reachy-mini-sdk

Reachy Mini SDK

Programming guide for Reachy Mini - an open-source desktop humanoid robot with 6-DOF head, expressive antennas, and AI integration.

Hardware

• Head: 6-DOF Stewart platform (X,Y,Z + roll,pitch,yaw)
• Antennas: 2 servos
• Body: 360° yaw rotation
• Sensors: Camera, microphone, IMU (Wireless only)

Daemon: FastAPI on port 8000 (REST + WebSocket)

Quick Start

Installation

See references/installation.md for complete setup (uv/pip, platform-specific configs, permissions).

Basic Connection

from reachy_mini import ReachyMini

# Local
with ReachyMini() as mini:
    pass

# Remote (Wireless)
with ReachyMini(localhost_only=False) as mini:
    pass

Movement

See references/movement_control.md for complete guide (450+ lines with all patterns).

goto_target (Smooth Interpolation)

from reachy_mini.utils import create_head_pose
import numpy as np

# create_head_pose returns a 4x4 numpy ndarray (not a HeadPose object)
mini.goto_target(
    head=create_head_pose(z=10, roll=15, degrees=True, mm=True),
    antennas=np.deg2rad([45, 45]),
    body_yaw=np.deg2rad(30),
    duration=2.0,
    method="minjerk"  # linear | minjerk | ease_in_out | cartoon
)

set_target (Direct Control)

For high-frequency control (>30Hz):

mini.set_target(
    head=create_head_pose(z=5, mm=True),
    antennas=[0.5, -0.5]
)

Coordinates

• Head: Position in meters, orientation in radians
• Antennas: Radians (±1.5)
• Body: Radians (full 360°)

Sensors

See references/sensors.md for camera, audio, IMU details.

# Camera (BGR numpy array)
frame = mini.media.get_frame()

# Audio (16kHz stereo)
samples = mini.media.get_audio_sample()
mini.media.push_audio_sample(samples)  # Non-blocking

# IMU (Wireless only) - mini.imu is a property returning a dict, or None
data = mini.imu
if data is not None:
    accel, gyro, quat = data["accelerometer"], data["gyroscope"], data["quaternion"]