reachy-mini-sdklisted
Install: claude install-skill jjmartres/reachy-mini-sdk-skill
# 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
# 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):
```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
- **Antenna