update with newer reachy-mini api

reachy_mini_app_example/main.py

@@ -11,17 +11,18 @@ class ExampleApp(ReachyMiniApp):
     def run(self, reachy_mini: ReachyMini, stop_event: threading.Event):
         t0 = time.time()
         while not stop_event.is_set():
-            t = time.time() - t0
+            pose = np.eye(4)
+            pose[:3, 3][2] = 0.005 * np.sin(2 * np.pi * 0.3 * time.time() + np.pi)
+            euler_rot = [
+                0,
+                0,
+                0.5 * np.sin(2 * np.pi * 0.3 * time.time() + np.pi),
+            ]
+            rot_mat = R.from_euler("xyz", euler_rot, degrees=False).as_matrix()
+            pose[:3, :3] = rot_mat
+            pose[:3, 3][2] += 0.01 * np.sin(2 * np.pi * 0.5 * time.time())
+            antennas = np.array([1, 1]) * np.sin(2 * np.pi * 0.5 * time.time())
 
-            target = np.deg2rad(30) * np.sin(2 * np.pi * 0.5 * t)
+            reachy_mini.set_target(head=pose, antennas=antennas)
 
-            yaw = target
-            head = np.eye(4)
-            head[:3, :3] = R.from_euler("xyz", [0, 0, yaw], degrees=False).as_matrix()
-
-            reachy_mini.set_position(head=head, antennas=np.array([target, -target]))
-
-            time.sleep(0.01)
-            # if more than one second since last ping, print ping
-            if t % 1 < 0.01:
-                print("Ping")
+            time.sleep(0.02)