# Reachy Mini Sdk > Programming guide for Reachy Mini robot using Python SDK v1.2.6 and REST API. Use when controlling Reachy Mini robots, programming movements (head/antennas/body), accessing sensors (camera/microphone/IMU), recording motions, building AI applications, deploying to Hugging Face, or using the daemon REST API. Covers SDK patterns, coordinate systems, interpolation methods, app management, and OpenAPI client generation. Use when this capability is needed. - Skill: `tomevault-io/reachy-mini-sdk` (Agent Skill, multi-file: 2 files) - Install (CLI): `npx skillmds@latest add tomevault-io/reachy-mini-sdk` - Raw SKILL.md: https://api.skillmd.com/api/skills/tomevault-io/reachy-mini-sdk/raw - Safety review: pending (external: skill-scanner PASS, skillspector CAUTION) - Works with: Claude Code, Claude.ai, OpenAI Codex - Category: Integrations & APIs - Author: tomevault-io (https://skillmd.com/u/tomevault-io) - Updated: 2026-09-17 - Page: https://skillmd.com/skills/tomevault-io/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 ```python 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) ```python from reachy_mini.utils import create_head_pose import numpy as np 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, ease, cartoon ) ``` ### set_target (Direct Control) For high-frequency control (>30Hz): ```python 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. ```python # 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) if hasattr(mini, 'imu'): data = mini.imu.get_data() ``` ## Motion Recording ```python mini.start_recording() # Move robot motion = mini.stop_recording() motion.save("demo.pkl") # Replay motion.play() ``` ## REST API See `references/daemon_api.md` for all 25+ endpoints. See `references/openapi_usage.md` for client generation. ### Direct HTTP Control ```python import requests # Move via API requests.post("http://localhost:8000/api/goto", json={ "head_pose": {"x": 0, "y": 0, "z": 0.01, "roll": 0, "pitch": 0, "yaw": 0}, "duration": 2.0, "interpolation": "minjerk" }) # Get state state = requests.get("http://localhost:8000/api/state/full-state").json() ``` ### Generate Clients See `references/openapi_schema.json` for OpenAPI v3.1.0 spec. ```bash # Python openapi-generator-cli generate -i openapi_schema.json -g python -o client/ # TypeScript openapi-typescript openapi_schema.json -o types.ts # Go, Rust, Java, etc. (50+ languages supported) ``` ## App Management ```python # Install app requests.post("http://localhost:8000/api/apps/install", json={ "name": "hand_tracker", "source": "hf_space", "space_id": "pollen-robotics/hand_tracker_v2" }) # Start app requests.post("http://localhost:8000/api/apps/start-app/hand_tracker") ``` ## Motor Modes ```python # Compliant (manual movement) requests.post("http://localhost:8000/api/motors/set-mode", json={"mode": "disabled"}) # Active control requests.post("http://localhost:8000/api/motors/set-mode", json={"mode": "enabled"}) # Gravity compensation requests.post("http://localhost:8000/api/motors/set-mode", json={"mode": "gravity_compensation"}) ``` ## AI Integration See `references/ai_integration.md` for LLM patterns, vision models, multimodal apps, and HuggingFace deployment. ### Example: Object Detection ```python from transformers import pipeline detector = pipeline("object-detection") frame = mini.media.get_frame() results = detector(frame) # React to detections for obj in results: if obj['label'] == 'person': mini.goto_target(antennas=np.deg2rad([45, 45]), duration=0.5) ``` ## Common Patterns ### Greeting Sequence ```python def greet(): mini.goto_target(head=create_head_pose(z=5, mm=True), duration=0.5) mini.goto_target(antennas=np.deg2rad([45, 45]), duration=0.5) for _ in range(2): mini.goto_target(head=create_head_pose(pitch=-10, degrees=True), duration=0.3) mini.goto_target(head=create_head_pose(pitch=10, degrees=True), duration=0.3) ``` ### Scanning Motion ```python for angle in [-60, -30, 0, 30, 60]: mini.goto_target( body_yaw=np.deg2rad(angle), head=create_head_pose(z=5, mm=True), duration=1.0 ) ``` ## Reference Files - **installation.md** - Setup for Wireless/Lite/Simulation - **movement_control.md** - Complete movement guide (450+ lines) - **sensors.md** - Camera, microphone, IMU access - **ai_integration.md** - AI models, LLMs, apps, deployment - **daemon_api.md** - REST API reference (500+ lines, 25+ endpoints) - **openapi_schema.json** - OpenAPI v3.1.0 spec for client generation - **openapi_usage.md** - Using OpenAPI for automation - **api_quick_reference.md** - Quick reference card ## Platform Notes - **Wireless**: Raspberry Pi, WiFi, includes IMU, use `localhost_only=False` from PC - **Lite**: USB connection, no IMU, use `localhost_only=True` - **Simulation**: MuJoCo-based, no hardware needed ## Safety - SDK enforces limits automatically - Test in simulation first - Use appropriate durations (0.5-2.0s typically) - Always use context managers (`with ReachyMini()`) ## Version SDK v1.2.6, OpenAPI v3.1.0 Source: https://github.com/pollen-robotics/reachy_mini/tree/1.2.6 --- > Converted and distributed by [TomeVault](https://tomevault.io/claim/jjmartres) — claim your Tome and manage your conversions.