Reachy Mini Coding Lab

Basic Movements

look rotates the head to look in a direction:

look left
look right
look up
look down

turn rotates the whole body (the head follows along):

turn left
turn right

tilt tilts the head sideways, like when you're curious:

tilt left
tilt right

head moves the head in space without rotating it:

head up
head down
head left
head right
head forward
head backward

Each of these commands can be reset to the neutral position:

look center
turn center
tilt center

You can also use straight or neutral instead of center.

Controlling Intensity and Duration

Every movement has a default size and speed, so you can just write look left and it works. But if you want more control, you can specify exactly how much or how fast.

Intensity is how far the robot moves. For rotations, it's in degrees. For translations, it's in millimeters:

look left 45
head up 25

Duration is how long the movement takes, in seconds. Add an s after the number:

look left 45 3.5s

You can also specify just the duration (a default intensity will be used):

look up 2s

Using Words Instead of Numbers

If you prefer not to use numbers, you can use descriptive words instead.

For intensity (how far to move):

tiny small alittle medium big alot maximum

For speed (how fast to move):

superslow slow fast superfast veryfast

You can use one, both, or neither:

turn left superfast
turn right maximum 1.5s
look up big and slow

Combining Movements

Use and to combine directions within the same command:

look up and left
look down maximum and left alittle

You can also combine different commands to make them happen at the same time:

head up and look right
head up and look right and tilt left

This creates smooth, expressive movements where everything happens together.

Antennas

The robot has two antennas you can move. You can control them together or separately.

Both antennas together:

antenna both up
antenna both down

Each antenna independently:

antenna left up
antenna right down

Combining antenna movements:

antenna left up and antenna right down

For direction, you can use up, down, left, or right:

antenna left left
antenna right right

You can also use clock positions for precise control. Think of a clock face: 12 is straight up, 3 is to the side, 6 is down:

antenna left 2 and antenna right 10

Pausing and Repeating

wait pauses the robot for a moment. Don't forget the s!

wait 1s
wait 0.5s

repeat runs a sequence multiple times. The number after repeat is how many times to repeat. The commands to repeat must be indented (start with spaces):

repeat 3
    tilt left maximum fast
    tilt right maximum fast
tilt center

The last line (tilt center) is not indented, so it runs only once, after all the repetitions are done.

You can nest repeats inside each other:

repeat 2
    antenna up
    repeat 3
        look left
        look right
    antenna down

Comments

Lines starting with # are comments—they're ignored by the robot. Use them to leave notes:

# Wave hello
antenna both up
wait 0.5s
antenna both down

Giving Your Script a Name

You can optionally add a description at the very beginning of your script, in quotes:

"My happy dance"
look left
look right
antenna both up

This is just for you to remember what the script does—it doesn't change how the robot behaves.

wait 2s      ✓
wait 2       ✗ (won't work!)

repeat 3
    look left    ✓ (indented)

repeat 3
look left        ✗ (not indented—error!)

look left and wait 1s    ✗ (doesn't work)

look left                ✓ (use separate lines)
wait 1s

Quick Reference

Command	What it does	Example
look	Rotate head to look somewhere	look left 45
turn	Rotate whole body	turn right
tilt	Tilt head sideways	tilt left
head	Move head in space	head forward 10
antenna	Move antennas	antenna both up
wait	Pause	wait 1.5s
repeat	Repeat a sequence	repeat 3
#	Comment (ignored)	# This is a note