Reachy Mini
Control Reachy Mini robots using the Python SDK. Supports both real hardware and MuJoCo simulation.
Quick Start
python
from reachy_mini import ReachyMini
from reachy_mini.utils import create_head_pose
import numpy as np
with ReachyMini() as mini:
# Smooth movement
mini.goto_target(
head=create_head_pose(pitch=15, degrees=True), # Look up
antennas=np.deg2rad([30, 30]), # Antennas out
duration=1.0
)
Connection Options
| Scenario | Code |
|---|---|
| Local wired | ReachyMini() |
| Wireless | ReachyMini(localhost_only=False) |
| No camera/audio | ReachyMini(media_backend="no_media") |
| Simulation | Start daemon with --sim, then ReachyMini() |
Movement
Head Control
Head pose is a 4x4 transformation matrix. Use create_head_pose() helper:
python
from reachy_mini.utils import create_head_pose
# Parameters: x, y, z (position), roll, pitch, yaw (rotation)
pose = create_head_pose(
z=10, pitch=15, # Up 10mm, pitch 15 degrees
mm=True, # Position in mm (default: meters)
degrees=True # Angles in degrees (default: True)
)
mini.goto_target(head=pose, duration=1.0)
Antennas
Two antennas controlled by angles in radians: [right, left]
python
mini.goto_target(antennas=np.deg2rad([45, -45]), duration=0.5)
Movement Methods
| Method | Use Case |
|---|---|
goto_target() | Smooth interpolated movement |
set_target() | Instant position (high-frequency control) |
Interpolation methods: linear, minjerk (default), ease, cartoon
Built-in Behaviors
python
mini.wake_up() # Init pose + sound mini.goto_sleep() # Sleep pose + sound mini.look_at_world(x, y, z, duration=1.0) # Look at 3D point mini.look_at_image(u, v, duration=1.0) # Look at pixel coordinate
Camera & Audio
Access via mini.media:
python
# Camera (returns BGR numpy array)
frame = mini.media.get_frame()
# Play sound (bundled or path)
mini.media.play_sound("wake_up.wav")
# Record audio
mini.media.start_recording()
sample = mini.media.get_audio_sample() # Returns bytes or numpy array
mini.media.stop_recording()
# Stream audio output
mini.media.start_playing()
mini.media.push_audio_sample(audio_data) # numpy float32 array
mini.media.stop_playing()
Building Apps
Subclass ReachyMiniApp to create installable apps:
python
from reachy_mini import ReachyMini
from reachy_mini.apps import ReachyMiniApp
import threading
class MyApp(ReachyMiniApp):
custom_app_url = "http://0.0.0.0:8042" # Optional web UI
def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
while not stop_event.is_set():
# App logic here
pass
For detailed app development: See references/app-development.md
LLM Integration Pattern
For voice/chat apps with tool calling:
python
# Define tools the LLM can call
tools = [
{"name": "move_head", "params": {"direction": "left|right|up|down|center"}},
{"name": "express_emotion", "params": {"emotion": "happy|sad|surprised"}}
]
# Execute tool calls
async def handle_tool(name, args):
if name == "move_head":
direction = args["direction"]
poses = {
"left": create_head_pose(yaw=20, degrees=True),
"right": create_head_pose(yaw=-20, degrees=True),
"up": create_head_pose(pitch=15, degrees=True),
"down": create_head_pose(pitch=-15, degrees=True),
"center": create_head_pose()
}
mini.goto_target(head=poses[direction], duration=0.5)
Resources
- •references/api.md - Complete API reference
- •references/app-development.md - App development guide