Reachy Mini

Goto Interpolation Playground

This code demonstrates the different interpolation methods available in Reachy Mini for moving the head and/or antennas to a target pose. It tests various methods such as linear, minjerk, ease_in_out, and cartoon, allowing you to observe how each method affects the motion of the head and antennas.


import numpy as np

from reachy_mini import ReachyMini
from reachy_mini.utils import create_head_pose
from reachy_mini.utils.interpolation import InterpolationTechnique


def main() -> None:
    """Run the different interpolation methods."""
    with ReachyMini(media_backend="no_media") as mini:
        try:
            for method in InterpolationTechnique:
                print(f"Testing method: {method}")

                pose = create_head_pose(x=0, y=0, z=0, yaw=0)
                mini.goto_target(pose, duration=1.0, method=method)

                for _ in range(3):
                    pose = create_head_pose(
                        x=0.0, y=0.03, z=0, roll=5, yaw=-10, degrees=True
                    )
                    mini.goto_target(
                        pose,
                        antennas=np.deg2rad([-20, 20]),
                        duration=1.0,
                        method=method,
                    )

                    pose = create_head_pose(
                        x=0.0, y=-0.03, z=0, roll=-5, yaw=10, degrees=True
                    )
                    mini.goto_target(
                        pose,
                        antennas=np.deg2rad([20, -20]),
                        duration=1.0,
                        method=method,
                    )

                pose = create_head_pose(x=0, y=0, z=0, yaw=0)
                mini.goto_target(pose, duration=1.0, antennas=[0, 0], method=method)
        except KeyboardInterrupt:
            pass


if __name__ == "__main__":
    main()

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