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expression·

⏱ 45s

TINY has no arms and no legs. Expression is the personality. Beyond raw head/antenna/body moves, TINY has a library of pre-recorded emotions and dances — the equivalent of neon's arm-gesture playbook.

reachy_express — play a named emotion·

reachy_express(emotion="happy",
               initial_goto_duration=1.0)

Plays a recorded move from pollen-robotics/reachy-mini-emotions-library. The library is downloaded live on first use (cached afterwards), so the first call may take a moment.

"be happy"      → reachy_express('happy')
"say no"        → reachy_express('no')       (head shake)
"you're curious"→ reachy_express('curious')
"act surprised" → reachy_express('surprised')

reachy_list_emotions — discover the library·

reachy_list_emotions()   # → every available move name

Call this when you're unsure what's available, then pick the closest match. The catalogue comes from RecordedMoves.list_moves() in the SDK.

fire expression with speech·

The golden rule (from prompts/base.md): expressions happen simultaneously with speech, never before or after. In practice the model batches the calls:

# "hi there!" — spoken AND expressed at once
reachy_say("hi there!")        # TTS + head-wobble
reachy_express("happy")        # antenna wiggle + head bob

See the expression showcase for the full playbook.