control

name	control
description	Move your head or body to look in a specific direction, or turn tracking on and off.
metadata	{"author":"reachy-nova","version":"1.0"}

Control Skill

Direct control of head and body movement with safety-managed collision avoidance.

Parameters

• action (string, required): One of "move_head", "move_body", "enable_tracking", "disable_tracking"
• yaw (number, optional): Head yaw angle in degrees, -45 to 45 (negative=right, positive=left). For move_head.
• pitch (number, optional): Head pitch angle in degrees, -15 to 25 (negative=down, positive=up). For move_head.
• body_yaw (number, optional): Body rotation in degrees, -25 to 25. For move_body.
• duration (number, optional): Duration in seconds for body rotation (default 1.5, range 0.5-5). For move_body.

Examples

• "look to your left" -> action: move_head, yaw: 40, pitch: 0
• "look up" -> action: move_head, yaw: 0, pitch: 20
• "look down and to the right" -> action: move_head, yaw: -30, pitch: -10
• "turn your body left" -> action: move_body, body_yaw: 20
• "look at me again" -> action: enable_tracking
• "stop moving" -> action: disable_tracking