Motion
Base Classes
reachy_mini.motion.move.Move
Base class for all move types in the Reachy Mini motion system.
Methods
goto_target
Go to a target pose using task space interpolation.
Parameters:
| Name | Type | Description |
|---|---|---|
head | Optional[np.ndarray] | 4x4 pose matrix representing the target head pose. |
antennas | Optional[Union[np.ndarray, List[float]]] | 1D array with two elements representing the angles of the antennas in radians. |
duration | float | Duration of the movement in seconds. |
method | InterpolationTechnique | Interpolation method to use ("linear", "minjerk", "ease_in_out", "cartoon"). |
body_yaw | float | None | Body yaw angle in radians. |
set_target
Set the target pose of the head and/or the target position of the antennas (real-time control).
Parameters:
| Name | Type | Description |
|---|---|---|
head | Optional[np.ndarray] | 4x4 pose matrix representing the head pose. |
antennas | Optional[Union[np.ndarray, List[float]]] | 1D array with two elements representing the angles of the antennas in radians. |
body_yaw | Optional[float] | Body yaw angle in radians. |
Goto Moves
reachy_mini.motion.goto.GotoMove
GotoMove class for movements using task space interpolation.
Methods
play
Play the goto move with specified duration and interpolation method.
Parameters:
| Name | Type | Description |
|---|---|---|
duration | float | Duration of the movement in seconds. |
method | str | Interpolation method to use. |
Recorded Moves
reachy_mini.motion.recorded_move.RecordedMove
A single recorded move that can be played back on the robot.
Methods
evaluate
Evaluate the recorded move at a specific time.
Parameters:
| Name | Type | Description |
|---|---|---|
t | float | Time in seconds to evaluate the move. |
Returns:
Dict — Dictionary containing head pose, antennas positions, and body yaw at time t.
play
Play the recorded move on the robot.
Parameters:
| Name | Type | Description |
|---|---|---|
play_frequency | float | Frequency at which to evaluate the move (in Hz). |
initial_goto_duration | float | Duration for the initial goto to the starting position (in seconds). |
sound | bool | Whether to play the associated sound. |
reachy_mini.motion.recorded_move.RecordedMoves
Collection of recorded moves, typically loaded from a HuggingFace dataset.
Methods
get
Get a specific recorded move by name.
Parameters:
| Name | Type | Description |
|---|---|---|
name | str | Name of the recorded move to retrieve. |
Returns:
RecordedMove — The requested recorded move.
list
List all available recorded move names.
Returns:
List[str] — List of available move names.