Reachy Mini Motion Control

Use the reachy_control tool to move the robot and play expressions.

Quick Reference

Expressions (use action="expression")

Direct Control

Move Head (action="move_head"):

• •head_pitch: -35 to +35 degrees (negative = look up, positive = look down)
• •head_roll: -35 to +35 degrees (negative = tilt left, positive = tilt right)
• •head_yaw: -90 to +90 degrees (negative = turn left, positive = turn right)

Move Antennas (action="move_antennas"):

• •left_antenna: 0 to 80 degrees (0 = down, 80 = fully raised)
• •right_antenna: 0 to 80 degrees

Rotate Body (action="move_body"):

• •body_yaw: -120 to +120 degrees (negative = left, positive = right)

Reset (action="reset"):

• •Returns all joints to neutral position

Examples

# Play greeting when user says hello
reachy_control(action="expression", expression_name="greeting")

# Nod while saying "yes"
reachy_control(action="expression", expression_name="nod")

# Look up to the left
reachy_control(action="move_head", head_pitch=-20, head_yaw=-30, duration=1.0)

# Raise both antennas (attention)
reachy_control(action="move_antennas", left_antenna=60, right_antenna=60)

# Return to neutral
reachy_control(action="reset")

Best Practices

1. •Always pair responses with expressions — it makes interactions feel natural
2. •Use expressions over raw movements — they're designed to look good
3. •Keep durations smooth — default 1.5s is good, go slower for dramatic effect
4. •Don't spam movements — one expression per response is usually enough
5. •Reset after dramatic expressions — return to neutral to avoid stuck poses