Head Position GUI

This example provides a graphical user interface (GUI) using Tkinter to interactively control Reachy Mini’s head position and orientation. You can adjust the head’s roll, pitch, yaw angles, and X, Y, Z position using sliders, as well as control the body yaw and see animated antenna movements.

Features:

Real-time control of head orientation (roll, pitch, yaw)
Real-time control of head position (X, Y, Z)
Body yaw control
Animated antenna movements (sine wave oscillation)
Interactive sliders with live updates at 50Hz

Usage:

python mini_head_position_gui.py

A GUI window will open with sliders for all controllable parameters. Adjust the sliders to see the robot respond in real-time.


import time
import tkinter as tk

import numpy as np
from scipy.spatial.transform import Rotation as R

from reachy_mini import ReachyMini
from reachy_mini.utils import create_head_pose


def main() -> None:
    """Run a GUI to set the head position and orientation of Reachy Mini."""
    with ReachyMini(media_backend="no_media") as mini:
        t0 = time.time()

        root = tk.Tk()
        root.title("Set Head Euler Angles")

        roll_var = tk.DoubleVar(value=0.0)
        pitch_var = tk.DoubleVar(value=0.0)
        yaw_var = tk.DoubleVar(value=0.0)

        tk.Label(root, text="Roll (deg):").grid(row=0, column=0)
        tk.Scale(
            root, variable=roll_var, from_=-45, to=45, orient=tk.HORIZONTAL, length=200
        ).grid(row=0, column=1)
        tk.Label(root, text="Pitch (deg):").grid(row=1, column=0)
        tk.Scale(
            root, variable=pitch_var, from_=-45, to=45, orient=tk.HORIZONTAL, length=200
        ).grid(row=1, column=1)
        tk.Label(root, text="Yaw (deg):").grid(row=2, column=0)
        tk.Scale(
            root, variable=yaw_var, from_=-175, to=175, orient=tk.HORIZONTAL, length=200
        ).grid(row=2, column=1)

        # Add sliders for X, Y, Z position
        x_var = tk.DoubleVar(value=0.0)
        y_var = tk.DoubleVar(value=0.0)
        z_var = tk.DoubleVar(value=0.0)

        tk.Label(root, text="X (m):").grid(row=3, column=0)
        tk.Scale(
            root,
            variable=x_var,
            from_=-0.05,
            to=0.05,
            resolution=0.001,
            orient=tk.HORIZONTAL,
            length=200,
        ).grid(row=3, column=1)
        tk.Label(root, text="Y (m):").grid(row=4, column=0)
        tk.Scale(
            root,
            variable=y_var,
            from_=-0.05,
            to=0.05,
            resolution=0.001,
            orient=tk.HORIZONTAL,
            length=200,
        ).grid(row=4, column=1)
        tk.Label(root, text="Z (m):").grid(row=5, column=0)
        tk.Scale(
            root,
            variable=z_var,
            from_=-0.05,
            to=0.03,
            resolution=0.001,
            orient=tk.HORIZONTAL,
            length=200,
        ).grid(row=5, column=1)

        tk.Label(root, text="Body Yaw (deg):").grid(row=6, column=0)
        body_yaw_var = tk.DoubleVar(value=0.0)
        tk.Scale(
            root,
            variable=body_yaw_var,
            from_=-180,
            to=180,
            resolution=1.0,
            orient=tk.HORIZONTAL,
            length=200,
        ).grid(row=6, column=1)

        mini.goto_target(create_head_pose(), antennas=[0.0, 0.0], duration=1.0)

        def update_robot() -> None:
            """Update robot position based on GUI values."""
            t = time.time() - t0
            target = np.deg2rad(30) * np.sin(2 * np.pi * 0.5 * t)

            head = np.eye(4)
            head[:3, 3] = [0, 0, 0.0]

            # Read values from the GUI
            roll = np.deg2rad(roll_var.get())
            pitch = np.deg2rad(pitch_var.get())
            yaw = np.deg2rad(yaw_var.get())
            head[:3, :3] = R.from_euler(
                "xyz", [roll, pitch, yaw], degrees=False
            ).as_matrix()
            head[:3, 3] = [x_var.get(), y_var.get(), z_var.get()]

            mini.set_target(
                head=head,
                body_yaw=np.deg2rad(body_yaw_var.get()),
                antennas=np.array([target, -target]),
            )

            # Schedule next update (20ms = 50Hz)
            root.after(20, update_robot)

        # Start the update loop
        root.after(20, update_robot)

        try:
            # Run the Tkinter main loop
            root.mainloop()
        except KeyboardInterrupt:
            pass
        finally:
            root.destroy()


if __name__ == "__main__":
    main()

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