---
title: Reachy Mini DanceML
emoji: 🔄
colorFrom: indigo
colorTo: blue
sdk: static
pinned: false
short_description: Voice-controlled movement SDK for Reachy Mini robot.
tags:
 - reachy_mini
 - reachy_mini_python_app
 - voice_control
 - movement_control
 - choreography
---

# Reachy Mini DanceML

👋 Voice-controlled movement SDK for Reachy Mini robot.

## Features

- 🎤 **Voice Control**: Natural language commands via OpenAI Realtime API
- 🧠 **AI Agent**: 11 function-calling tools for movement control
- 📚 **Move Library**: 101 pre-recorded dances and emotional expressions
- 🌊 **Procedural Motion**: Generate continuous animations with waveforms
- 🎬 **Sequence Planning**: Multi-step choreography via GPT-4.1 planner
- 🎯 **Precise Control**: Keyframe animations with smooth interpolation

## Quick Start

```bash
# Install dependencies
pip install -e .

# Set your OpenAI API key
export OPENAI_API_KEY="your-key-here"

# Run the app
reachy-mini-daemon
```

Then open http://localhost:8042 to interact via voice.

## Available Tools

| Tool | Description |
|------|-------------|
| `goto_pose` | Move to specific head/body angles |
| `look_at` | Look at direction or 3D point |
| `stop_movement` | Stop and return to neutral |
| `search_moves` | Search 101 library moves |
| `play_move` | Play a library move |
| `generate_motion` | Procedural motion with waveforms |
| `execute_sequence` | Multi-step choreography |
| `wake_up` / `goto_sleep` | Lifecycle animations |
| `motor_control` | Enable/disable motors |
| `get_choreography_guide` | Load movement reference |

## Documentation

- 📖 [Architecture](docs/ARCHITECTURE.md) - System design & tool reference
- 🎭 [Choreography Guide](docs/CHOREOGRAPHY_GUIDE.md) - Movement creation rules
- 📚 [SDK Documentation](docs/SDK_DOCUMENTATION.md) - API details

## HuggingFace Dataset

```python
from datasets import load_dataset

ds = load_dataset("pollen-robotics/reachy-mini-dances-library")
print(ds['train'][0]['description'])  # "A sharp, forward, chicken-like pecking motion."
```

## Example: Procedural Motion

```python
# Via voice: "Do a spiral motion while rising up"
# Or programmatically:
generate_motion(
    motion_type="spiral", 
    z_drift=0.02, 
    duration=5
)
```

## Tags

reachy_mini, voice_control, robotics, openai, dance