Local copy of SDK documentation for quick reference.
| Document | Description |
|---|---|
| quickstart.md | First steps, verify setup |
| python-sdk.md | Full API reference |
| core-concepts.md | Architecture, coordinates, safety |
| integration.md | LLM integration, REST API, Apps |
| installation.md | Setup instructions |
| Document | Description |
|---|---|
| troubleshooting.md | FAQ, common issues, fixes |
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(z=10, roll=15, mm=True, degrees=True),
antennas=np.deg2rad([30, -30]),
body_yaw=np.deg2rad(20),
duration=1.5,
method="minjerk"
)
# Instant (for streaming/joystick)
mini.set_target(head=pose)frame = mini.media.get_frame() # Camera (OpenCV)
sample = mini.media.get_audio_sample() # Microphone
mini.media.play_sound("file.wav") # Speakermini.enable_motors() # Stiff
mini.disable_motors() # Limp
mini.enable_gravity_compensation() # Soft/teachablemini.start_recording()
# ... movements ...
data = mini.stop_recording()When daemon is running:
- Docs: http://localhost:8000/docs
- State:
GET /api/state/full - WebSocket:
ws://localhost:8000/api/state/ws/full