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import { useMemo, useState } from 'react';
import { Link as RouterLink } from 'react-router-dom';
import {
Box,
Container,
Typography,
Button,
Grid,
Accordion,
AccordionSummary,
AccordionDetails,
Stack,
Link,
Chip,
Tabs,
Tab,
Alert,
Divider,
} from '@mui/material';
import ExpandMoreIcon from '@mui/icons-material/ExpandMore';
import OpenInNewIcon from '@mui/icons-material/OpenInNew';
import ContentCopyIcon from '@mui/icons-material/ContentCopy';
import CheckCircleIcon from '@mui/icons-material/CheckCircle';
import hljs from 'highlight.js/lib/common';
import 'highlight.js/styles/github-dark.css';
import Layout from '../components/Layout';
import PageHero from '../components/PageHero';
// Code Block component with copy functionality
function CodeBlock({ code, language = 'bash', title }) {
const [copied, setCopied] = useState(false);
const highlighted = useMemo(() => {
if (language && hljs.getLanguage(language)) {
return hljs.highlight(code, { language, ignoreIllegals: true }).value;
}
return hljs.highlightAuto(code).value;
}, [code, language]);
const handleCopy = async () => {
await navigator.clipboard.writeText(code);
setCopied(true);
setTimeout(() => setCopied(false), 2000);
};
return (
<Box
sx={{
position: 'relative',
backgroundColor: '#0d1117',
borderRadius: 2,
overflow: 'hidden',
my: 2,
border: '1px solid rgba(255,255,255,0.1)',
}}
>
<Box
sx={{
display: 'flex',
justifyContent: 'space-between',
alignItems: 'center',
px: 2,
py: 1,
backgroundColor: 'rgba(255,255,255,0.03)',
borderBottom: '1px solid rgba(255,255,255,0.1)',
}}
>
<Typography variant="caption" sx={{ color: 'rgba(255,255,255,0.5)', fontFamily: 'monospace' }}>
{title || language}
</Typography>
<Button
size="small"
onClick={handleCopy}
startIcon={copied ? <CheckCircleIcon /> : <ContentCopyIcon />}
sx={{
color: copied ? '#22c55e' : 'rgba(255,255,255,0.6)',
fontSize: 12,
minWidth: 'auto',
}}
>
{copied ? 'Copied!' : 'Copy'}
</Button>
</Box>
<Box
component="pre"
sx={{
m: 0,
p: 2,
overflow: 'auto',
fontFamily: '"JetBrains Mono", "Fira Code", monospace',
fontSize: 13,
lineHeight: 1.7,
color: '#e6edf3',
'& code': {
display: 'block',
},
}}
>
<code
className={`hljs language-${language}`}
dangerouslySetInnerHTML={{ __html: highlighted }}
/>
</Box>
</Box>
);
}
// Tab Panel
function TabPanel({ children, value, index }) {
return (
<div hidden={value !== index} style={{ paddingTop: 16 }}>
{value === index && children}
</div>
);
}
// Section component
function Section({ id, step, title, children }) {
return (
<Box id={id} sx={{ mb: 10, scrollMarginTop: 100 }}>
<Box sx={{ mb: 3 }}>
{step && (
<Typography
variant="overline"
sx={{
color: 'text.secondary',
letterSpacing: 2,
fontSize: 12,
fontWeight: 600,
}}
>
{step}
</Typography>
)}
<Typography variant="h3" sx={{ mt: step ? 0.5 : 0 }}>{title}</Typography>
</Box>
{children}
</Box>
);
}
export default function Build() {
const [osTab, setOsTab] = useState(0);
return (
<Layout transparentHeader>
<PageHero
eyebrow="Developer Guide"
title="Build with Reachy Mini"
subtitle="Create amazing experiences with Python or JavaScript. Control movements, access sensors, build apps, and share them with the community."
accentColor="#764ba2"
stickers={[
{ src: '/assets/reachies/hacker.png', size: 260, top: 10, left: 100, rotation: -12 },
{ src: '/assets/reachies/student.png', size: 220, bottom: 0, right: 120, rotation: 8 },
]}
primitives={[
{ type: 'squareOutline', color: '#764ba2', size: 90, top: 60, right: 180, rotation: 20 },
{ type: 'circle', color: '#667eea', size: 50, bottom: 80, left: 120 },
]}
>
<Button
variant="contained"
href="#install"
sx={{
background: 'linear-gradient(135deg, #764ba2 0%, #667eea 100%)',
}}
>
Install SDK
</Button>
<Button
variant="outlined"
href="https://github.com/pollen-robotics/reachy_mini"
target="_blank"
endIcon={<OpenInNewIcon />}
sx={{
borderColor: 'rgba(255,255,255,0.3)',
color: 'white',
'&:hover': {
borderColor: 'white',
backgroundColor: 'rgba(255,255,255,0.1)',
},
}}
>
GitHub
</Button>
</PageHero>
{/* Main Content */}
<Container maxWidth="lg" sx={{ py: 10 }}>
{/* Prerequisites notice */}
<Box
sx={{
mb: 6,
p: 4,
borderRadius: 3,
bgcolor: '#f5f5f7',
display: 'flex',
alignItems: 'center',
gap: 4,
}}
>
<Box
component="img"
src="/assets/reachy-stop.svg"
alt=""
sx={{
width: 120,
height: 120,
flexShrink: 0,
}}
/>
<Box>
<Typography variant="h5" sx={{ fontWeight: 700, mb: 1, color: '#1d1d1f' }}>
Before you start
</Typography>
<Typography sx={{ fontSize: 15, color: '#86868b', lineHeight: 1.6 }}>
Make sure you have assembled your Reachy Mini and connected it.
If not, follow the{' '}
<Link component={RouterLink} to="/getting-started" sx={{ color: '#1d1d1f', fontWeight: 600 }}>
Getting Started guide
</Link>{' '}
first.
</Typography>
</Box>
</Box>
{/* Section: Install SDK */}
<Section id="install" step="Step 1" title="Install the SDK">
<Typography variant="body1" color="text.secondary" sx={{ mb: 4, maxWidth: 700 }}>
The Reachy Mini SDK is a Python package that lets you control the robot programmatically.
It includes both the daemon (background service) and the control API.
</Typography>
{/* Prerequisites */}
<Box sx={{ mb: 4 }}>
<Box sx={{ p: 4 }}>
<Typography variant="h5" sx={{ mb: 3 }}>
Prerequisites
</Typography>
<Grid container spacing={3}>
<Grid size={{ xs: 12, md: 4 }}>
<Stack direction="row" spacing={1} alignItems="center" sx={{ mb: 1 }}>
<CheckCircleIcon sx={{ color: 'text.secondary', fontSize: 20 }} />
<Typography variant="h6">Python 3.10 - 3.13</Typography>
</Stack>
<Typography variant="body2" color="text.secondary">
We recommend using a virtual environment.
</Typography>
</Grid>
<Grid size={{ xs: 12, md: 4 }}>
<Stack direction="row" spacing={1} alignItems="center" sx={{ mb: 1 }}>
<CheckCircleIcon sx={{ color: 'text.secondary', fontSize: 20 }} />
<Typography variant="h6">Git LFS</Typography>
</Stack>
<Typography variant="body2" color="text.secondary">
Required for large model files.
</Typography>
</Grid>
<Grid size={{ xs: 12, md: 4 }}>
<Stack direction="row" spacing={1} alignItems="center" sx={{ mb: 1 }}>
<CheckCircleIcon sx={{ color: 'text.secondary', fontSize: 20 }} />
<Typography variant="h6">Reachy Mini connected</Typography>
</Stack>
<Typography variant="body2" color="text.secondary">
USB (Lite) or Wi-Fi (Wireless).
</Typography>
</Grid>
</Grid>
<Divider sx={{ my: 3 }} />
<Typography variant="subtitle2" sx={{ mb: 2 }}>
Install Git LFS
</Typography>
<Tabs value={osTab} onChange={(_, v) => setOsTab(v)} sx={{ mb: 2 }}>
<Tab label="Linux" />
<Tab label="macOS" />
<Tab label="Windows" />
</Tabs>
<TabPanel value={osTab} index={0}>
<CodeBlock code="sudo apt install git-lfs" />
</TabPanel>
<TabPanel value={osTab} index={1}>
<CodeBlock code="brew install git-lfs" />
</TabPanel>
<TabPanel value={osTab} index={2}>
<Typography variant="body2" color="text.secondary">
Download from{' '}
<Link href="https://git-lfs.com" target="_blank">
git-lfs.com
</Link>
</Typography>
</TabPanel>
</Box>
</Box>
{/* Installation */}
<Box sx={{ mb: 4 }}>
<Box sx={{ p: 4 }}>
<Typography variant="h5" sx={{ mb: 3 }}>
Install Reachy Mini
</Typography>
<CodeBlock
title="Terminal"
code={`# Create a virtual environment
python -m venv .venv
source .venv/bin/activate # Windows: .venv\\Scripts\\activate
# Install the SDK
pip install reachy-mini`}
/>
<Alert severity="success" sx={{ mt: 2 }}>
<Typography variant="body2">
<strong>uv users:</strong> Run <code>uv run reachy-mini-daemon</code> directly without manual setup.
</Typography>
</Alert>
</Box>
</Box>
{/* Linux udev */}
<Accordion>
<AccordionSummary expandIcon={<ExpandMoreIcon />}>
<Typography fontWeight={600}>π§ Linux: Set up udev rules (required for USB connection)</Typography>
</AccordionSummary>
<AccordionDetails>
<CodeBlock
code={`# Create udev rules
echo 'SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d3", MODE="0666", GROUP="dialout"
SUBSYSTEM=="tty", ATTRS{idVendor}=="38fb", ATTRS{idProduct}=="1001", MODE="0666", GROUP="dialout"' \\
| sudo tee /etc/udev/rules.d/99-reachy-mini.rules
# Reload rules and add user to dialout group
sudo udevadm control --reload-rules && sudo udevadm trigger
sudo usermod -aG dialout $USER
# Log out and back in for changes to take effect`}
/>
</AccordionDetails>
</Accordion>
</Section>
<Divider sx={{ my: 8 }} />
{/* Section: First Script */}
<Section id="first-script" step="Step 2" title="Your First Script">
<Typography variant="body1" color="text.secondary" sx={{ mb: 4, maxWidth: 700 }}>
Before running any script, you need to start the daemon. The daemon handles communication
with the robot's motors and sensors.
</Typography>
<Grid container spacing={3}>
<Grid size={{ xs: 12, md: 6 }}>
<Box sx={{ height: '100%' }}>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
1. Start the Daemon
</Typography>
<Typography variant="body2" color="text.secondary" sx={{ mb: 2 }}>
Open a terminal and run:
</Typography>
<CodeBlock code="reachy-mini-daemon" />
<Typography variant="body2" color="text.secondary" sx={{ mt: 2 }}>
For simulation (no robot needed):
</Typography>
<CodeBlock code="pip install reachy-mini[mujoco]
reachy-mini-daemon --sim" />
</Box>
</Box>
</Grid>
<Grid size={{ xs: 12, md: 6 }}>
<Box sx={{ height: '100%' }}>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
2. Run Your First Script
</Typography>
<Typography variant="body2" color="text.secondary" sx={{ mb: 2 }}>
In another terminal, create <code>hello.py</code>:
</Typography>
<CodeBlock
language="python"
code={`from reachy_mini import ReachyMini
with ReachyMini() as mini:
print("Connected!")
print(f"Robot state: {mini.state}")`}
/>
<CodeBlock code="python hello.py" />
</Box>
</Box>
</Grid>
</Grid>
</Section>
<Divider sx={{ my: 8 }} />
{/* Section: Control the Robot */}
<Section id="control" step="Step 3" title="Control the Robot">
<Typography variant="body1" color="text.secondary" sx={{ mb: 4, maxWidth: 700 }}>
Use <code>goto_target</code> for smooth movements and <code>set_target</code> for immediate control.
</Typography>
<Grid container spacing={3}>
<Grid size={{ xs: 12, md: 6 }}>
<Box sx={{ height: '100%' }}>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
Move the Head
</Typography>
<CodeBlock
language="python"
code={`from reachy_mini import ReachyMini
from reachy_mini.utils import create_head_pose
with ReachyMini() as mini:
# Move head up and tilt
pose = create_head_pose(
z=10, # 10mm up
roll=15, # 15Β° tilt
degrees=True,
mm=True
)
mini.goto_target(head=pose, duration=2.0)
# Reset to default
mini.goto_target(
head=create_head_pose(),
duration=1.0
)`}
/>
</Box>
</Box>
</Grid>
<Grid size={{ xs: 12, md: 6 }}>
<Box sx={{ height: '100%' }}>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
Control Antennas & Body
</Typography>
<CodeBlock
language="python"
code={`import numpy as np
from reachy_mini import ReachyMini
from reachy_mini.utils import create_head_pose
with ReachyMini() as mini:
# Move everything at once
mini.goto_target(
head=create_head_pose(y=-10, mm=True),
antennas=np.deg2rad([45, 45]),
body_yaw=np.deg2rad(30),
duration=2.0,
)
# Make antennas wave
for _ in range(3):
mini.goto_target(
antennas=np.deg2rad([60, 20]),
duration=0.3
)
mini.goto_target(
antennas=np.deg2rad([20, 60]),
duration=0.3
)`}
/>
</Box>
</Box>
</Grid>
</Grid>
<Box sx={{ mt: 3 }}>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
Motor Control Modes
</Typography>
<Grid container spacing={3}>
<Grid size={{ xs: 12, md: 4 }}>
<Typography variant="subtitle2" color="primary.main" sx={{ mb: 1 }}>
enable_motors()
</Typography>
<Typography variant="body2" color="text.secondary">
Powers motors ON. Robot holds position firmly.
</Typography>
</Grid>
<Grid size={{ xs: 12, md: 4 }}>
<Typography variant="subtitle2" color="primary.main" sx={{ mb: 1 }}>
disable_motors()
</Typography>
<Typography variant="body2" color="text.secondary">
Powers motors OFF. Robot is completely limp.
</Typography>
</Grid>
<Grid size={{ xs: 12, md: 4 }}>
<Typography variant="subtitle2" color="primary.main" sx={{ mb: 1 }}>
make_motors_compliant()
</Typography>
<Typography variant="body2" color="text.secondary">
Motors ON but soft. Great for teaching-by-demonstration.
</Typography>
</Grid>
</Grid>
</Box>
</Box>
</Section>
<Divider sx={{ my: 8 }} />
{/* Section: Access Sensors */}
<Section id="sensors" step="Step 4" title="Access Sensors">
<Typography variant="body1" color="text.secondary" sx={{ mb: 4, maxWidth: 700 }}>
Reachy Mini has a camera, microphones, speaker, and accelerometer (wireless version).
</Typography>
<Grid container spacing={3}>
<Grid size={{ xs: 12, md: 6 }}>
<Box sx={{ height: '100%' }}>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
π· Camera
</Typography>
<CodeBlock
language="python"
code={`import cv2
from reachy_mini import ReachyMini
with ReachyMini() as mini:
# Get a frame (numpy array)
frame = mini.media.get_frame()
# Display with OpenCV
cv2.imshow("Reachy View", frame)
cv2.waitKey(0)
cv2.destroyAllWindows()
# Or save to file
cv2.imwrite("snapshot.jpg", frame)`}
/>
</Box>
</Box>
</Grid>
<Grid size={{ xs: 12, md: 6 }}>
<Box sx={{ height: '100%' }}>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
π€ Microphone
</Typography>
<CodeBlock
language="python"
code={`from reachy_mini import ReachyMini
with ReachyMini() as mini:
# Get audio sample
sample = mini.media.get_audio_sample()
# sample is a numpy array
# Process with your favorite
# audio/speech library`}
/>
</Box>
</Box>
</Grid>
<Grid size={{ xs: 12, md: 6 }}>
<Box sx={{ height: '100%' }}>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
π Speaker
</Typography>
<CodeBlock
language="python"
code={`from reachy_mini import ReachyMini
with ReachyMini() as mini:
# Play audio file
mini.media.play_audio("hello.wav")
# Or use TTS (with external lib)
# and play the generated audio`}
/>
</Box>
</Box>
</Grid>
<Grid size={{ xs: 12, md: 6 }}>
<Box sx={{ height: '100%' }}>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
π Accelerometer (Wireless only)
</Typography>
<CodeBlock
language="python"
code={`from reachy_mini import ReachyMini
with ReachyMini() as mini:
# Get accelerometer data
accel = mini.sensors.accelerometer
print(f"X: {accel.x}")
print(f"Y: {accel.y}")
print(f"Z: {accel.z}")`}
/>
</Box>
</Box>
</Grid>
</Grid>
</Section>
<Divider sx={{ my: 8 }} />
{/* Section: Create an App */}
<Section id="create-app" step="Step 5" title="Create an App">
<Typography variant="body1" color="text.secondary" sx={{ mb: 4, maxWidth: 700 }}>
Package your code as a Reachy Mini app that can be installed from the dashboard.
</Typography>
<Box sx={{ mb: 4 }}>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
Generate App Template
</Typography>
<Typography variant="body2" color="text.secondary" sx={{ mb: 2 }}>
Use the built-in generator to create a complete project structure:
</Typography>
<CodeBlock code="reachy-mini-make-app my_awesome_app" />
<Typography variant="body2" color="text.secondary" sx={{ mt: 2 }}>
This creates: <code>pyproject.toml</code>, <code>README.md</code>, and the main app file.
</Typography>
</Box>
</Box>
<Box sx={{ mb: 4 }}>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
App Structure
</Typography>
<CodeBlock
language="python"
title="my_awesome_app/app.py"
code={`from reachy_mini.apps.app import ReachyMiniApp
from reachy_mini import ReachyMini
class MyAwesomeApp(ReachyMiniApp):
"""My first Reachy Mini app!"""
def run(self, reachy_mini: ReachyMini, stop_event):
\"\"\"Main app logic. Called when the app starts.\"\"\"
while not stop_event.is_set():
# Your code here
# Check stop_event periodically to allow clean shutdown
# Example: wave antennas
reachy_mini.goto_target(
antennas=[0.5, -0.5],
duration=0.5
)
reachy_mini.goto_target(
antennas=[-0.5, 0.5],
duration=0.5
)`}
/>
</Box>
</Box>
</Section>
<Divider sx={{ my: 8 }} />
{/* Section: Publish to HF */}
<Section id="publish" step="Step 6" title="Publish to Hugging Face">
<Typography variant="body1" color="text.secondary" sx={{ mb: 4, maxWidth: 700 }}>
Share your app with the community on Hugging Face Spaces. Apps published there
can be installed directly from the Reachy Mini dashboard.
</Typography>
<Grid container spacing={3}>
<Grid size={{ xs: 12, md: 6 }}>
<Box sx={{ height: '100%' }}>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
1. Create a Space
</Typography>
<Typography variant="body2" color="text.secondary" sx={{ mb: 2 }}>
Go to Hugging Face and create a new Space:
</Typography>
<Button
variant="outlined"
href="https://huggingface.co/new-space"
target="_blank"
endIcon={<OpenInNewIcon />}
>
Create New Space
</Button>
<Typography variant="body2" color="text.secondary" sx={{ mt: 2 }}>
Choose "Gradio" or "Static" as the SDK.
</Typography>
</Box>
</Box>
</Grid>
<Grid size={{ xs: 12, md: 6 }}>
<Box sx={{ height: '100%' }}>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
2. Add the reachy_mini tag
</Typography>
<Typography variant="body2" color="text.secondary" sx={{ mb: 2 }}>
In your Space's <code>README.md</code>, add this tag:
</Typography>
<CodeBlock
language="yaml"
code={`---
title: My Awesome App
emoji: π€
tags:
- reachy_mini # This makes it discoverable!
---`}
/>
</Box>
</Box>
</Grid>
</Grid>
<Alert severity="success" sx={{ mt: 4 }}>
<Typography variant="body2">
<strong>That's it!</strong> Your app will now appear in the Reachy Mini dashboard's app store
and on the{' '}
<Link component={RouterLink} to="/apps">
Apps page
</Link>
.
</Typography>
</Alert>
</Section>
<Divider sx={{ my: 8 }} />
{/* REST API Section */}
<Section id="rest-api" title="REST API">
<Typography variant="body1" color="text.secondary" sx={{ mb: 4, maxWidth: 700 }}>
Prefer HTTP? The daemon exposes a REST API for language-agnostic control.
</Typography>
<Grid container spacing={3}>
<Grid size={{ xs: 12, md: 6 }}>
<Box>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
Get Robot State
</Typography>
<CodeBlock
language="bash"
code={`curl http://localhost:8000/api/state/full`}
/>
</Box>
</Box>
</Grid>
<Grid size={{ xs: 12, md: 6 }}>
<Box>
<Box sx={{ p: 4 }}>
<Typography variant="h6" sx={{ mb: 2 }}>
API Documentation
</Typography>
<Typography variant="body2" color="text.secondary" sx={{ mb: 2 }}>
Full OpenAPI docs available when daemon is running:
</Typography>
<Button
variant="outlined"
href="http://localhost:8000/docs"
target="_blank"
endIcon={<OpenInNewIcon />}
>
Open API Docs
</Button>
</Box>
</Box>
</Grid>
</Grid>
</Section>
{/* Next Steps */}
<Box
sx={{
mt: 10,
p: 6,
borderRadius: 4,
background: 'linear-gradient(135deg, rgba(118, 75, 162, 0.1) 0%, rgba(102, 126, 234, 0.1) 100%)',
border: '1px solid rgba(118, 75, 162, 0.2)',
textAlign: 'center',
}}
>
<Typography variant="h4" sx={{ mb: 2 }}>
Ready to explore more?
</Typography>
<Typography variant="body1" color="text.secondary" sx={{ mb: 4 }}>
Check out the full documentation and community apps for inspiration.
</Typography>
<Stack direction={{ xs: 'column', sm: 'row' }} spacing={2} justifyContent="center">
<Button
variant="contained"
href="https://github.com/pollen-robotics/reachy_mini/blob/main/docs/python-sdk.md"
target="_blank"
endIcon={<OpenInNewIcon />}
>
Full SDK Documentation
</Button>
<Button
variant="outlined"
component={RouterLink}
to="/apps"
>
Browse Community Apps
</Button>
<Button
variant="outlined"
component={RouterLink}
to="/faq"
>
FAQ
</Button>
</Stack>
</Box>
</Container>
</Layout>
);
}
|