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safety envelope·

⏱ 30s

Reachy Mini is a gentle desktop robot — no gait to fall, no arms to collide. But the head is a Stewart platform with real limits, so both the SDK and TINY's wrappers clamp every motion.

the envelope·

joint range
head pitch / roll [-40, +40]°
head yaw [-180, +180]°
body yaw [-160, +160]°
head − body yaw delta max 65°

where it's enforced·

_reachy_common.clamp() enforces these limits inside reachy_look and reachy_body_turn — before the values ever reach the daemon. The SDK clamps again on its side. Belt and suspenders.

# tools/_reachy_common.py (sketch)
def clamp(value, lo, hi):
    return max(lo, min(hi, value))

practical rules·

Good taste beyond the hard limits

  • Small moves look most natural — big fast swings read as malfunction.
  • Keep the head−body yaw delta well under 65°; the wrapper caps it, but staying under ~45° keeps motion smooth.
  • Gentle collisions with the body are safe by design.

No danger class

Unlike neon (whose walking/arm tools are FSM- and mutex-gated), TINY has no tool that can hurt the robot or a person. Every tool is self-bounded. There is no unsafe=True escape hatch because there's nothing to escape.