rmscript/README.md

rmscript

A kid-friendly robot programming language for Reachy Mini.

Overview

rmscript is a simple, Python-like domain-specific language (DSL) designed to make robot programming accessible to children and beginners. It compiles to an intermediate representation (IR) that can be executed by different adapters (queue-based execution, WebSocket streaming, etc.).

Installation

pip install rmscript

With optional dependencies:

pip install rmscript[reachy]  # For reachy_mini integration
pip install rmscript[scipy]   # For advanced transformations

Quick Start

from rmscript import compile_script

# Compile rmscript source
result = compile_script("""
DESCRIPTION Wave hello
look left
antenna both up
wait 1s
look right
""")

if result.success:
    print(f"Compiled {len(result.ir)} actions")
    for action in result.ir:
        print(f"  - {type(action).__name__}")
else:
    for error in result.errors:
        print(f"Error: {error}")

Language Features

• Intuitive syntax: look left, turn right, antenna up
• Time control: wait 2s, slow, fast
• Qualitative strengths: little, medium, lot, maximum
• Compound movements: look left and up
• Loops: repeat 3 blocks
• Sound & pictures: play sound, picture

See the Language Reference for complete syntax.

Architecture

rmscript uses a 5-stage compilation pipeline:

Source → Lexer → Parser → Semantic Analyzer → Optimizer → IR

The compiler outputs Intermediate Representation (IR), not executable code. Execution is handled by adapters that consume IR in different contexts.

For Developers

Adapters

Adapters execute IR in specific contexts. Example:

from rmscript import compile_file, ExecutionAdapter, ExecutionContext
from dataclasses import dataclass

@dataclass
class MyContext(ExecutionContext):
    robot: Any

class MyAdapter:
    def execute(self, ir, context: MyContext) -> dict:
        for action in ir:
            # Execute each IR action
            if isinstance(action, IRAction):
                context.robot.move(action.head_pose)
        return {"status": "complete"}