reachy_mini_dances_library

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reachy_mini_dances_library

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# Reachy Mini Dances Library

Make your Reachy Mini steal the spotlight 🤖💃

This library brings your Reachy Mini to life with 20 pre-built dance moves and a flexible choreography system. Lock your dance routines to the beat with BPM adjustments and remix moves into custom performances in just a few lines of code.

##  See It In Action

**Explore all 20 moves in the gallery below!**

## Features

- **20 Pre-built Moves** - Ready-to-run dances from subtle nods to complex routines
- **BPM Adjustments** - Keep every motion locked to the beat
- **Custom Choreography** - Combine motion primitives or load JSON choreographies to build your own routines
- **Autonomous Preview** - Cycle through moves automatically to spot-check animations

## Installation

Requires Python 3.10+ and installs the `reachy_mini` dependency.

```bash
pip install -e .
```

## Usage

Explore all available moves with the autonomous preview
```bash
python examples/dance_demo.py
```

The script continuously cycles through each move; press `Ctrl+C` to stop.

### Run a Choreography

Execute a pre-defined dance sequence:

```bash
python examples/dance_demo.py --choreography ./examples/choreographies/another_one_bites_the_dust.json
```

## Complete Move Library

All 20 dance moves currently available in the library, with more to come!

<table>
 <tr>
 <td align="center">
 <img src="docs/assets/jackson-square.gif" alt="Jackson Square" />
 Jackson Square Precision hits with shoulder pops
 </td>
 <td align="center">
 <img src="docs/assets/interwoven-spirals.gif" alt="Interwoven Spirals" />
 Interwoven Spirals Layered spirals across axis
 </td>
 </tr>
 <tr>
 <td align="center">
 <img src="docs/assets/polyrhythm-combo.gif" alt="Polyrhythm Combo" />
 Polyrhythm Combo Offset waves with counter beats
 </td>
 <td align="center">
 <img src="docs/assets/groovy-sway-and-roll.gif" alt="Groovy Sway and Roll" />
 Groovy Sway &amp; Roll Flowing sway with rolling torso
 </td>
 </tr>
 <tr>
 <td align="center">
 <img src="docs/assets/dizzy-spin.gif" alt="Dizzy Spin" />
 Dizzy Spin Slow spin antenna flair
 </td>
 <td align="center">
 <img src="docs/assets/pendulum-swing.gif" alt="Pendulum Swing" />
 Pendulum Swing Even tempo pendulum motion
 </td>
 </tr>
 <tr>
 <td align="center">
 <img src="docs/assets/side-to-side-sway.gif" alt="Side to Side Sway" />
 Side-to-Side Sway Energetic side-to-side groove
 </td>
 <td align="center">
 <img src="docs/assets/grid-snap.gif" alt="Grid Snap" />
 Grid Snap Sharp grid-aligned accents
 </td>
 </tr>
 <tr>
 <td align="center">
 <img src="docs/assets/headbanger-combo.gif" alt="Headbanger Combo" />
 Headbanger Combo High-energy head isolation
 </td>
 <td align="center">
 <img src="docs/assets/stumble-and-recover.gif" alt="Stumble and Recover" />
 Stumble &amp; Recover Playful stumble and recover
 </td>
 </tr>
 <tr>
 <td align="center">
 <img src="docs/assets/chicken-peck.gif" alt="Chicken Peck" />
 Chicken Peck Pecking head bop loop
 </td>
 <td align="center">
 <img src="docs/assets/chin-lead.gif" alt="Chin Lead" />
 Chin Lead Extended chin-led glides
 </td>
 </tr>
 <tr>
 <td align="center">
 <img src="docs/assets/sharp-side-tilt.gif" alt="Sharp Side Tilt" />
 Sharp Side Tilt Quick angular head tilt
 </td>
 <td align="center">
 <img src="docs/assets/side-glance-flick.gif" alt="Side Glance Flick" />
 Side Glance Flick Fast glance with flick
 </td>
 </tr>
 <tr>
 <td align="center">
 <img src="docs/assets/side-peekaboo.gif" alt="Side Peekaboo" />
 Side Peekaboo Peekaboo side reveal
 </td>
 <td align="center">
 <img src="docs/assets/head-tilt-roll.gif" alt="Head Tilt Roll" />
 Head Tilt Roll Gentle tilt loop
 </td>
 </tr>
 <tr>
 <td align="center">
 <img src="docs/assets/neck-recoil.gif" alt="Neck Recoil" />
 Neck Recoil Snappy neck recoil pop
 </td>
 <td align="center">
 <img src="docs/assets/uh-huh-tilt.gif" alt="Uh-Huh Tilt" />
 Uh-Huh Tilt Bouncy affirmative tilt
 </td>
 </tr>
 <tr>
 <td align="center">
 <img src="docs/assets/yeah-nod.gif" alt="Yeah Nod" />
 Yeah Nod Enthusiastic yeah nod
 </td>
 <td align="center">
 <img src="docs/assets/simple-nod.gif" alt="Simple Nod" />
 Simple Nod Classic simple nod
 </td>
 </tr>
</table>

*Tip: Run `python examples/dance_demo.py` to cycle through each move automatically!*

## Contributing

We welcome contributions from the community! If you want to report a bug or request a feature, please open an issue on GitHub. If you want to contribute code, please fork the repository and submit a pull request. If you're adding new moves, use this guide to create GIFs for the gallery:

### Recording GIFs for the gallery

1. **Stage the dances**
   - Add the dance move(s) to a JSON file in `examples/choreographies/` (or modify `another_one_bites_the_dust.json`)

2. **Run the dance moves**

```bash
 python examples/dance_demo.py --choreography ./examples/choreographies/<your-dances>.json
 ```

3. **Record the MuJoCo window**
   - Use any GIF-capable screen recorder (CleanShot X on macOS, ShareX or Snipping Tool on Windows 11)
   - ***Pro tip:** Record multiple dances in one take (using the JSON file in *step 1*) to maintain consistent dimensions and save cropping effort*

4. **Slice individual clips (if multiple dances are recorded in one take)**

- Use the start and end time of each move for `-ss` and `-to`
   - GIFs do not have to loop smoothly at this point, we will trim it in the next step

```bash
 ffmpeg -i all-dances.gif -ss 0 -to 3 -an <dance-move-name>.gif
 ```

5. **Trim the GIF**
   - Use Preview (on macOS, double click file > View > Thumbnail) or any GIF editor to trim the GIF so it loops smoothly
      - **Roughly match first and last frame**: Look at the first frame, then look for the **next closest frame that will lead into the first frame**, select and delete all frames after that point (shift click + delete)
   - Ensure GIF looping metadata and optimize file size with gifsicle:

```bash
  gifsicle --colors 256 -O3 --loopcount=0 -b --no-conserve-memory *.gif
  ```

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