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motion·

⏱ 60s

TINY's body is a 6-DOF head (Stewart platform), a rotating body, and two antennas. That's the whole motion vocabulary — and it's plenty expressive. All angles are degrees, all translations millimeters, and everything is clamped (see safety).

reachy_look — the primary gesture·

Move the head to a pose with smooth interpolation.

reachy_look(x=0, y=0, z=0,          # head translation, mm
            roll=0, pitch=0, yaw=0, # head orientation, deg
            antennas=None,          # optional [right, left] deg
            duration=1.0)
param range note
pitch / roll [-40, +40]° up/down · tilt
yaw [-180, +180]° but head−body delta capped at 65°
x,y,z small mm offsets subtle lean / bob

Gestures fall right out of it:

  • nod → reachy_look(pitch=15) then reachy_look(pitch=-10)
  • tilt (curious) → reachy_look(roll=15)
  • lean in → reachy_look(x=20, pitch=10)

reachy_antennas — emotion in a flick·

reachy_antennas(right=0.0, left=0.0, duration=0.5)   # degrees
  • happy / alert → reachy_antennas(45, 45)
  • excited → reachy_antennas(60, 60)
  • sad / droop → reachy_antennas(-40, -40)

reachy_body_turn — orient toward a speaker·

reachy_body_turn(yaw=0.0, duration=1.0)   # deg, clamped [-160, 160]

Turn toward whoever's talking: reachy_body_turn(30). Keep the head−body yaw delta under 65° — the wrapper clamps it for you.

reachy_home & reachy_wake·

reachy_home(duration=1.0)          # neutral pose — head centered, antennas rest
reachy_wake(sleep=False)           # wake: init + wake emote + sound
reachy_wake(sleep=True)            # sleep: settle + goto_sleep

Small moves look best

Reachy Mini is a desktop companion. Gentle, small, frequent motion reads as "alive". Big fast moves read as "malfunctioning". The SDK clamps hard limits; good taste clamps the rest.