Motion
Base Classes
reachy_mini.motion.move.Move
Abstract base class for defining a move on the ReachyMini robot.
Methods
evaluate
Evaluate the move at time t, typically called at a high-frequency (eg. 100Hz).
Parameters:
| Name | Type | Description |
|---|---|---|
t | float | The time at which to evaluate the move (in seconds). It will always be between 0 and duration. |
Returns:
| Name | Type | Description |
|---|---|---|
head | - | The head position (4x4 homogeneous matrix). |
antennas | - | The antennas positions (rad). |
body_yaw | - | The body yaw angle (rad). |
Goto Moves
reachy_mini.motion.goto.GotoMove
A goto move to a target head pose and/or antennas position.
Methods
evaluate
Evaluate the goto at time t.
Recorded Moves
reachy_mini.motion.recorded_move.RecordedMove
Represent a recorded move.
Methods
evaluate
Evaluate the move at time t.
Returns:
| Name | Type | Description |
|---|---|---|
head | - | The head position (4x4 homogeneous matrix). |
antennas | - | The antennas positions (rad). |
body_yaw | - | The body yaw angle (rad). |
reachy_mini.motion.recorded_move.RecordedMoves
Load a library of recorded moves from a HuggingFace dataset.
info
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).
Methods
get
Get a recorded move by name.
Parameters:
| Name | Type | Description |
|---|---|---|
move_name | str | The name of the move to retrieve. |
list_moves
List all moves in the loaded library.
process
Populate recorded moves and sounds.