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Reachy Mini documentation

Motion

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Motion

Base Classes

class reachy_mini.motion.move.Move

< >

( )

Abstract base class for defining a move on the ReachyMini robot.

evaluate

< >

( t: float ) → head

Parameters

  • t — The time at which to evaluate the move (in seconds). It will always be between 0 and duration.

Returns

head

The head position (4x4 homogeneous matrix). antennas: The antennas positions (rad). body_yaw: The body yaw angle (rad).

Evaluate the move at time t, typically called at a high-frequency (eg. 100Hz).

Goto Moves

class reachy_mini.motion.goto.GotoMove

< >

( start_head_pose: ndarraytarget_head_pose: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]] | Nonestart_antennas: ndarraytarget_antennas: numpy.ndarray[tuple[typing.Any, ...], numpy.dtype[numpy.float64]] | Nonestart_body_yaw: floattarget_body_yaw: float | Noneduration: floatmethod: InterpolationTechnique )

A goto move to a target head pose and/or antennas position.

evaluate

< >

( t: float )

Evaluate the goto at time t.

Recorded Moves

class reachy_mini.motion.recorded_move.RecordedMove

< >

( move: typing.Dict[str, typing.Any]sound_path: typing.Optional[pathlib.Path] = None )

Represent a recorded move.

evaluate

< >

( t: float ) → head

Returns

head

The head position (4x4 homogeneous matrix). antennas: The antennas positions (rad). body_yaw: The body yaw angle (rad).

Evaluate the move at time t.

class reachy_mini.motion.recorded_move.RecordedMoves

< >

( hf_dataset_name: str )

Load a library of recorded moves from a HuggingFace dataset.

Uses local cache only to avoid blocking network calls during playback. The dataset should be pre-downloaded at daemon startup via preload_default_datasets(). If not cached, falls back to network download (which may cause delays).

get

< >

( move_name: str )

Get a recorded move by name.

list_moves

< >

( )

List all moves in the loaded library.

process

< >

( )

Populate recorded moves and sounds.

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