| 8 |
+
### Thanks for contributing to Reachy Mini! π
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| 9 |
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Please include as much detail as possible so we can help quickly.
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+
**Before filing a ticket, you must read our [Troubleshooting Guide](https://github.com/pollen-robotics/reachy_mini/blob/develop/docs/troubleshooting.md).**
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| 11 |
+
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- type: dropdown
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| 13 |
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id: issue-type
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| 14 |
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attributes:
|
| 15 |
+
label: Ticket Type
|
| 16 |
+
description: What kind of ticket are you opening?
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| 17 |
+
options:
|
| 18 |
+
- "π Bug Report"
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| 19 |
+
- "π‘ Feature Request / Improvement"
|
| 20 |
+
- "β Technical Question"
|
| 21 |
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- "π§Ή Maintenance / Documentation"
|
| 22 |
+
validations:
|
| 23 |
+
required: true
|
| 24 |
+
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| 25 |
+
- type: dropdown
|
| 26 |
+
id: robot-type
|
| 27 |
+
attributes:
|
| 28 |
+
label: Robot Type
|
| 29 |
+
description: Select the Reachy Mini hardware you are using.
|
| 30 |
+
options:
|
| 31 |
+
- Wireless
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| 32 |
+
- Lite
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| 33 |
+
validations:
|
| 34 |
+
required: true
|
| 35 |
+
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| 36 |
+
- type: dropdown
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| 37 |
+
id: operating-system
|
| 38 |
+
attributes:
|
| 39 |
+
label: Operating System
|
| 40 |
+
description: Choose the OS from which you are controlling Reachy Mini.
|
| 41 |
+
options:
|
| 42 |
+
- Windows
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| 43 |
+
- macOS
|
| 44 |
+
- Linux
|
| 45 |
+
- Other (please describe below)
|
| 46 |
+
validations:
|
| 47 |
+
required: true
|
| 48 |
+
|
| 49 |
+
- type: checkboxes
|
| 50 |
+
id: browsers
|
| 51 |
+
attributes:
|
| 52 |
+
label: Browsers Used
|
| 53 |
+
description: Check all browsers you've tried when reproducing the issue.
|
| 54 |
+
options:
|
| 55 |
+
- label: Chrome
|
| 56 |
+
- label: Firefox
|
| 57 |
+
- label: Edge
|
| 58 |
+
- label: Safari
|
| 59 |
+
- label: Opera
|
| 60 |
+
- label: Other
|
| 61 |
+
validations:
|
| 62 |
+
required: true
|
| 63 |
+
|
| 64 |
+
- type: textarea
|
| 65 |
+
id: browser-version
|
| 66 |
+
attributes:
|
| 67 |
+
label: Browser version(s)
|
| 68 |
+
description: If relevant, list the browser versions you used.
|
| 69 |
+
placeholder: |
|
| 70 |
+
Chrome 130.0.6723.20, Firefox 131.0, etc.
|
| 71 |
+
|
| 72 |
+
- type: checkboxes
|
| 73 |
+
id: troubleshooting
|
| 74 |
+
attributes:
|
| 75 |
+
label: Troubleshooting
|
| 76 |
+
description: Confirm you reviewed the troubleshooting guide before opening this ticket.
|
| 77 |
+
options:
|
| 78 |
+
- label: I have read https://github.com/pollen-robotics/reachy_mini/blob/develop/docs/troubleshooting.md
|
| 79 |
+
validations:
|
| 80 |
+
required: true
|
| 81 |
+
|
| 82 |
+
- type: checkboxes
|
| 83 |
+
id: version-status
|
| 84 |
+
attributes:
|
| 85 |
+
label: Update Status
|
| 86 |
+
description: Select all that apply (at least one must be true).
|
| 87 |
+
options:
|
| 88 |
+
- label: My robot is up-to-date via the dashboard.
|
| 89 |
+
- label: I'm running the latest Reachy Mini release from this repo.
|
| 90 |
+
validations:
|
| 91 |
+
required: true
|
| 92 |
+
|
| 93 |
+
- type: textarea
|
| 94 |
+
id: description
|
| 95 |
+
attributes:
|
| 96 |
+
label: Description
|
| 97 |
+
description: Provide a clear summary of the issue or your proposal.
|
| 98 |
+
placeholder: |
|
| 99 |
+
A concise description of the issue or suggestion.
|
| 100 |
+
validations:
|
| 101 |
+
required: true
|
| 102 |
+
|
| 103 |
+
- type: textarea
|
| 104 |
+
id: context-repro
|
| 105 |
+
attributes:
|
| 106 |
+
label: Context & Reproduction
|
| 107 |
+
description: Steps to reproduce, commands run, or code snippets (use code blocks for clarity).
|
| 108 |
+
placeholder: |
|
| 109 |
+
Steps to reproduce / Usage example:
|
| 110 |
+
1.
|
| 111 |
+
2.
|
| 112 |
+
3.
|
| 113 |
+
|
| 114 |
+
- type: textarea
|
| 115 |
+
id: logs
|
| 116 |
+
attributes:
|
| 117 |
+
label: Relevant logs or stack trace
|
| 118 |
+
description: Paste relevant logs, CLI output, or stack traces.
|
| 119 |
+
render: Shell
|
| 120 |
+
|
| 121 |
+
- type: textarea
|
| 122 |
+
id: workaround
|
| 123 |
+
attributes:
|
| 124 |
+
label: Additional Info / Workarounds
|
| 125 |
+
description: Anything else we should know? Include workarounds if you found any.
|
reachy_mini/.github/workflows/doc.yml
ADDED
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|
| 1 |
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name: Documentation
|
| 2 |
+
on:
|
| 3 |
+
push:
|
| 4 |
+
branches:
|
| 5 |
+
- main
|
| 6 |
+
jobs:
|
| 7 |
+
ai_doc:
|
| 8 |
+
runs-on: ubuntu-latest
|
| 9 |
+
steps:
|
| 10 |
+
- uses: actions/checkout@v4
|
| 11 |
+
- name: Set up Python 3.12
|
| 12 |
+
uses: actions/setup-python@v5
|
| 13 |
+
with:
|
| 14 |
+
python-version: "3.12"
|
| 15 |
+
cache: 'pip' # caching pip dependencies
|
| 16 |
+
- name: Install dependencies
|
| 17 |
+
run: |
|
| 18 |
+
python -m pip install --upgrade pip
|
| 19 |
+
pip install pydoc-markdown
|
| 20 |
+
- name: Generate documentation and examples
|
| 21 |
+
run: |
|
| 22 |
+
pydoc-markdown -I src -p reachy_mini --no-render-toc > doc.md
|
| 23 |
+
VERSION=$(grep '^version =' pyproject.toml | head -n1 | cut -d'"' -f2)
|
| 24 |
+
DATE=$(date -u +'%Y-%m-%d %H:%M UTC')
|
| 25 |
+
echo -e "# Reachy Mini Documentation\n\n**Version:** $VERSION\n**Generated:** $DATE\n" > doc_reachy_mini_full.md
|
| 26 |
+
cat README.md doc.md $(find docs -type f -name '*.md' | sort) >> doc_reachy_mini_full.md
|
| 27 |
+
echo -e "\n# Examples\n" >> doc_reachy_mini_full.md
|
| 28 |
+
for f in $(find examples -type f -name '*.py' | sort); do
|
| 29 |
+
echo -e "\n## $(basename "$f")\n" >> doc_reachy_mini_full.md
|
| 30 |
+
cat "$f" >> doc_reachy_mini_full.md
|
| 31 |
+
done
|
| 32 |
+
- name: Install GitHub CLI
|
| 33 |
+
run: sudo apt-get update && sudo apt-get install -y gh
|
| 34 |
+
- name: Upload doc_reachy_mini_full.md to Gist
|
| 35 |
+
env:
|
| 36 |
+
GH_TOKEN: ${{ secrets.GH_TOKEN }}
|
| 37 |
+
run: |
|
| 38 |
+
gh gist edit 919e1d7468fb16e70dbe984bdc277bba doc_reachy_mini_full.md --desc "Reachy Mini documentation and examples"
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reachy_mini/.github/workflows/lint.yml
ADDED
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name: Linters
|
| 2 |
+
on:
|
| 3 |
+
push:
|
| 4 |
+
paths:
|
| 5 |
+
- "src/**"
|
| 6 |
+
- "tests/**"
|
| 7 |
+
- ".github/workflows/**"
|
| 8 |
+
- "pyproject.toml"
|
| 9 |
+
pull_request:
|
| 10 |
+
paths:
|
| 11 |
+
- "src/**"
|
| 12 |
+
- "tests/**"
|
| 13 |
+
- ".github/workflows/**"
|
| 14 |
+
- "pyproject.toml"
|
| 15 |
+
jobs:
|
| 16 |
+
ruff:
|
| 17 |
+
runs-on: ubuntu-latest
|
| 18 |
+
steps:
|
| 19 |
+
- uses: actions/checkout@v4
|
| 20 |
+
- uses: astral-sh/ruff-action@v3
|
| 21 |
+
with:
|
| 22 |
+
version: "0.12.0"
|
| 23 |
+
|
| 24 |
+
mypy:
|
| 25 |
+
runs-on: ubuntu-latest
|
| 26 |
+
steps:
|
| 27 |
+
- uses: actions/checkout@v4
|
| 28 |
+
- name: Set up Python 3.10
|
| 29 |
+
uses: actions/setup-python@v5
|
| 30 |
+
with:
|
| 31 |
+
python-version: "3.10"
|
| 32 |
+
cache: "pip" # caching pip dependencies
|
| 33 |
+
- name: Install dependencies
|
| 34 |
+
run: |
|
| 35 |
+
python -m pip install --upgrade pip
|
| 36 |
+
pip install .[dev]
|
| 37 |
+
- name: Lint with mypy
|
| 38 |
+
run: |
|
| 39 |
+
mypy --install-types --non-interactive
|
reachy_mini/.github/workflows/pytest.yml
ADDED
|
@@ -0,0 +1,39 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
name: Pytest
|
| 2 |
+
on:
|
| 3 |
+
pull_request:
|
| 4 |
+
types: [opened, synchronize, reopened, ready_for_review]
|
| 5 |
+
paths:
|
| 6 |
+
- "src/**"
|
| 7 |
+
- "tests/**"
|
| 8 |
+
- ".github/workflows/**"
|
| 9 |
+
- "pyproject.toml"
|
| 10 |
+
jobs:
|
| 11 |
+
pytest:
|
| 12 |
+
runs-on: ${{ matrix.os }}
|
| 13 |
+
timeout-minutes: 10
|
| 14 |
+
strategy:
|
| 15 |
+
matrix:
|
| 16 |
+
os: [ubuntu-latest, macos-latest]
|
| 17 |
+
steps:
|
| 18 |
+
- uses: actions/checkout@v4
|
| 19 |
+
with:
|
| 20 |
+
lfs: "true"
|
| 21 |
+
- uses: actions/setup-python@v5
|
| 22 |
+
with:
|
| 23 |
+
python-version: "3.10"
|
| 24 |
+
cache: "pip"
|
| 25 |
+
- name: Install system dependencies (Ubuntu)
|
| 26 |
+
if: matrix.os == 'ubuntu-latest'
|
| 27 |
+
run: sudo apt-get update && sudo apt-get install -y libportaudio2
|
| 28 |
+
- name: Create virtual environment and install dependencies
|
| 29 |
+
run: |
|
| 30 |
+
python -m venv venv
|
| 31 |
+
source venv/bin/activate
|
| 32 |
+
python -m pip install --upgrade pip
|
| 33 |
+
pip install .[dev]
|
| 34 |
+
- name: Run tests
|
| 35 |
+
run: |
|
| 36 |
+
source venv/bin/activate
|
| 37 |
+
pytest -vv -m 'not audio and not video and not audio_gstreamer and not video_gstreamer and not wireless and not wireless_gstreamer' --tb=short
|
| 38 |
+
env:
|
| 39 |
+
MUJOCO_GL: disable
|
reachy_mini/.github/workflows/wheels.yml
ADDED
|
@@ -0,0 +1,26 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
name: Publish
|
| 2 |
+
|
| 3 |
+
on:
|
| 4 |
+
release:
|
| 5 |
+
types:
|
| 6 |
+
- created
|
| 7 |
+
|
| 8 |
+
jobs:
|
| 9 |
+
publish:
|
| 10 |
+
runs-on: ubuntu-latest
|
| 11 |
+
permissions:
|
| 12 |
+
id-token: write
|
| 13 |
+
steps:
|
| 14 |
+
- uses: actions/checkout@v5
|
| 15 |
+
with:
|
| 16 |
+
lfs: true
|
| 17 |
+
- name: Set up Python
|
| 18 |
+
uses: actions/setup-python@v6
|
| 19 |
+
with:
|
| 20 |
+
python-version: "3.10"
|
| 21 |
+
- name: Install build dependencies
|
| 22 |
+
run: pip install build
|
| 23 |
+
- name: Build distribution
|
| 24 |
+
run: python -m build
|
| 25 |
+
- name: Publish
|
| 26 |
+
uses: pypa/gh-action-pypi-publish@v1.13.0
|
reachy_mini/.github/workflows/wheels.yml.bak
ADDED
|
@@ -0,0 +1,181 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
name: Build and Release Wheels
|
| 2 |
+
|
| 3 |
+
on:
|
| 4 |
+
push:
|
| 5 |
+
tags:
|
| 6 |
+
- "*"
|
| 7 |
+
workflow_dispatch:
|
| 8 |
+
|
| 9 |
+
jobs:
|
| 10 |
+
linux:
|
| 11 |
+
runs-on: ${{ matrix.platform.runner }}
|
| 12 |
+
if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
|
| 13 |
+
strategy:
|
| 14 |
+
matrix:
|
| 15 |
+
platform:
|
| 16 |
+
- runner: ubuntu-22.04
|
| 17 |
+
target: x86_64
|
| 18 |
+
- runner: ubuntu-22.04
|
| 19 |
+
target: x86
|
| 20 |
+
- runner: ubuntu-22.04
|
| 21 |
+
target: aarch64
|
| 22 |
+
- runner: ubuntu-22.04
|
| 23 |
+
target: armv7
|
| 24 |
+
steps:
|
| 25 |
+
- uses: actions/checkout@v4
|
| 26 |
+
- uses: actions/setup-python@v5
|
| 27 |
+
with:
|
| 28 |
+
python-version: |
|
| 29 |
+
3.8
|
| 30 |
+
3.9
|
| 31 |
+
3.10
|
| 32 |
+
3.11
|
| 33 |
+
3.12
|
| 34 |
+
3.13
|
| 35 |
+
- name: Build wheels
|
| 36 |
+
run: |
|
| 37 |
+
pip install build
|
| 38 |
+
python -m build --wheel --outdir dist
|
| 39 |
+
- name: Upload wheels
|
| 40 |
+
uses: actions/upload-artifact@v4
|
| 41 |
+
with:
|
| 42 |
+
name: wheels-linux-${{ matrix.platform.target }}
|
| 43 |
+
path: dist/*.whl
|
| 44 |
+
|
| 45 |
+
musllinux:
|
| 46 |
+
runs-on: ${{ matrix.platform.runner }}
|
| 47 |
+
if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
|
| 48 |
+
strategy:
|
| 49 |
+
matrix:
|
| 50 |
+
platform:
|
| 51 |
+
- runner: ubuntu-22.04
|
| 52 |
+
target: x86_64
|
| 53 |
+
- runner: ubuntu-22.04
|
| 54 |
+
target: x86
|
| 55 |
+
- runner: ubuntu-22.04
|
| 56 |
+
target: aarch64
|
| 57 |
+
- runner: ubuntu-22.04
|
| 58 |
+
target: armv7
|
| 59 |
+
steps:
|
| 60 |
+
- uses: actions/checkout@v4
|
| 61 |
+
- uses: actions/setup-python@v5
|
| 62 |
+
with:
|
| 63 |
+
python-version: |
|
| 64 |
+
3.8
|
| 65 |
+
3.9
|
| 66 |
+
3.10
|
| 67 |
+
3.11
|
| 68 |
+
3.12
|
| 69 |
+
3.13
|
| 70 |
+
- name: Build wheels
|
| 71 |
+
run: |
|
| 72 |
+
pip install build
|
| 73 |
+
python -m build --wheel --outdir dist
|
| 74 |
+
- name: Upload wheels
|
| 75 |
+
uses: actions/upload-artifact@v4
|
| 76 |
+
with:
|
| 77 |
+
name: wheels-musllinux-${{ matrix.platform.target }}
|
| 78 |
+
path: dist/*.whl
|
| 79 |
+
|
| 80 |
+
windows:
|
| 81 |
+
runs-on: ${{ matrix.platform.runner }}
|
| 82 |
+
if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
|
| 83 |
+
strategy:
|
| 84 |
+
matrix:
|
| 85 |
+
platform:
|
| 86 |
+
- runner: windows-latest
|
| 87 |
+
target: x64
|
| 88 |
+
- runner: windows-latest
|
| 89 |
+
target: x86
|
| 90 |
+
steps:
|
| 91 |
+
- uses: actions/checkout@v4
|
| 92 |
+
- uses: actions/setup-python@v5
|
| 93 |
+
with:
|
| 94 |
+
python-version: |
|
| 95 |
+
3.8
|
| 96 |
+
3.9
|
| 97 |
+
3.10
|
| 98 |
+
3.11
|
| 99 |
+
3.12
|
| 100 |
+
3.13
|
| 101 |
+
architecture: ${{ matrix.platform.target }}
|
| 102 |
+
- name: Build wheels
|
| 103 |
+
run: |
|
| 104 |
+
pip install build
|
| 105 |
+
python -m build --wheel --outdir dist
|
| 106 |
+
- name: Upload wheels
|
| 107 |
+
uses: actions/upload-artifact@v4
|
| 108 |
+
with:
|
| 109 |
+
name: wheels-windows-${{ matrix.platform.target }}
|
| 110 |
+
path: dist/*.whl
|
| 111 |
+
|
| 112 |
+
macos:
|
| 113 |
+
runs-on: ${{ matrix.platform.runner }}
|
| 114 |
+
if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
|
| 115 |
+
strategy:
|
| 116 |
+
matrix:
|
| 117 |
+
platform:
|
| 118 |
+
- runner: macos-13
|
| 119 |
+
target: x86_64
|
| 120 |
+
- runner: macos-14
|
| 121 |
+
target: aarch64
|
| 122 |
+
steps:
|
| 123 |
+
- uses: actions/checkout@v4
|
| 124 |
+
- uses: actions/setup-python@v5
|
| 125 |
+
with:
|
| 126 |
+
python-version: |
|
| 127 |
+
3.8
|
| 128 |
+
3.9
|
| 129 |
+
3.10
|
| 130 |
+
3.11
|
| 131 |
+
3.12
|
| 132 |
+
3.13
|
| 133 |
+
- name: Build wheels
|
| 134 |
+
run: |
|
| 135 |
+
pip install build
|
| 136 |
+
python -m build --wheel --outdir dist
|
| 137 |
+
- name: Upload wheels
|
| 138 |
+
uses: actions/upload-artifact@v4
|
| 139 |
+
with:
|
| 140 |
+
name: wheels-macos-${{ matrix.platform.target }}
|
| 141 |
+
path: dist/*.whl
|
| 142 |
+
|
| 143 |
+
sdist:
|
| 144 |
+
runs-on: ubuntu-latest
|
| 145 |
+
if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
|
| 146 |
+
steps:
|
| 147 |
+
- uses: actions/checkout@v4
|
| 148 |
+
- name: Build sdist
|
| 149 |
+
run: |
|
| 150 |
+
pip install build
|
| 151 |
+
python -m build --sdist --outdir dist
|
| 152 |
+
- name: Upload sdist
|
| 153 |
+
uses: actions/upload-artifact@v4
|
| 154 |
+
with:
|
| 155 |
+
name: wheels-sdist
|
| 156 |
+
path: dist/*.tar.gz
|
| 157 |
+
|
| 158 |
+
release:
|
| 159 |
+
name: Release
|
| 160 |
+
runs-on: ubuntu-latest
|
| 161 |
+
if: ${{ startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' }}
|
| 162 |
+
needs: [linux, musllinux, windows, macos, sdist]
|
| 163 |
+
permissions:
|
| 164 |
+
id-token: write
|
| 165 |
+
contents: write
|
| 166 |
+
attestations: write
|
| 167 |
+
steps:
|
| 168 |
+
- uses: actions/download-artifact@v4
|
| 169 |
+
with:
|
| 170 |
+
pattern: wheels-*
|
| 171 |
+
merge-multiple: true
|
| 172 |
+
path: dist
|
| 173 |
+
- name: Generate artifact attestation
|
| 174 |
+
uses: actions/attest-build-provenance@v1
|
| 175 |
+
with:
|
| 176 |
+
subject-path: 'dist/*'
|
| 177 |
+
- name: Publish to PyPI
|
| 178 |
+
if: ${{ startsWith(github.ref, 'refs/tags/') }}
|
| 179 |
+
uses: pypa/gh-action-pypi-publish@release/v1
|
| 180 |
+
with:
|
| 181 |
+
packages-dir: dist/
|
reachy_mini/.gitignore
ADDED
|
@@ -0,0 +1,258 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
| 1 |
+
# Byte-compiled / optimized / DLL files
|
| 2 |
+
__pycache__/
|
| 3 |
+
*.py[codz]
|
| 4 |
+
*$py.class
|
| 5 |
+
|
| 6 |
+
# C extensions
|
| 7 |
+
*.so
|
| 8 |
+
|
| 9 |
+
# Distribution / packaging
|
| 10 |
+
.Python
|
| 11 |
+
build/
|
| 12 |
+
test/faulty_app/build
|
| 13 |
+
test/ok_app/build
|
| 14 |
+
develop-eggs/
|
| 15 |
+
dist/
|
| 16 |
+
downloads/
|
| 17 |
+
eggs/
|
| 18 |
+
.eggs/
|
| 19 |
+
lib/
|
| 20 |
+
lib64/
|
| 21 |
+
parts/
|
| 22 |
+
sdist/
|
| 23 |
+
var/
|
| 24 |
+
wheels/
|
| 25 |
+
share/python-wheels/
|
| 26 |
+
*.egg-info/
|
| 27 |
+
.installed.cfg
|
| 28 |
+
*.egg
|
| 29 |
+
MANIFEST
|
| 30 |
+
|
| 31 |
+
# PyInstaller
|
| 32 |
+
# Usually these files are written by a python script from a template
|
| 33 |
+
# before PyInstaller builds the exe, so as to inject date/other infos into it.
|
| 34 |
+
*.manifest
|
| 35 |
+
*.spec
|
| 36 |
+
|
| 37 |
+
# Installer logs
|
| 38 |
+
pip-log.txt
|
| 39 |
+
pip-delete-this-directory.txt
|
| 40 |
+
|
| 41 |
+
# Unit test / coverage reports
|
| 42 |
+
htmlcov/
|
| 43 |
+
.tox/
|
| 44 |
+
.nox/
|
| 45 |
+
.coverage
|
| 46 |
+
.coverage.*
|
| 47 |
+
.cache
|
| 48 |
+
nosetests.xml
|
| 49 |
+
coverage.xml
|
| 50 |
+
*.cover
|
| 51 |
+
*.py.cover
|
| 52 |
+
.hypothesis/
|
| 53 |
+
.pytest_cache/
|
| 54 |
+
cover/
|
| 55 |
+
|
| 56 |
+
# Translations
|
| 57 |
+
*.mo
|
| 58 |
+
*.pot
|
| 59 |
+
|
| 60 |
+
# Django stuff:
|
| 61 |
+
*.log
|
| 62 |
+
local_settings.py
|
| 63 |
+
db.sqlite3
|
| 64 |
+
db.sqlite3-journal
|
| 65 |
+
|
| 66 |
+
# Flask stuff:
|
| 67 |
+
instance/
|
| 68 |
+
.webassets-cache
|
| 69 |
+
|
| 70 |
+
# Scrapy stuff:
|
| 71 |
+
.scrapy
|
| 72 |
+
|
| 73 |
+
# Sphinx documentation
|
| 74 |
+
docs/_build/
|
| 75 |
+
|
| 76 |
+
# PyBuilder
|
| 77 |
+
.pybuilder/
|
| 78 |
+
target/
|
| 79 |
+
|
| 80 |
+
# Jupyter Notebook
|
| 81 |
+
.ipynb_checkpoints
|
| 82 |
+
|
| 83 |
+
# IPython
|
| 84 |
+
profile_default/
|
| 85 |
+
ipython_config.py
|
| 86 |
+
|
| 87 |
+
# pyenv
|
| 88 |
+
# For a library or package, you might want to ignore these files since the code is
|
| 89 |
+
# intended to run in multiple environments; otherwise, check them in:
|
| 90 |
+
# .python-version
|
| 91 |
+
|
| 92 |
+
# pipenv
|
| 93 |
+
# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
|
| 94 |
+
# However, in case of collaboration, if having platform-specific dependencies or dependencies
|
| 95 |
+
# having no cross-platform support, pipenv may install dependencies that don't work, or not
|
| 96 |
+
# install all needed dependencies.
|
| 97 |
+
# Pipfile.lock
|
| 98 |
+
|
| 99 |
+
# UV
|
| 100 |
+
# Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
|
| 101 |
+
# This is especially recommended for binary packages to ensure reproducibility, and is more
|
| 102 |
+
# commonly ignored for libraries.
|
| 103 |
+
# uv.lock
|
| 104 |
+
|
| 105 |
+
# poetry
|
| 106 |
+
# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
|
| 107 |
+
# This is especially recommended for binary packages to ensure reproducibility, and is more
|
| 108 |
+
# commonly ignored for libraries.
|
| 109 |
+
# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
|
| 110 |
+
# poetry.lock
|
| 111 |
+
# poetry.toml
|
| 112 |
+
|
| 113 |
+
# pdm
|
| 114 |
+
# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
|
| 115 |
+
# pdm recommends including project-wide configuration in pdm.toml, but excluding .pdm-python.
|
| 116 |
+
# https://pdm-project.org/en/latest/usage/project/#working-with-version-control
|
| 117 |
+
# pdm.lock
|
| 118 |
+
# pdm.toml
|
| 119 |
+
.pdm-python
|
| 120 |
+
.pdm-build/
|
| 121 |
+
|
| 122 |
+
# pixi
|
| 123 |
+
# Similar to Pipfile.lock, it is generally recommended to include pixi.lock in version control.
|
| 124 |
+
# pixi.lock
|
| 125 |
+
# Pixi creates a virtual environment in the .pixi directory, just like venv module creates one
|
| 126 |
+
# in the .venv directory. It is recommended not to include this directory in version control.
|
| 127 |
+
.pixi
|
| 128 |
+
|
| 129 |
+
# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
|
| 130 |
+
__pypackages__/
|
| 131 |
+
|
| 132 |
+
# Celery stuff
|
| 133 |
+
celerybeat-schedule
|
| 134 |
+
celerybeat.pid
|
| 135 |
+
|
| 136 |
+
# Redis
|
| 137 |
+
*.rdb
|
| 138 |
+
*.aof
|
| 139 |
+
*.pid
|
| 140 |
+
|
| 141 |
+
# RabbitMQ
|
| 142 |
+
mnesia/
|
| 143 |
+
rabbitmq/
|
| 144 |
+
rabbitmq-data/
|
| 145 |
+
|
| 146 |
+
# ActiveMQ
|
| 147 |
+
activemq-data/
|
| 148 |
+
|
| 149 |
+
# SageMath parsed files
|
| 150 |
+
*.sage.py
|
| 151 |
+
|
| 152 |
+
# Environments
|
| 153 |
+
.env
|
| 154 |
+
.envrc
|
| 155 |
+
.venv
|
| 156 |
+
env/
|
| 157 |
+
venv/
|
| 158 |
+
ENV/
|
| 159 |
+
env.bak/
|
| 160 |
+
venv.bak/
|
| 161 |
+
|
| 162 |
+
# Spyder project settings
|
| 163 |
+
.spyderproject
|
| 164 |
+
.spyproject
|
| 165 |
+
|
| 166 |
+
# Rope project settings
|
| 167 |
+
.ropeproject
|
| 168 |
+
|
| 169 |
+
# mkdocs documentation
|
| 170 |
+
/site
|
| 171 |
+
|
| 172 |
+
# mypy
|
| 173 |
+
.mypy_cache/
|
| 174 |
+
.dmypy.json
|
| 175 |
+
dmypy.json
|
| 176 |
+
|
| 177 |
+
# Pyre type checker
|
| 178 |
+
.pyre/
|
| 179 |
+
|
| 180 |
+
# pytype static type analyzer
|
| 181 |
+
.pytype/
|
| 182 |
+
|
| 183 |
+
# Cython debug symbols
|
| 184 |
+
cython_debug/
|
| 185 |
+
|
| 186 |
+
# PyCharm
|
| 187 |
+
.idea/**/workspace.xml
|
| 188 |
+
.idea/**/tasks.xml
|
| 189 |
+
.idea/**/usage.statistics.xml
|
| 190 |
+
.idea/**/dictionaries
|
| 191 |
+
.idea/**/shelf
|
| 192 |
+
.idea/**/dataSources/
|
| 193 |
+
.idea/**/dataSources.ids
|
| 194 |
+
.idea/**/dataSources.local.xml
|
| 195 |
+
.idea/**/sqlDataSources.xml
|
| 196 |
+
.idea/**/dynamic.xml
|
| 197 |
+
.idea/**/uiDesigner.xml
|
| 198 |
+
.idea/**/dbnavigator.xml
|
| 199 |
+
.idea/**/contentModel.xml
|
| 200 |
+
|
| 201 |
+
# Abstra
|
| 202 |
+
# Abstra is an AI-powered process automation framework.
|
| 203 |
+
# Ignore directories containing user credentials, local state, and settings.
|
| 204 |
+
# Learn more at https://abstra.io/docs
|
| 205 |
+
.abstra/
|
| 206 |
+
|
| 207 |
+
# Visual Studio Code
|
| 208 |
+
.vscode/*
|
| 209 |
+
!.vscode/settings.json
|
| 210 |
+
!.vscode/tasks.json
|
| 211 |
+
!.vscode/launch.json
|
| 212 |
+
!.vscode/extensions.json
|
| 213 |
+
!.vscode/*.code-snippets
|
| 214 |
+
!*.code-workspace
|
| 215 |
+
|
| 216 |
+
# Ruff stuff:
|
| 217 |
+
.ruff_cache/
|
| 218 |
+
|
| 219 |
+
# PyPI configuration file
|
| 220 |
+
.pypirc
|
| 221 |
+
|
| 222 |
+
# Marimo
|
| 223 |
+
marimo/_static/
|
| 224 |
+
marimo/_lsp/
|
| 225 |
+
__marimo__/
|
| 226 |
+
|
| 227 |
+
# Streamlit
|
| 228 |
+
.streamlit/secrets.toml
|
| 229 |
+
|
| 230 |
+
# General for macOS
|
| 231 |
+
.DS_Store
|
| 232 |
+
__MACOSX/
|
| 233 |
+
.AppleDouble
|
| 234 |
+
.LSOverride
|
| 235 |
+
Icon[]
|
| 236 |
+
|
| 237 |
+
# General for Linux
|
| 238 |
+
*~
|
| 239 |
+
.fuse_hidden*
|
| 240 |
+
.directory
|
| 241 |
+
.Trash-*
|
| 242 |
+
.nfs*
|
| 243 |
+
nohup.out
|
| 244 |
+
|
| 245 |
+
# General for Windows
|
| 246 |
+
Thumbs.db
|
| 247 |
+
Thumbs.db:encryptable
|
| 248 |
+
ehthumbs.db
|
| 249 |
+
ehthumbs_vista.db
|
| 250 |
+
[Dd]esktop.ini
|
| 251 |
+
*.stackdump
|
| 252 |
+
$RECYCLE.BIN/
|
| 253 |
+
*.lnk
|
| 254 |
+
|
| 255 |
+
# Project specific ignores
|
| 256 |
+
src/reachy_mini_dashboard/installed_apps/*
|
| 257 |
+
examples/debug/measures/*
|
| 258 |
+
.DS_Store
|
reachy_mini/.pre-commit-config.yaml
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
repos:
|
| 2 |
+
- repo: https://github.com/astral-sh/ruff-pre-commit
|
| 3 |
+
# Ruff version. Make sure it matches the version in .github/workflows/lint.yml.
|
| 4 |
+
rev: v0.12.0
|
| 5 |
+
hooks:
|
| 6 |
+
# Run the linter.
|
| 7 |
+
- id: ruff-check
|
| 8 |
+
args: ["--select", "I", "--select", "D", "--ignore", "D203", "--ignore", "D213"]
|
| 9 |
+
# Run the formatter.
|
| 10 |
+
- id: ruff-format
|
reachy_mini/LICENSE
ADDED
|
@@ -0,0 +1,201 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
| 1 |
+
Apache License
|
| 2 |
+
Version 2.0, January 2004
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|
reachy_mini/MANIFEST.in
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
recursive-include src/reachy_mini/assets *
|
| 2 |
+
recursive-include src/reachy_mini/templates *
|
| 3 |
+
recursive-include src/reachy_mini/descriptions *
|
reachy_mini/README.md
ADDED
|
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|
| 1 |
+
# Reachy Mini π€
|
| 2 |
+
|
| 3 |
+
[](https://huggingface.co/chat/?attachments=https%3A%2F%2Fgist.githubusercontent.com%2FFabienDanieau%2F919e1d7468fb16e70dbe984bdc277bba%2Fraw%2Fdoc_reachy_mini_full.md&prompt=Read%20this%20documentation%20about%20Reachy%20Mini%20so%20I%20can%20ask%20questions%20about%20it.)
|
| 4 |
+
[](https://discord.gg/Y7FgMqHsub)
|
| 5 |
+
|
| 6 |
+
**Reachy Mini is an open-source, expressive robot made for hackers and AI builders.**
|
| 7 |
+
|
| 8 |
+
π [**Buy Reachy Mini**](https://www.hf.co/reachy-mini/)
|
| 9 |
+
|
| 10 |
+
[](https://www.pollen-robotics.com/reachy-mini/)
|
| 11 |
+
|
| 12 |
+
## β‘οΈ Build and start your own robot
|
| 13 |
+
|
| 14 |
+
**Choose your platform to access the specific guide:**
|
| 15 |
+
|
| 16 |
+
| **π€ Reachy Mini (Wireless)** | **π Reachy Mini Lite** | **π» Simulation** |
|
| 17 |
+
| :---: | :---: | :---: |
|
| 18 |
+
| The full autonomous experience.<br>Raspberry Pi 4 + Battery + WiFi. | The developer version.<br>USB connection to your computer. | No hardware required.<br>Prototype in MuJoCo. |
|
| 19 |
+
| π [**Go to Wireless Guide**](docs/platforms/reachy_mini/get_started.md) | π [**Go to Lite Guide**](docs/platforms/reachy_mini_lite/get_started.md) | π [**Go to Simulation**](docs/platforms/simulation/get_started.md) |
|
| 20 |
+
|
| 21 |
+
|
| 22 |
+
|
| 23 |
+
> β‘ **Pro tip:** Install [uv](https://docs.astral.sh/uv/getting-started/installation/) for 10-100x faster app installations (auto-detected, falls back to `pip`).
|
| 24 |
+
|
| 25 |
+
<br>
|
| 26 |
+
|
| 27 |
+
## π± Apps & Ecosystem
|
| 28 |
+
|
| 29 |
+
Reachy Mini comes with an app store powered by Hugging Face Spaces. You can install these apps directly from your robot's dashboard with one click!
|
| 30 |
+
|
| 31 |
+
* **π£οΈ [Conversation App](https://huggingface.co/spaces/pollen-robotics/reachy_mini_conversation_app):** Talk naturally with Reachy Mini (powered by LLMs).
|
| 32 |
+
* **π» [Radio](https://huggingface.co/spaces/pollen-robotics/reachy_mini_radio):** Listen to the radio with Reachy Mini !
|
| 33 |
+
* **π [Hand Tracker](https://huggingface.co/spaces/pollen-robotics/hand_tracker_v2):** The robot follows your hand movements in real-time.
|
| 34 |
+
|
| 35 |
+
π [**Browse all apps on Hugging Face**](https://hf.co/reachy-mini/#/apps)
|
| 36 |
+
|
| 37 |
+
<br>
|
| 38 |
+
|
| 39 |
+
## π Getting Started with Reachy Mini SDK
|
| 40 |
+
|
| 41 |
+
### Quick Look
|
| 42 |
+
Control your robot in just **a few lines of code**:
|
| 43 |
+
|
| 44 |
+
```python
|
| 45 |
+
from reachy_mini import ReachyMini
|
| 46 |
+
from reachy_mini.utils import create_head_pose
|
| 47 |
+
|
| 48 |
+
with ReachyMini() as mini:
|
| 49 |
+
# Look up and tilt head
|
| 50 |
+
mini.goto_target(
|
| 51 |
+
head=create_head_pose(z=10, roll=15, degrees=True, mm=True),
|
| 52 |
+
duration=1.0
|
| 53 |
+
)
|
| 54 |
+
```
|
| 55 |
+
|
| 56 |
+
### User guides
|
| 57 |
+
* **[Installation](docs/SDK/installation.md)**: 5 minutes to set up your computer
|
| 58 |
+
* **[Quickstart Guide](docs/SDK/quickstart.md)**: Run your first behavior on Reachy Mini
|
| 59 |
+
* **[Python SDK](docs/SDK/python-sdk.md)**: Learn to move, see, speak, and hear.
|
| 60 |
+
* **[AI Integrations](docs/SDK/integration.md)**: Connect LLMs, build Apps, and publish to Hugging Face.
|
| 61 |
+
* **[Core Concepts](docs/SDK/core-concept.md)**: Architecture, coordinate systems, and safety limits.
|
| 62 |
+
* π€[**Share your app with the community**](https://huggingface.co/blog/pollen-robotics/make-and-publish-your-reachy-mini-apps)
|
| 63 |
+
* π [**Browse the Examples Folder**](examples)
|
| 64 |
+
|
| 65 |
+
|
| 66 |
+
<br>
|
| 67 |
+
|
| 68 |
+
## π Hardware Overview
|
| 69 |
+
|
| 70 |
+
Reachy Mini robots are sold as kits and generally take **2 to 3 hours** to assemble. Detailed step-by-step guides are available in the platform-specific folders linked above.
|
| 71 |
+
|
| 72 |
+
* **Reachy Mini (Wireless):** Runs onboard (RPi 4), autonomous, includes IMU. [See specs](docs/platforms/reachy_mini/hardware.md).
|
| 73 |
+
* **Reachy Mini Lite:** Runs on your PC, powered via wall outlet. [See specs](docs/platforms/reachy_mini_lite/hardware.md).
|
| 74 |
+
|
| 75 |
+
<br>
|
| 76 |
+
|
| 77 |
+
## β Troubleshooting
|
| 78 |
+
|
| 79 |
+
Encountering an issue? π **[Check the Troubleshooting & FAQ Guide](/docs/troubleshooting.md)**
|
| 80 |
+
|
| 81 |
+
<br>
|
| 82 |
+
|
| 83 |
+
## π€ Community & Contributing
|
| 84 |
+
|
| 85 |
+
* **Join the Community:** Join [Discord](https://discord.gg/2bAhWfXme9) to share your moments with Reachy, build apps together, and get help.
|
| 86 |
+
* **Found a bug?** Open an issue on this repository.
|
| 87 |
+
|
| 88 |
+
|
| 89 |
+
## License
|
| 90 |
+
|
| 91 |
+
This project is licensed under the Apache 2.0 License. See the [LICENSE](LICENSE) file for details.
|
| 92 |
+
Hardware design files are licensed under Creative Commons BY-SA-NC.
|
reachy_mini/conftest.py
ADDED
|
@@ -0,0 +1 @@
|
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| 1 |
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|
reachy_mini/docs/SDK/core-concept.md
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Core Concepts & Architecture
|
| 2 |
+
|
| 3 |
+
Understanding how Reachy Mini works under the hood will help you build robust applications and debug issues.
|
| 4 |
+
|
| 5 |
+
## Software Architecture
|
| 6 |
+
|
| 7 |
+
Reachy Mini uses a **Client-Server** architecture:
|
| 8 |
+
|
| 9 |
+
1. **The Daemon (Server):**
|
| 10 |
+
* Runs on the computer connected to the robot (or the simulation).
|
| 11 |
+
* Handles hardware I/O (USB/Serial), safety checks, and sensor reading.
|
| 12 |
+
* Exposes a REST API (`localhost:8000`) and WebSocket.
|
| 13 |
+
|
| 14 |
+
2. **The SDK (Client):**
|
| 15 |
+
* Your Python code (`reachy_mini` package).
|
| 16 |
+
* Connects to the Daemon over the network.
|
| 17 |
+
* *Advantage:* You can run your AI code on a powerful server while the Daemon runs on a Raspberry Pi connected to the robot.
|
| 18 |
+
|
| 19 |
+
## Coordinate Systems
|
| 20 |
+
|
| 21 |
+
When moving the robot, you will work with two main reference frames:
|
| 22 |
+
|
| 23 |
+
### 1. Head Frame
|
| 24 |
+
Located at the base of the head. Used for `goto_target` and `set_target` commands.
|
| 25 |
+
|
| 26 |
+
[]()
|
| 27 |
+
|
| 28 |
+
### 2. World Frame
|
| 29 |
+
Fixed relative to the robot's base. Used for `look_at_world` commands.
|
| 30 |
+
|
| 31 |
+
[]()
|
| 32 |
+
|
| 33 |
+
## Safety Limits β οΈ
|
| 34 |
+
|
| 35 |
+
Reachy Mini has physical and software limits to prevent self-collision and damage. The SDK will automatically clamp values to the closest valid position.
|
| 36 |
+
|
| 37 |
+
| Joint / Axis | Limit Range |
|
| 38 |
+
| :--- | :--- |
|
| 39 |
+
| **Head Pitch/Roll** | [-40Β°, +40Β°] |
|
| 40 |
+
| **Head Yaw** | [-180Β°, +180Β°] |
|
| 41 |
+
| **Body Yaw** | [-160Β°, +160Β°] |
|
| 42 |
+
| **Yaw Delta** | Max 65Β° difference between Head and Body Yaw |
|
| 43 |
+
|
| 44 |
+
## Motor Modes
|
| 45 |
+
|
| 46 |
+
You can change how the motors behave:
|
| 47 |
+
* **`mini.enable_motors()`**: Stiff. Holds position.
|
| 48 |
+
* **`mini.disable_motors()`**: Limp. No power.
|
| 49 |
+
* **`mini.enable_gravity_compensation()`**: "Soft" mode. You can move the head by hand, and it will stay where you leave it. (Only works with the Placo kinematics backend.)
|
| 50 |
+
|
| 51 |
+
|
| 52 |
+
## Next Steps
|
| 53 |
+
* **[Quickstart Guide](quickstart.md)**: Run your first behavior on Reachy Mini
|
| 54 |
+
* **[Python SDK](python-sdk.md)**: Learn to move, see, speak, and hear.
|
| 55 |
+
* **[AI Integrations](integration.md)**: Connect LLMs, build Apps, and publish to Hugging Face.
|
reachy_mini/docs/SDK/gstreamer-installation.md
ADDED
|
@@ -0,0 +1,173 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# π‘ GStreamer Installation for Wireless Reachy Mini
|
| 2 |
+
|
| 3 |
+
> This guide will help you install [GStreamer](https://gstreamer.freedesktop.org) to receive video and audio streams from your wireless Reachy Mini.
|
| 4 |
+
|
| 5 |
+
<div align="center">
|
| 6 |
+
|
| 7 |
+
| π§ **Linux** | π **macOS** | πͺ **Windows** |
|
| 8 |
+
|:---:|:---:|:---:|
|
| 9 |
+
| β
Supported | β
Supported | β οΈ Partial Support |
|
| 10 |
+
|
| 11 |
+
</div>
|
| 12 |
+
|
| 13 |
+
> **Note**: Python wheels for easy install of GStreamer will be soon released an available on PyPI. They will be directly integrated. Meanwhile, please follow the instructions below to install GStreamer on your system.
|
| 14 |
+
|
| 15 |
+
## π§ Install GStreamer
|
| 16 |
+
|
| 17 |
+
<details>
|
| 18 |
+
<summary>π§ <strong>Linux</strong></summary>
|
| 19 |
+
|
| 20 |
+
### Step 1: Install GStreamer
|
| 21 |
+
|
| 22 |
+
**For Ubuntu/Debian-based systems:**
|
| 23 |
+
|
| 24 |
+
In you terminal, run:
|
| 25 |
+
|
| 26 |
+
```bash
|
| 27 |
+
sudo apt-get update
|
| 28 |
+
sudo apt-get install -y \
|
| 29 |
+
libgstreamer-plugins-bad1.0-dev \
|
| 30 |
+
libgstreamer-plugins-base1.0-dev \
|
| 31 |
+
libgstreamer1.0-dev \
|
| 32 |
+
libglib2.0-dev \
|
| 33 |
+
libssl-dev \
|
| 34 |
+
libgirepository1.0-dev \
|
| 35 |
+
libcairo2-dev \
|
| 36 |
+
libportaudio2 \
|
| 37 |
+
libnice10 \
|
| 38 |
+
gstreamer1.0-plugins-good \
|
| 39 |
+
gstreamer1.0-alsa \
|
| 40 |
+
gstreamer1.0-plugins-bad \
|
| 41 |
+
gstreamer1.0-nice \
|
| 42 |
+
python3-gi \
|
| 43 |
+
python3-gi-cairo
|
| 44 |
+
```
|
| 45 |
+
|
| 46 |
+
### Step 2: Install Rust
|
| 47 |
+
|
| 48 |
+
On Linux, the WebRTC plugin is not activated by default and needs to be compiled manually from the Rust source code. Install Rust from the commmand line using `rustup`:
|
| 49 |
+
|
| 50 |
+
```bash
|
| 51 |
+
curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
|
| 52 |
+
source $HOME/.cargo/env
|
| 53 |
+
```
|
| 54 |
+
|
| 55 |
+
### Step 3: Build and install WebRTC plugin
|
| 56 |
+
|
| 57 |
+
The build and install the WebRTC plugin, run the following commands :
|
| 58 |
+
|
| 59 |
+
```bash
|
| 60 |
+
# Clone the GStreamer Rust plugins repository
|
| 61 |
+
git clone https://gitlab.freedesktop.org/gstreamer/gst-plugins-rs.git
|
| 62 |
+
cd gst-plugins-rs
|
| 63 |
+
git checkout 0.14.1
|
| 64 |
+
|
| 65 |
+
# Install the cargo-c build tool
|
| 66 |
+
cargo install cargo-c
|
| 67 |
+
|
| 68 |
+
# Create installation directory
|
| 69 |
+
sudo mkdir -p /opt/gst-plugins-rs
|
| 70 |
+
sudo chown $USER /opt/gst-plugins-rs
|
| 71 |
+
|
| 72 |
+
# Build and install the WebRTC plugin (this may take several minutes)
|
| 73 |
+
cargo cinstall -p gst-plugin-webrtc --prefix=/opt/gst-plugins-rs --release
|
| 74 |
+
|
| 75 |
+
# Add plugin path to your environment
|
| 76 |
+
echo 'export GST_PLUGIN_PATH=/opt/gst-plugins-rs/lib/x86_64-linux-gnu:$GST_PLUGIN_PATH' >> ~/.bashrc
|
| 77 |
+
source ~/.bashrc
|
| 78 |
+
```
|
| 79 |
+
|
| 80 |
+
> **π‘ Note:** For ARM64 systems (like Raspberry Pi), replace `x86_64-linux-gnu` with `aarch64-linux-gnu` in the export command.
|
| 81 |
+
|
| 82 |
+
</details>
|
| 83 |
+
|
| 84 |
+
<details>
|
| 85 |
+
<summary>π <strong>macOS</strong></summary>
|
| 86 |
+
|
| 87 |
+
### Using Homebrew
|
| 88 |
+
|
| 89 |
+
```bash
|
| 90 |
+
brew install gstreamer libnice-gstreamer
|
| 91 |
+
```
|
| 92 |
+
|
| 93 |
+
The WebRTC plugin is activated by default in the Homebrew package.
|
| 94 |
+
|
| 95 |
+
</details>
|
| 96 |
+
|
| 97 |
+
<details>
|
| 98 |
+
<summary>πͺ <strong>Windows</strong></summary>
|
| 99 |
+
|
| 100 |
+
> β οΈ **Note:** Windows support is currently partial. Some features may not work as expected.
|
| 101 |
+
|
| 102 |
+
### Step 1: Install GStreamer using the official installer
|
| 103 |
+
|
| 104 |
+
<div align="center">
|
| 105 |
+
|
| 106 |
+
[](https://gstreamer.freedesktop.org/download/)
|
| 107 |
+
|
| 108 |
+
</div>
|
| 109 |
+
|
| 110 |
+
1. Download the **runtime** installer (MSVC version)
|
| 111 |
+
2. Install with **Complete** installation option
|
| 112 |
+
3. Edit the environment variables and Add to system PATH: `C:\Program Files\gstreamer\1.0\msvc_x86_64\bin`
|
| 113 |
+
4. Add to PYTHONPATH: `C:\gstreamer\1.0\msvc_x86_64\lib\site-packages`
|
| 114 |
+
|
| 115 |
+
> **π‘ Important:** Replace `C:\Program Files\gstreamer` with your actual GStreamer installation folder if you installed it in a different location.
|
| 116 |
+
|
| 117 |
+
|
| 118 |
+
|
| 119 |
+
</details>
|
| 120 |
+
|
| 121 |
+
## β
Verify Installation
|
| 122 |
+
|
| 123 |
+
Finally, you can test your GStreamer installation as follows:
|
| 124 |
+
|
| 125 |
+
```bash
|
| 126 |
+
# Check version
|
| 127 |
+
gst-launch-1.0 --version
|
| 128 |
+
|
| 129 |
+
# Test basic functionalities
|
| 130 |
+
gst-launch-1.0 videotestsrc ! autovideosink
|
| 131 |
+
|
| 132 |
+
# Verify WebRTC plugin
|
| 133 |
+
gst-inspect-1.0 webrtcsrc
|
| 134 |
+
```
|
| 135 |
+
|
| 136 |
+
You should also be able to import gstreamer libraries in a Python environment:
|
| 137 |
+
```bash
|
| 138 |
+
python -c "import gi"
|
| 139 |
+
```
|
| 140 |
+
|
| 141 |
+
## π§ Python Dependencies
|
| 142 |
+
|
| 143 |
+
When installing Reachy Mini Python package, you will also need to add the `gstreamer` extra :
|
| 144 |
+
|
| 145 |
+
### Install from PyPI
|
| 146 |
+
|
| 147 |
+
```bash
|
| 148 |
+
uv pip install "reachy-mini[gstreamer]"
|
| 149 |
+
```
|
| 150 |
+
|
| 151 |
+
### Install from source
|
| 152 |
+
|
| 153 |
+
```bash
|
| 154 |
+
uv sync --extra gstreamer
|
| 155 |
+
```
|
| 156 |
+
|
| 157 |
+
## Troubleshooting & Unit Tests
|
| 158 |
+
|
| 159 |
+
If you encounter issues with the stream, you can test the components individually.
|
| 160 |
+
|
| 161 |
+
**Test 1: Manually create the WebRTC Server**
|
| 162 |
+
Run this GStreamer pipeline on the robot to verify the camera and encoder stack:
|
| 163 |
+
|
| 164 |
+
```bash
|
| 165 |
+
gst-launch-1.0 webrtcsink run-signalling-server=true meta="meta,name=reachymini" name=ws libcamerasrc ! capsfilter caps=video/x-raw,width=1280,height=720,framerate=60/1,format=YUY2,colorimetry=bt709,interlace-mode=progressive ! queue ! v4l2h264enc extra-controls="controls,repeat_sequence_header=1" ! 'video/x-h264,level=(string)4' ! ws. alsasrc device=hw:4 ! queue ! audioconvert ! audioresample ! opusenc ! audio/x-opus, rate=48000, channels=2 ! ws.
|
| 166 |
+
```
|
| 167 |
+
|
| 168 |
+
**Test 2: Send Audio to Reachy**
|
| 169 |
+
Send an audio RTP stream to port 5000 to test the speakers:
|
| 170 |
+
|
| 171 |
+
```bash
|
| 172 |
+
gst-launch-1.0 audiotestsrc ! audioconvert ! audioresample ! opusenc ! audio/x-opus, rate=48000, channels=2 ! rtpopuspay pt=96 ! udpsink host=<ROBOT_IP> port=5000
|
| 173 |
+
```
|
reachy_mini/docs/SDK/installation.md
ADDED
|
@@ -0,0 +1,295 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
|
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|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
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|
|
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|
|
|
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|
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|
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|
|
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|
| 1 |
+
# π¦ Installation Guide
|
| 2 |
+
|
| 3 |
+
> **Welcome to Reachy Mini!** This guide will help you install the Python SDK and daemon to start controlling your robot.
|
| 4 |
+
|
| 5 |
+
<div align="center">
|
| 6 |
+
|
| 7 |
+
| π§ **Linux** | π **macOS** | πͺ **Windows** |
|
| 8 |
+
|:---:|:---:|:---:|
|
| 9 |
+
| β
Supported | β
Supported | β
Supported |
|
| 10 |
+
|
| 11 |
+
</div>
|
| 12 |
+
|
| 13 |
+
**Need help?** Feel free to open an [issue](https://github.com/pollen-robotics/reachy_mini/issues) if you encounter any problem.
|
| 14 |
+
|
| 15 |
+
## First time using the command line? π₯οΈ
|
| 16 |
+
<details>
|
| 17 |
+
<summary>Click here if you're new to using a terminal/command line</summary>
|
| 18 |
+
|
| 19 |
+
A **command line** (also called terminal or command prompt) is a text-based interface where you can type commands to interact with your computer. Don't worryβit's simpler than it looks!
|
| 20 |
+
|
| 21 |
+
**How to open the command line:**
|
| 22 |
+
* **Windows:** Press `Win + R`, type `cmd` or `powershell`, and press Enter
|
| 23 |
+
* **macOS:** Press `Cmd + Space`, type `Terminal`, and press Enter
|
| 24 |
+
* **Linux:** Press `Ctrl + Alt + T` or search for "Terminal" in your applications
|
| 25 |
+
|
| 26 |
+
**Basic tips:**
|
| 27 |
+
* Type commands exactly as shown in the instructions
|
| 28 |
+
* Press `Enter` after typing each command to run it
|
| 29 |
+
* You can copy and paste commands (right-click to paste in most command line interfaces)
|
| 30 |
+
|
| 31 |
+
> **π‘ Don't be intimidated!** The command line is just another way to give instructions to your computer. Follow the commands step by step, and you'll be controlling your Reachy Mini in no time!
|
| 32 |
+
|
| 33 |
+
</details>
|
| 34 |
+
|
| 35 |
+
## 1. π Prerequisites
|
| 36 |
+
|
| 37 |
+
<div align="center">
|
| 38 |
+
|
| 39 |
+
| Tool | Version | Purpose |
|
| 40 |
+
|------|---------|---------|
|
| 41 |
+
| π **Python** | 3.10 - 3.12 | Run Reachy Mini SDK |
|
| 42 |
+
| π **Git** | Latest | Download source code and apps |
|
| 43 |
+
| π¦ **Git LFS** | Latest | Download model assets |
|
| 44 |
+
|
| 45 |
+
</div>
|
| 46 |
+
|
| 47 |
+
### π Install Python
|
| 48 |
+
|
| 49 |
+
We'll use `uv` - a fast Python package manager that makes installation simple!
|
| 50 |
+
|
| 51 |
+
#### Step 1: Install uv
|
| 52 |
+
|
| 53 |
+
<details>
|
| 54 |
+
<summary>π§ <strong>Linux</strong> & π <strong>macOS</strong></summary>
|
| 55 |
+
|
| 56 |
+
In your terminal, run:
|
| 57 |
+
```bash
|
| 58 |
+
curl -LsSf https://astral.sh/uv/install.sh | sh
|
| 59 |
+
```
|
| 60 |
+
|
| 61 |
+
</details>
|
| 62 |
+
|
| 63 |
+
<details>
|
| 64 |
+
<summary>πͺ <strong>Windows</strong></summary>
|
| 65 |
+
|
| 66 |
+
In your terminal, run:
|
| 67 |
+
```powershell
|
| 68 |
+
powershell -ExecutionPolicy ByPass -c "irm https://astral.sh/uv/install.ps1 | iex"
|
| 69 |
+
```
|
| 70 |
+
|
| 71 |
+
</details>
|
| 72 |
+
|
| 73 |
+
**β
Verify installation:**
|
| 74 |
+
|
| 75 |
+
Once the installation is completed, close your terminal and open a new one. You can check if everything went well with :
|
| 76 |
+
```bash
|
| 77 |
+
uv --version
|
| 78 |
+
```
|
| 79 |
+
|
| 80 |
+
#### Step 2: Install Python
|
| 81 |
+
|
| 82 |
+
In your terminal, run:
|
| 83 |
+
```bash
|
| 84 |
+
uv python install 3.12 --default
|
| 85 |
+
```
|
| 86 |
+
|
| 87 |
+
> **π‘ Tip:** We recommend Python 3.12 as it's the latest supported version for Reachy Mini.
|
| 88 |
+
|
| 89 |
+
|
| 90 |
+
### π Install Git and Git LFS
|
| 91 |
+
|
| 92 |
+
<details>
|
| 93 |
+
<summary>π§ <strong>Linux</strong></summary>
|
| 94 |
+
|
| 95 |
+
#### Install Git and Git LFS
|
| 96 |
+
|
| 97 |
+
In your terminal, run:
|
| 98 |
+
```bash
|
| 99 |
+
sudo apt install git git-lfs
|
| 100 |
+
```
|
| 101 |
+
|
| 102 |
+
</details>
|
| 103 |
+
|
| 104 |
+
<details>
|
| 105 |
+
<summary>π <strong>macOS</strong></summary>
|
| 106 |
+
|
| 107 |
+
#### 1. Install Homebrew (if not already installed)
|
| 108 |
+
|
| 109 |
+
In your terminal, run:
|
| 110 |
+
```zsh
|
| 111 |
+
/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
|
| 112 |
+
```
|
| 113 |
+
|
| 114 |
+
For Apple Silicon (M1, M2, etc.), you will also be prompted to run :
|
| 115 |
+
|
| 116 |
+
```zsh
|
| 117 |
+
echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> ~/.zprofile
|
| 118 |
+
eval "$(/opt/homebrew/bin/brew shellenv)"
|
| 119 |
+
```
|
| 120 |
+
|
| 121 |
+
β
Verify Homebrew:
|
| 122 |
+
|
| 123 |
+
Once the installation is completed you can check if it went fine with :
|
| 124 |
+
```zsh
|
| 125 |
+
brew --version
|
| 126 |
+
```
|
| 127 |
+
|
| 128 |
+
#### 2. Install Git and Git LFS
|
| 129 |
+
|
| 130 |
+
In your terminal, run:
|
| 131 |
+
```zsh
|
| 132 |
+
brew install git git-lfs
|
| 133 |
+
```
|
| 134 |
+
|
| 135 |
+
</details>
|
| 136 |
+
|
| 137 |
+
<details>
|
| 138 |
+
<summary>πͺ <strong>Windows</strong></summary>
|
| 139 |
+
|
| 140 |
+
#### Download and install Git for Windows
|
| 141 |
+
|
| 142 |
+
<div align="center">
|
| 143 |
+
|
| 144 |
+
[](https://git-scm.com/install/windows)
|
| 145 |
+
|
| 146 |
+
</div>
|
| 147 |
+
|
| 148 |
+
</details>
|
| 149 |
+
|
| 150 |
+
**β
Finalize installation:**
|
| 151 |
+
|
| 152 |
+
Finally, Git LFS then needs to be initialized with the command :
|
| 153 |
+
|
| 154 |
+
```bash
|
| 155 |
+
git lfs install
|
| 156 |
+
```
|
| 157 |
+
|
| 158 |
+
## 2. π Set up a Virtual Environment
|
| 159 |
+
|
| 160 |
+
> **Why use a virtual environment?** It keeps your Reachy Mini installation isolated and prevents conflicts with other Python projects. Modern Python development requires this!
|
| 161 |
+
|
| 162 |
+
### Create the environment
|
| 163 |
+
|
| 164 |
+
In your terminal, run:
|
| 165 |
+
```bash
|
| 166 |
+
uv venv reachy_mini_env --python 3.12
|
| 167 |
+
```
|
| 168 |
+
|
| 169 |
+
### Activate the environment
|
| 170 |
+
|
| 171 |
+
<details>
|
| 172 |
+
<summary>π§ <strong>Linux</strong> & π <strong>macOS</strong></summary>
|
| 173 |
+
|
| 174 |
+
In your terminal, run:
|
| 175 |
+
```bash
|
| 176 |
+
source reachy_mini_env/bin/activate
|
| 177 |
+
```
|
| 178 |
+
|
| 179 |
+
</details>
|
| 180 |
+
|
| 181 |
+
<details>
|
| 182 |
+
<summary>πͺ <strong>Windows</strong></summary>
|
| 183 |
+
|
| 184 |
+
> **β οΈ First-time setup:** Before you can activate your virtual environment, Windows needs permission to run scripts. You only need to do this once!
|
| 185 |
+
|
| 186 |
+
**Step 1:** Open terminal as Administrator
|
| 187 |
+
- Press `Win + R`, type `powershell`
|
| 188 |
+
- Right-click on "Windows PowerShell" and select "Run as administrator"
|
| 189 |
+
|
| 190 |
+
**Step 2:** Enable script execution
|
| 191 |
+
|
| 192 |
+
In the administrator terminal, run:
|
| 193 |
+
```powershell
|
| 194 |
+
powershell Set-ExecutionPolicy RemoteSigned
|
| 195 |
+
```
|
| 196 |
+
|
| 197 |
+
**Step 3:** Close the administrator terminal and open a regular terminal
|
| 198 |
+
|
| 199 |
+
Now you can activate your virtual environment by running:
|
| 200 |
+
```powershell
|
| 201 |
+
reachy_mini_env\Scripts\activate
|
| 202 |
+
```
|
| 203 |
+
|
| 204 |
+
</details>
|
| 205 |
+
|
| 206 |
+
> **β
Success indicator:** You should see `(reachy_mini_env)` at the start of your command line prompt!
|
| 207 |
+
|
| 208 |
+
## 3. π Install Reachy Mini
|
| 209 |
+
|
| 210 |
+
Choose your installation method:
|
| 211 |
+
|
| 212 |
+
<div align="center">
|
| 213 |
+
|
| 214 |
+
| π¦ **PyPI Installation** | π§ **Source Installation** |
|
| 215 |
+
|:---:|:---:|
|
| 216 |
+
| **For Everyone** | **For Developers** |
|
| 217 |
+
| Ready to use | Modify the code |
|
| 218 |
+
|
| 219 |
+
</div>
|
| 220 |
+
|
| 221 |
+
### π¦ Option A: Install from PyPI
|
| 222 |
+
> **Recommended for most users** - Just want to control your robot? This is for you!
|
| 223 |
+
|
| 224 |
+
In your terminal, run:
|
| 225 |
+
```bash
|
| 226 |
+
uv pip install "reachy-mini"
|
| 227 |
+
```
|
| 228 |
+
|
| 229 |
+
If you want to use the simulation mode, you need to add the `mujoco` extra:
|
| 230 |
+
```bash
|
| 231 |
+
uv pip install "reachy-mini[mujoco]"
|
| 232 |
+
```
|
| 233 |
+
|
| 234 |
+
### π§ Option B: Install from Source
|
| 235 |
+
> **For developers** - Want to modify the SDK or contribute? Choose this option!
|
| 236 |
+
|
| 237 |
+
In your terminal, run:
|
| 238 |
+
```bash
|
| 239 |
+
git clone https://github.com/pollen-robotics/reachy_mini && cd reachy_mini
|
| 240 |
+
uv sync
|
| 241 |
+
```
|
| 242 |
+
|
| 243 |
+
If you want to use the simulation mode, you need to add the `mujoco` extra:
|
| 244 |
+
```bash
|
| 245 |
+
uv sync --extra mujoco
|
| 246 |
+
```
|
| 247 |
+
### π§ Linux Users: USB Permission Setup
|
| 248 |
+
|
| 249 |
+
> **Linux + USB connection?** You need to grant access to Reachy Mini's serial port.
|
| 250 |
+
|
| 251 |
+
<details>
|
| 252 |
+
<summary>π§ <strong>Click here to set up USB permissions</strong></summary>
|
| 253 |
+
|
| 254 |
+
<br>
|
| 255 |
+
|
| 256 |
+
Run these commands in your terminal:
|
| 257 |
+
|
| 258 |
+
```bash
|
| 259 |
+
echo 'SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d3", MODE="0666", GROUP="dialout"
|
| 260 |
+
SUBSYSTEM=="tty", ATTRS{idVendor}=="38fb", ATTRS{idProduct}=="1001", MODE="0666", GROUP="dialout"' \
|
| 261 |
+
| sudo tee /etc/udev/rules.d/99-reachy-mini.rules
|
| 262 |
+
|
| 263 |
+
sudo udevadm control --reload-rules && sudo udevadm trigger
|
| 264 |
+
sudo usermod -aG dialout $USER
|
| 265 |
+
```
|
| 266 |
+
|
| 267 |
+
> β οΈ **Important:** Log out and log back in for the changes to take effect!
|
| 268 |
+
|
| 269 |
+
</details>
|
| 270 |
+
|
| 271 |
+
## π‘ Wireless Reachy Mini Setup
|
| 272 |
+
|
| 273 |
+
> **Want to use the SDK from a remote laptop with a wireless Reachy Mini ?** You'll need to install GStreamer to receive video and audio streams.
|
| 274 |
+
|
| 275 |
+
### π§ Install GStreamer
|
| 276 |
+
|
| 277 |
+
<div align="center">
|
| 278 |
+
|
| 279 |
+
[](gstreamer-installation.md)
|
| 280 |
+
|
| 281 |
+
</div>
|
| 282 |
+
|
| 283 |
+
## π Congratulations!
|
| 284 |
+
|
| 285 |
+
You've successfully installed Reachy Mini! Your robot is ready to come to life.
|
| 286 |
+
|
| 287 |
+
## β Troubleshooting
|
| 288 |
+
Encountering an issue? π **[Check the Troubleshooting & FAQ Guide](/docs/troubleshooting.md)**
|
| 289 |
+
|
| 290 |
+
## Next Steps
|
| 291 |
+
* **[Quickstart Guide](quickstart.md)**: Run your first behavior on Reachy Mini
|
| 292 |
+
* **[Python SDK](python-sdk.md)**: Learn to move, see, speak, and hear.
|
| 293 |
+
* **[AI Integrations](integration.md)**: Connect LLMs, build Apps, and publish to Hugging Face.
|
| 294 |
+
* **[Core Concepts](core-concept.md)**: Architecture, coordinate systems, and safety limits.
|
| 295 |
+
|
reachy_mini/docs/SDK/integration.md
ADDED
|
@@ -0,0 +1,19 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Integrations & Apps
|
| 2 |
+
|
| 3 |
+
Reachy Mini is designed for AI Builders. Here is how to integrate LLMs and share your work.
|
| 4 |
+
|
| 5 |
+
## Building an App
|
| 6 |
+
We provide a CLI tool to generate, check and publish a standard App structure (compatible with Hugging Face Spaces).
|
| 7 |
+
|
| 8 |
+
*See our blog post tutorial: [Make and Publish Reachy Mini Apps](https://huggingface.co/blog/pollen-robotics/make-and-publish-your-reachy-mini-apps)*
|
| 9 |
+
|
| 10 |
+
## HTTP & WebSocket API
|
| 11 |
+
Building a dashboard or a non-Python controller? The Daemon exposes full control via REST.
|
| 12 |
+
|
| 13 |
+
* **Docs:** `http://localhost:8000/docs`
|
| 14 |
+
* **Get State:** `GET /api/state/full`
|
| 15 |
+
* **WebSocket:** `ws://localhost:8000/api/state/ws/full`
|
| 16 |
+
|
| 17 |
+
## AI Experimentation Tips
|
| 18 |
+
|
| 19 |
+
* **Conversation Demo:** Check out our reference implementation combining VAD (Voice Activity Detection), LLMs, and TTS: [reachy_mini_conversation_demo](https://github.com/pollen-robotics/reachy_mini_conversation_demo).
|
reachy_mini/docs/SDK/media-architecture.md
ADDED
|
@@ -0,0 +1,37 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Media Architecture
|
| 2 |
+
|
| 3 |
+
Understanding the media architecture of Reachy Mini is essential for effectively utilizing its audio and visual capabilities. They operate differently based on the specific model of Reachy Mini you are using.
|
| 4 |
+
|
| 5 |
+
> **Note** : There is ongoing work to unify the media architecture across all Reachy Mini models. The information below reflects the current state as of the latest update.
|
| 6 |
+
|
| 7 |
+
## Reachy Mini
|
| 8 |
+
|
| 9 |
+
Video and audio streams can be accessed locally in the case of an embedded app, or remotely (through WebRTC protocol) with the Python SDK from a remote machine. GStreamer is used to handle this aspect.
|
| 10 |
+
|
| 11 |
+
The streams are managed by the Daemon so that multiple applications can access them simultaneously. Technically, the video stream is shared between a Unix socket and a WebRTC server. The audio card is configured with `.asoundrc` to be accessible by multiple applications, under the names `reachymini_audio_src` and `reachymini_audio_sink`.
|
| 12 |
+
|
| 13 |
+
[]()
|
| 14 |
+
|
| 15 |
+
[]()
|
| 16 |
+
|
| 17 |
+
Thanks to webrtc, the audio and video streams can also be accessed directly from a web browser. For instance the [desktop application](https://github.com/pollen-robotics/reachy-mini-desktop-app) uses this feature.
|
| 18 |
+
|
| 19 |
+
[]()
|
| 20 |
+
|
| 21 |
+
## Reachy Mini Lite
|
| 22 |
+
|
| 23 |
+
In the case of Reachy Mini Lite, the Daemon doesn't manage the camera, microphone, and speaker. It only plays a sound during startup and exit or if moves are triggered from the dashboard.
|
| 24 |
+
|
| 25 |
+
> **Note:** Sounddevice locks the audio card when playing a sound. Keep this in mind when you use the sound from the SDK and trigger a move from the dashboard.
|
| 26 |
+
|
| 27 |
+
[]()
|
| 28 |
+
|
| 29 |
+
Two backends are available. The default one relies on the combination of OpenCV for the camera and sounddevice for the audio card.
|
| 30 |
+
|
| 31 |
+
An experimental GStreamer backend is also available. While it is mostly tuned for Linux systems, it should work on other platforms. It requires more manual installation at the moment (see [gstreamer-installation](/docs/SDK/gstreamer-installation.md))
|
| 32 |
+
|
| 33 |
+
[]()
|
| 34 |
+
|
| 35 |
+
## Advanced Controls
|
| 36 |
+
|
| 37 |
+
Please refer to the dedicated pages to fine-tune camera and microphone parameters for [Reachy Mini](/docs/platforms/reachy_mini/media_advanced_controls.md) and [Reachy Mini Lite](/docs/platforms/reachy_mini_lite/media_advanced_controls.md).
|
reachy_mini/docs/SDK/python-sdk.md
ADDED
|
@@ -0,0 +1,139 @@
|
|
|
|
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|
|
|
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|
|
|
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|
|
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|
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|
|
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|
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|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Python SDK Reference
|
| 2 |
+
|
| 3 |
+
> **π‘ Reminder:** The SDK now auto-detects whether it should connect over USB/localhost or over the network, so `ReachyMini()` works out of the box. You can still force a mode with `ReachyMini(connection_mode="localhost_only" | "network")` if needed.
|
| 4 |
+
|
| 5 |
+
## Movement
|
| 6 |
+
|
| 7 |
+
### Basic Control (`goto_target`)
|
| 8 |
+
Smooth interpolation between points. You can control `head`, `antennas`, and `body_yaw`.
|
| 9 |
+
|
| 10 |
+
```python
|
| 11 |
+
from reachy_mini import ReachyMini
|
| 12 |
+
from reachy_mini.utils import create_head_pose
|
| 13 |
+
import numpy as np
|
| 14 |
+
|
| 15 |
+
with ReachyMini() as mini:
|
| 16 |
+
# Move everything at once
|
| 17 |
+
mini.goto_target(
|
| 18 |
+
head=create_head_pose(z=10, mm=True), # Up 10mm
|
| 19 |
+
antennas=np.deg2rad([45, 45]), # Antennas out
|
| 20 |
+
body_yaw=np.deg2rad(30), # Turn body
|
| 21 |
+
duration=2.0, # Take 2 seconds
|
| 22 |
+
method="minjerk" # Smooth acceleration
|
| 23 |
+
)
|
| 24 |
+
```
|
| 25 |
+
|
| 26 |
+
**Interpolation methods:** `linear`, `minjerk` (default), `ease`, `cartoon`.
|
| 27 |
+
|
| 28 |
+
### Instant Control (`set_target`)
|
| 29 |
+
Bypasses interpolation. Use this for high-frequency control (e.g., following a joystick or generated trajectory).
|
| 30 |
+
|
| 31 |
+
## Sensors & Media
|
| 32 |
+
|
| 33 |
+
The media architecture is described in detail in the [Media Architecture](/docs/SDK/media-architecture.md) section. Although accesssing audio and video from the SDK is similar across Reachy Mini versions, the underlying implementation differs.
|
| 34 |
+
|
| 35 |
+
### Camera π·
|
| 36 |
+
|
| 37 |
+
The frames of the camera can be accessed as follows :
|
| 38 |
+
|
| 39 |
+
```python
|
| 40 |
+
from reachy_mini import ReachyMini
|
| 41 |
+
|
| 42 |
+
with ReachyMini(media_backend="default") as mini:
|
| 43 |
+
frame = mini.media.get_frame()
|
| 44 |
+
```
|
| 45 |
+
The returned frame is a numpy array with shape `(height, width, 3)` and data type `uint8`.
|
| 46 |
+
|
| 47 |
+
### IMU π§
|
| 48 |
+
|
| 49 |
+
> β οΈ The IMU is only available with the wireless version of Reachy Mini
|
| 50 |
+
|
| 51 |
+
Take a look at [this example](../../examples/imu_example.py)
|
| 52 |
+
```python
|
| 53 |
+
with ReachyMini() as mini:
|
| 54 |
+
imu_data = mini.imu
|
| 55 |
+
accel_x, accel_y, accel_z = imu_data["accelerometer"] # (m/s^2)
|
| 56 |
+
gyro_x, gyro_y, gyro_z = imu_data["gyroscope"] # (rad/s)
|
| 57 |
+
quat_w, quat_x, quat_y, quat_z = imu_data["quaternion"] #Β (w, x, y, z)
|
| 58 |
+
temperature = imu_data["temperature"] # (Β°C)
|
| 59 |
+
|
| 60 |
+
```
|
| 61 |
+
|
| 62 |
+
|
| 63 |
+
### Audio ποΈ π
|
| 64 |
+
|
| 65 |
+
Audio inputs (microphones) and outputs (speaker) is handled as follows:
|
| 66 |
+
|
| 67 |
+
```python
|
| 68 |
+
from reachy_mini import ReachyMini
|
| 69 |
+
from scipy.signal import resample
|
| 70 |
+
import time
|
| 71 |
+
|
| 72 |
+
with ReachyMini(media_backend="default") as mini:
|
| 73 |
+
# Initialization - After this point, both audio devices (input/output) will be seen as busy by other applications!
|
| 74 |
+
mini.media.start_recording()
|
| 75 |
+
mini.media.start_playing()
|
| 76 |
+
|
| 77 |
+
# Record
|
| 78 |
+
samples = mini.media.get_audio_sample()
|
| 79 |
+
|
| 80 |
+
# Resample (if needed)
|
| 81 |
+
samples = resample(samples, mini.media.get_output_audio_samplerate()*len(samples)/mini.media.get_input_audio_samplerate())
|
| 82 |
+
|
| 83 |
+
# Play
|
| 84 |
+
mini.media.push_audio_sample(samples)
|
| 85 |
+
time.sleep(len(samples) / mini.media.get_output_audio_samplerate())
|
| 86 |
+
|
| 87 |
+
# Get Direction of Arrival
|
| 88 |
+
# 0 radians is left, Ο/2 radians is front/back, Ο radians is right.
|
| 89 |
+
doa, is_speech_detected = mini.media.get_DoA()
|
| 90 |
+
print(doa, is_speech_detected)
|
| 91 |
+
|
| 92 |
+
# Release audio devices (input/output)
|
| 93 |
+
mini.media.stop_recording()
|
| 94 |
+
mini.media.stop_playing()
|
| 95 |
+
```
|
| 96 |
+
|
| 97 |
+
**Audio data format:**
|
| 98 |
+
- `get_audio_sample()` returns a numpy array with shape `(samples, 2)` and data type `float32`, sampled at 16kHz.
|
| 99 |
+
- `push_audio_sample()` expects a numpy array with shape `(samples, 1 or 2)` and data type `float32`, sampled at 16kHz.
|
| 100 |
+
|
| 101 |
+
In both cases, the channels and samplerate information can be reliably retrieved with `get_input/output_audio_samplerate()` and `get_input/output_channels()`.
|
| 102 |
+
|
| 103 |
+
> **β οΈ Note:** `push_audio_sample()` is non-blocking, meaning it returns immediately while audio plays in the background. If you need to wait for playback completion, calculate the duration based on sample length and sample rate.
|
| 104 |
+
|
| 105 |
+
## Media Backend Options
|
| 106 |
+
|
| 107 |
+
Choose the appropriate media backend based on your Reachy Mini version and requirements:
|
| 108 |
+
|
| 109 |
+
**Reachy Mini Lite:**
|
| 110 |
+
- `media_backend="default"` - Uses OpenCV for camera and Sounddevice for audio (recommended for most users)
|
| 111 |
+
- `media_backend="gstreamer"` - Uses GStreamer for both camera and audio ([installation required](gstreamer-installation.md))
|
| 112 |
+
|
| 113 |
+
**Reachy Mini Wireless:**
|
| 114 |
+
- **Local execution** (running on the robot with SSH): Automatically uses `"gstreamer"`
|
| 115 |
+
- **Remote execution** (controlling from your computer): Automatically uses `"webrtc"`. With this backend, GStreamer runs locally on the Raspberry Pi, and streams both audio and video on the remote computer using WebRTC.
|
| 116 |
+
|
| 117 |
+
> **π‘ Tip:** For wireless setups, the backend is automatically selected based on whether you're running locally or remotely. No need to specify the `media_backend` value !
|
| 118 |
+
|
| 119 |
+
> **π‘ Tip:** For wireless setups, the WebRTC backend is requires a specific installation see [gstreamer-installation.md](gstreamer-installation.md). For now only the Linux platform is supported as a client. Other platforms (Windows, macOS) will be supported in [future releases](https://github.com/pollen-robotics/reachy_mini/issues/572).
|
| 120 |
+
|
| 121 |
+
## Recording Moves
|
| 122 |
+
You can record a motion by moving the robot (compliant mode) or sending commands, and save it for later replay.
|
| 123 |
+
|
| 124 |
+
```python
|
| 125 |
+
from reachy_mini import ReachyMini
|
| 126 |
+
with ReachyMini() as mini:
|
| 127 |
+
mini.start_recording()
|
| 128 |
+
# ... robot moves ...
|
| 129 |
+
recorded_data = mini.stop_recording()
|
| 130 |
+
```
|
| 131 |
+
|
| 132 |
+
## Next Steps
|
| 133 |
+
* **[Browse the Examples Folder](/examples)**
|
| 134 |
+
* **[AI Integrations](integration.md)**: Connect LLMs, build Apps, and publish to Hugging Face.
|
| 135 |
+
* **[Core Concepts](core-concept.md)**: Architecture, coordinate systems, and safety limits.
|
| 136 |
+
|
| 137 |
+
## β Troubleshooting
|
| 138 |
+
|
| 139 |
+
Encountering an issue? π **[Check the Troubleshooting & FAQ Guide](/docs/troubleshooting.md)**
|
reachy_mini/docs/SDK/quickstart.md
ADDED
|
@@ -0,0 +1,119 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Quickstart Guide
|
| 2 |
+
|
| 3 |
+
Follow this guide to get your Reachy Mini up and running, either on real hardware or in simulation.
|
| 4 |
+
|
| 5 |
+
## 1. Prerequisites
|
| 6 |
+
|
| 7 |
+
Make sure you have installed Reachy Mini on your computer following our [installation guide](/docs/SDK/installation.md).
|
| 8 |
+
|
| 9 |
+
> **π‘ Important:** Ensure you have created and activated your Python virtual environment. **Remember to activate it every time you open a new terminal!**
|
| 10 |
+
|
| 11 |
+
<details>
|
| 12 |
+
<summary><strong>π§ Run SDK directly on Wireless Reachy Mini (Optional)</strong></summary>
|
| 13 |
+
|
| 14 |
+
If you want to run the SDK directly on your wireless Reachy Mini instead of remotely on your computer, you can connect via SSH into it.
|
| 15 |
+
|
| 16 |
+
### Step 1: SSH Connection
|
| 17 |
+
|
| 18 |
+
Open a terminal and run:
|
| 19 |
+
|
| 20 |
+
```bash
|
| 21 |
+
ssh pollen@reachy-mini
|
| 22 |
+
```
|
| 23 |
+
|
| 24 |
+
When prompted, use these **default credentials**:
|
| 25 |
+
- Username: `pollen`
|
| 26 |
+
- Password: `root`
|
| 27 |
+
|
| 28 |
+
### Step 2: Activate the Python virtual environment
|
| 29 |
+
|
| 30 |
+
After connecting, activate the virtual environment:
|
| 31 |
+
|
| 32 |
+
```bash
|
| 33 |
+
source /venvs/apps_venv/bin/activate
|
| 34 |
+
```
|
| 35 |
+
|
| 36 |
+
### Step 3: Run scripts locally
|
| 37 |
+
|
| 38 |
+
When running scripts on Reachy Mini itself, use the standard `ReachyMini()` constructor. Auto mode will keep the connection on localhost unless you explicitly override it:
|
| 39 |
+
|
| 40 |
+
```python
|
| 41 |
+
from reachy_mini import ReachyMini
|
| 42 |
+
|
| 43 |
+
with ReachyMini() as mini:
|
| 44 |
+
# Your code here
|
| 45 |
+
```
|
| 46 |
+
|
| 47 |
+
> **π‘ Benefits of running locally:** Lower latency, no network dependency, and direct access to all robot resources.
|
| 48 |
+
>
|
| 49 |
+
> **β οΈ Drawbacks:** Lower CPU power, and no GUI available.
|
| 50 |
+
|
| 51 |
+
|
| 52 |
+
</details>
|
| 53 |
+
|
| 54 |
+
## 2. Ensure the Robot Server is running (Daemon)
|
| 55 |
+
|
| 56 |
+
The **Daemon** is a background service that handles the low-level communication with motors and sensors. It must be running for your code to work.
|
| 57 |
+
|
| 58 |
+
* **On Reachy Mini (Wireless)**: The daemon is running when the robot is powered on. Ensure your computer and Reachy Mini are on the same network.
|
| 59 |
+
* **On Reachy Mini Lite (USB)** - You have two options :
|
| 60 |
+
- Start the [desktop application](/docs/platforms/reachy_mini_lite/get_started.md)
|
| 61 |
+
- Open a terminal and run :
|
| 62 |
+
```bash
|
| 63 |
+
uv run reachy-mini-daemon
|
| 64 |
+
```
|
| 65 |
+
* **For Simulation (No robot needed)** - You have two options :
|
| 66 |
+
- Start the [desktop application](/docs/platforms/reachy_mini_lite/get_started.md)
|
| 67 |
+
- Open a terminal and run
|
| 68 |
+
```bash
|
| 69 |
+
uv run reachy-mini-daemon --sim
|
| 70 |
+
```
|
| 71 |
+
|
| 72 |
+
|
| 73 |
+
β
**Verification:** Open [http://localhost:8000](http://localhost:8000) in your browser. If you see the Reachy Dashboard, you are ready!
|
| 74 |
+
|
| 75 |
+
## 3. Your First Script
|
| 76 |
+
|
| 77 |
+
> **β οΈ Important:** Keep the daemon terminal open and running! The daemon must stay active for your robot to work.
|
| 78 |
+
|
| 79 |
+
### Create your Python script
|
| 80 |
+
|
| 81 |
+
**Step 1:** Open a new terminal window
|
| 82 |
+
|
| 83 |
+
**Step 2:** Create a new file called `hello.py` and copy-paste the following code into it:
|
| 84 |
+
|
| 85 |
+
> Tip: The constructor now auto-detects Lite vs Wireless and switches between localhost and network automatically. Only override it for advanced cases, e.g. `ReachyMini(connection_mode="network")`.
|
| 86 |
+
```python
|
| 87 |
+
from reachy_mini import ReachyMini
|
| 88 |
+
|
| 89 |
+
# Connect to the running daemon
|
| 90 |
+
with ReachyMini() as mini:
|
| 91 |
+
print("Connected to Reachy Mini! ")
|
| 92 |
+
|
| 93 |
+
# Wiggle antennas
|
| 94 |
+
print("Wiggling antennas...")
|
| 95 |
+
mini.goto_target(antennas=[0.5, -0.5], duration=0.5)
|
| 96 |
+
mini.goto_target(antennas=[-0.5, 0.5], duration=0.5)
|
| 97 |
+
mini.goto_target(antennas=[0, 0], duration=0.5)
|
| 98 |
+
|
| 99 |
+
print("Done!")
|
| 100 |
+
```
|
| 101 |
+
|
| 102 |
+
**Step 3:** Save the file and run your script:
|
| 103 |
+
|
| 104 |
+
In your new terminal, run:
|
| 105 |
+
```bash
|
| 106 |
+
python hello.py
|
| 107 |
+
```
|
| 108 |
+
|
| 109 |
+
π If everything went well, your robot should now wiggle its antennas!
|
| 110 |
+
|
| 111 |
+
## β Troubleshooting
|
| 112 |
+
Encountering an issue? π **[Check the Troubleshooting & FAQ Guide](/docs/troubleshooting.md)**
|
| 113 |
+
|
| 114 |
+
|
| 115 |
+
## Next Steps
|
| 116 |
+
* **[Python SDK](python-sdk.md)**: Learn to move, see, speak, and hear.
|
| 117 |
+
* **[Browse the Examples Folder](/examples)**
|
| 118 |
+
* **[AI Integrations](integration.md)**: Connect LLMs, build Apps, and publish to Hugging Face.
|
| 119 |
+
* **[Core Concepts](core-concept.md)**: Architecture, coordinate systems, and safety limits.
|
reachy_mini/docs/SDK/readme.md
ADDED
|
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|
| 1 |
+
# Build, play, and innovate with Reachy Mini π€
|
| 2 |
+
|
| 3 |
+
|
| 4 |
+
## β‘οΈ Quick Look
|
| 5 |
+
Control your robot in just **a few lines of code**:
|
| 6 |
+
|
| 7 |
+
```python
|
| 8 |
+
from reachy_mini import ReachyMini
|
| 9 |
+
from reachy_mini.utils import create_head_pose
|
| 10 |
+
|
| 11 |
+
with ReachyMini() as mini:
|
| 12 |
+
# Look up and tilt head
|
| 13 |
+
mini.goto_target(
|
| 14 |
+
head=create_head_pose(z=10, roll=15, degrees=True, mm=True),
|
| 15 |
+
duration=1.0
|
| 16 |
+
)
|
| 17 |
+
```
|
| 18 |
+
|
| 19 |
+
## π Get Started
|
| 20 |
+
* **[Installation](installation.md)**: 5 minutes to set up your computer
|
| 21 |
+
* **[Quickstart Guide](quickstart.md)**: Run your first behavior on Reachy Mini
|
| 22 |
+
* **[Python SDK](python-sdk.md)**: Learn to move, see, speak, and hear.
|
| 23 |
+
* **[AI Integrations](integration.md)**: Connect LLMs, build Apps, and publish to Hugging Face.
|
| 24 |
+
* **[Core Concepts](core-concept.md)**: Architecture, coordinate systems, and safety limits.
|
| 25 |
+
|
| 26 |
+
## π Code Examples
|
| 27 |
+
|
| 28 |
+
We provide a collection of ready-to-run scripts to help you understand how to use specific features of the robot.
|
| 29 |
+
|
| 30 |
+
[**π Browse the Examples Folder**](../../examples)
|
| 31 |
+
|
| 32 |
+
## β Troubleshooting
|
| 33 |
+
|
| 34 |
+
Encountering an issue? π **[Check the Troubleshooting & FAQ Guide](/docs/troubleshooting.md)**
|
| 35 |
+
|
| 36 |
+
## π¬ Community
|
| 37 |
+
* [Discord](https://discord.gg/Y7FgMqHsub) - Get help and share projects.
|
| 38 |
+
* [Hugging Face Spaces](https://huggingface.co/spaces?q=reachy_mini) - Discover community apps.
|
| 39 |
+
* [GitHub Discussions](https://github.com/pollen-robotics/reachy_mini/discussions) - Feature requests and bugs.
|
| 40 |
+
|
reachy_mini/docs/assets/back_interface.png
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|
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reachy_mini/docs/assets/marks_aligned.png
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|
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|
reachy_mini/docs/assets/motors_upward.png
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|
reachy_mini/docs/assets/pcb_usb_and_switch.png
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|
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reachy_mini/docs/assets/qrcode-ap.png
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|
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|
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|
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|
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|
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|
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|
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|
Git LFS Details
|