RemiFabre/reachy-mini-emotions-library-50hz-opus

Reachy Mini Emotions Library — 50 Hz + Opus (compressed test build)

Compressed variant of the Reachy Mini Emotions Library, produced to evaluate a smaller on-disk / faster-to-upload move format. Same 81 moves, same choreography and audio content — only the encoding changed:

• —Motion re-sampled to 50 Hz (was ~100 Hz) using the SDK's own interpolation, with float precision rounded to 6 decimals (~1 micron / 1 microradian — physically lossless for this hardware).
• —Audio transcoded from 44.1 kHz stereo WAV to mono 16 kHz Opus (`.ogg`), matching the robot's single mono speaker. GStreamer playbin decodes it natively.

Result: ~110 MB → ~14 MB (~7.7× smaller on disk); audio alone is ~63× smaller.

File layout

Files live at the root of the dataset, named <emotion>.json + <emotion>.ogg.

How to use

Python — via the reachy_mini package (requires the daemon build whose move loader resolves non-.wav sidecars):

from reachy_mini import ReachyMini
from reachy_mini.motion.recorded_move import RecordedMoves

moves = RecordedMoves("RemiFabre/reachy-mini-emotions-library-50hz-opus")
with ReachyMini() as reachy:
    for name in moves.list_moves():
        reachy.play_move(moves.get(name), initial_goto_duration=1.0)

Note: loading .ogg sidecars through RecordedMoves requires the loader fix that resolves audio across containers (.wav/.ogg/.opus/…). On older builds the motion plays but the audio is silently skipped.