Package: reachy-sdk-api
Reachy 2021 and 2023 SDK APICustom gRPC messages and services used by Reachy's SDK server.Install Python SDK APIVia pip:pip install reachy-sdk-apiFrom source:gitclonehttps://github.com/pollen-robotics/reachy-sdk-api.gitcd~/reachy-sdk-api/
pipinstall-epythonGenerate gRPC codeFor Python:python -m grpc_tools.protoc -I./protos --python_out=./python/reachy_sdk_api --grpc_python_out=./python/reachy_sdk_api ./protos/*.protoFor C#:Open reachy_sdk.sln in Visual StudioClick Build > Build SolutionServicesInjoint.proto:Service:JointServiceGetAllJointsId- Return the list of all Reachy's joints ids.GetJointsState- Return the requested properties for the given joints.SendJointsCommands- Set the requested joints to the requested positions.StreamJointsCommands- Set continuously the requested joints to the requested positions.StreamJointsState- Stream the requested properties for the given joints.Inarm_kinematics.proto:Service:ArmKinematicsComputeArmFK- Carry out the forward kinematics computation for Reachy's arm.ComputeArmIK- Carry out the inverse kinematics computation for Reachy's arm.Inhead_kinematics.proto:Service:HeadKinematicsComputeHeadFK- Carry out the forward kinematics computation for Reachy's head.ComputeHeadIK- Carry out the inverse kinematics computation for Reachy's head.Infullbody_cartesian_command.proto:Service:FullBodyCartesianCommandServiceSendFullBodyCartesianCommands- Set the joints to the requested positions given targets in cartesian coordinate system, for both arms and head of Reachy.StreamFullBodyCartesianCommands- Set continuously the joints to the requested positions given targets in cartesian coordinate system, for both arms and head of Reachy.Incamera_reachy.proto:Service:CameraServiceGetImage- Return the image of the requested Reachy's camera.Inzoom_command.proto:Service:ZoomControllerServiceSendZoomCommand- Change Reachy's camera zoom into the requested position.SetZoomSpeed- Change Reachy's camera zoom speed into the requested value.Intrajectory.proto:Service:TrajectoryServiceComputeMinimumJerkTrajectory- Compute a trajectory with a minimum jerk interpolation between a starting and a goal position in a given time.Insensor.proto:Service:SensorServiceGetAllForceSensorsId- Return the list of all Reachy's sensors ids.GetSensorsState- Return the state of the requested sensors.StreamSensorStates- Stream the state of the requested sensors.Inmobile_platform_reachy.proto:Service :MobilityServiceSendDirection- Send velocities commands to the mobile base for a predifined period of time.SendSetSpeed- Send velocities commands to the mobile base.SendGoTo- Send GoTo instruction to the mobile base.DistanceToGoal- Return delta x, delta y, delta theta and distance from the last goal position sent using SendGoTo.SetControlMode- Set the mobile base's control mode.GetControlMode- Get the mobile base's control mode.SetZuuuMode- Set the mobile base's drive mode.GetZuuuMode- Get the mobile base's drive mode.GetBatteryLevel- Get the mobile base's battery voltage.GetOdometry- Get the mobile base's odometry.ResetOdometry- Reset the mobile base's odometry.SetZuuuSafety- Disable / enable the mobile base's anti-collision safety provided by the Lidar.Service :MobileBasePresenceServiceGetMobileBasePresence- Return if a mobile base is specified in Reachy config file. If yes, return the mobile base's version.This API is part of the version 2021 software release of Reachy.Visitpollen-robotics.comto learn more or join ourDicord communityif you have any questions or want to share your ideas.