State·

read the live pose and switch motor modes — tools/reachy_state.py, 2 tools.

From the module docstring

TINY state tools — IMU, joint positions, current head pose. Read-only, safe.

tool	does
`reachy_get_state`	Read TINY's live state: current head pose, joint positions, IMU (if present).
`reachy_motors`	Set TINY's motor torque mode.

`reachy_get_state`·

reachy_get_state() -> dict

Read TINY's live state: current head pose, joint positions, IMU (if present).

IMU is only available on the Wireless (CM4) version — returns null on Lite. Cheap + safe; call before/after motion to verify.

reachy_motors(mode: str = 'enabled') -> dict

Set TINY's motor torque mode.

argument	meaning
`mode`	"enabled" (torque on, holds pose) \| "disabled" (limp — safe to move by hand) \| "gravity_compensation" (float / marionette mode).