Reachy Mini — JS Best Practices

How to test

1. Tap Torque OFF, then move the robot to any pose — try antenna-only, body-yaw only, translations only, etc.
2. Tap Torque ON or Go to Base Pose. The robot should never snap — the daemon pins targets to the present pose before flipping torque on.
3. Robot interpolates home with the per-channel scaled duration. Tune the constants below to taste.

Robot state

Motor mode

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Head RPY (°)

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Head xyz (mm)

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Antennas (°)

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Body yaw (°)

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Tunable constants

The goto duration is computed independently per channel as distance × seconds_per_unit, then the slowest channel wins (so the dimension that's furthest off limits the move). Clamped to [min, max]. Edit any value and it's used on the next button press.