tool catalog·

⏱ 90s · 14 robot tools

Every @tool in tools/, grouped by what it touches. TINY has no arms, no legs, no FSM — control is dead simple, so there's no danger class. Everything is clamped to the head/body/antenna envelope by the SDK and our wrappers.

read-only — state / sensing motion — clamped, self-bounded io — audio / camera

🟣 motion · 5·

tool	what
`reachy_look`	move the 6-DOF head — `x,y,z` mm + `roll,pitch,yaw` deg (the primary gesture)
`reachy_antennas`	move the two "ears" — `right,left` in degrees (emotion in a flick)
`reachy_body_turn`	rotate the body around vertical — `yaw` deg, clamped [-160, 160]
`reachy_home`	return to neutral/init pose (head centered, antennas at rest)
`reachy_wake`	wake up (init + wake emote + sound) or `sleep=True` to sleep

Full motion reference →

🟣 expression · 2·

tool	what
`reachy_express`	play a named emotion/dance from the recorded-move library
`reachy_list_emotions`	list every emotion name available in the library

Backed by pollen-robotics/reachy-mini-emotions-library — downloaded live on first use. Full expression reference →

🟢 state · 2·

tool	what
`reachy_get_state`	live head pose, joint positions, IMU (if present)
`reachy_motors`	set torque mode — `enabled` / `disabled` / gravity-comp

🟢 sensing · 2·

tool	what
`reachy_camera`	grab a frame from the head camera, save to disk
`reachy_look_at`	look at pixel `(u,v)` in the camera frame (visual servoing)
`take_photo`	bidi vision — inject an image into the conversation with a question

Full sensing reference →

🔵 audio · 3·

tool	what
`reachy_say`	speak text via TTS, with synced head-wobble (the way TINY talks)
`reachy_play_sound`	play a local/daemon sound file through the speaker
`reachy_volume`	get or set speaker volume (0–100)

🧠 cross-persona brain·

Copied verbatim from neon — the shared nervous system every persona uses. See the brain.

tool	what
`memory`	SQLite kv/log + filesystem notes
`agent_log`	unified cross-persona reasoning log
`voice_bridge` / `voice_say`	briefing queue → speak on the voice persona
`telegram`	Telegram Bot API + per-chat history
`dispatch`	spawn devduck sub-agents (cron / run_at / background)
`prompts`	per-persona prompt overrides (SQLite)
`manage_messages`	trim / compact own history
`manage_tools`	load / create tools at runtime