A comprehensive web-based debugging and CI validation tool for Reachy Mini.

• Real-time head pose display (roll, pitch, yaw)
• Detailed motor positions for all 9 motors
• Connection status indicator

• Head position control with sliders (roll, pitch, yaw)
• Antenna position control
• Quick actions: Go to Zero, Wake Up, Go to Sleep
• Adjustable movement duration

• Live camera stream (MJPEG)
• Capture and save images
• Download captured images
• List and manage saved captures

• Record audio from the robot's microphone
• List saved recordings with metadata
• Play recordings through the robot's speaker
• Download recordings as WAV files

Automated test for validating head rotation accuracy:

1. Moves head to zero position and captures image
2. Rolls head by specified angle
3. Captures second image
4. Computes rotation between images using ORB feature matching
5. Compares expected vs actual rotation
6. Returns PASS/FAIL with detailed metrics

pip install -e .

The app registers as a Reachy Mini app and can be launched via the daemon:

reachy-mini app run reachy_mini_toolbox

python -m reachy_mini_toolbox.main

Then open http://localhost:8042 in your browser.

• GET /api/status - Get robot status and head pose
• GET /api/motor_status - Get detailed motor positions

• POST /api/move_head - Move head to specified orientation
• POST /api/move_antennas - Move antennas to specified positions
• POST /api/go_to_zero - Move to neutral position
• POST /api/wake_up - Execute wake up behavior
• POST /api/go_to_sleep - Execute sleep behavior

• GET /api/camera/stream - MJPEG camera stream
• GET /api/camera/capture - Capture single frame as base64
• POST /api/camera/save - Save current frame to file
• GET /api/camera/list - List saved captures
• GET /api/camera/download/{filename} - Download capture
• DELETE /api/camera/delete/{filename} - Delete capture

• POST /api/audio/start_recording - Start recording
• POST /api/audio/stop_recording - Stop and save recording
• GET /api/audio/list - List recordings
• GET /api/audio/download/{filename} - Download recording
• POST /api/audio/play/{filename} - Play recording on robot
• DELETE /api/audio/delete/{filename} - Delete recording

• POST /api/test/rotation_validation - Run rotation validation test
• GET /api/test/last_rotation_result - Get last test result

• Recordings: /tmp/reachy_mini_toolbox/recordings/
• Captures: /tmp/reachy_mini_toolbox/captures/

• reachy-mini
• opencv-python
• soundfile
• scipy