Merge pull request #374 from iizukak/add-body-yaw-to-rest-api

Add body_yaw parameter to REST API move endpoints

Author: pierre-rouanet

src/reachy_mini/daemon/app/models.py

@@ -114,6 +114,7 @@ class FullBodyTarget(BaseModel):
 
     target_head_pose: AnyPose | None = None
     target_antennas: tuple[float, float] | None = None
+    target_body_yaw: float | None = None
     timestamp: datetime | None = None
 
     model_config = {
@@ -129,6 +130,7 @@ class FullBodyTarget(BaseModel):
                         "yaw": 0.0,
                     },
                     "target_antennas": [0.0, 0.0],
+                    "target_body_yaw": 0.0,
                 }
             ]
         }

src/reachy_mini/daemon/app/routers/move.py

@@ -47,6 +47,7 @@ class GotoModelRequest(BaseModel):
 
     head_pose: AnyPose | None = None
     antennas: tuple[float, float] | None = None
+    body_yaw: float | None = None
     duration: float
     interpolation: InterpolationMode = InterpolationMode.MINJERK
 
@@ -63,6 +64,7 @@ class GotoModelRequest(BaseModel):
                         "yaw": 0.0,
                     },
                     "antennas": [0.0, 0.0],
+                    "body_yaw": 0.0,
                     "duration": 2.0,
                     "interpolation": "minjerk",
                 },
@@ -152,6 +154,7 @@ async def goto(
         backend.goto_target(
             head=goto_req.head_pose.to_pose_array() if goto_req.head_pose else None,
             antennas=np.array(goto_req.antennas) if goto_req.antennas else None,
+            body_yaw=goto_req.body_yaw,
             duration=goto_req.duration,
         )
     )
@@ -232,6 +235,7 @@ async def set_target(
         if target.target_head_pose
         else None,
         antennas=np.array(target.target_antennas) if target.target_antennas else None,
+        body_yaw=target.target_body_yaw,
     )
     return {"status": "ok"}
 

src/reachy_mini/daemon/backend/abstract.py

@@ -290,7 +290,7 @@ def set_target(
         head: Annotated[NDArray[np.float64], (4, 4)] | None = None,  # 4x4 pose matrix
         antennas: Annotated[NDArray[np.float64], (2,)]
         | None = None,  # [right_angle, left_angle] (in rads)
-        body_yaw: float = 0.0,  # Body yaw angle in radians
+        body_yaw: float | None = None,  # Body yaw angle in radians
     ) -> None:
         """Set the target head pose and/or antenna positions and/or body_yaw."""
         if head is not None: