Mobile Base Python SDK for Reachy 2021

As of July 2022, the Reachy robot gained mobility!

Reachy is now equipped with an omnidirectional open source mobile base allowing the robot to move in any direction, turn itself around, go through doors or squeeze through tight spaces.

The mobile base Python SDK is a pure Python SDk library that let you control Reachy's mobile base even without having Reachy's motors turned on.

You can use the SDK over the network. The communication to the robot is done via gRPC and can thus work on most kind of network configurations. Local control of the mobile base directly on Reachy's computer can simply be done using the localhost IP.

License

The mobile base SDK, and the rest of Reachy software, is open-source and released under an Apache-2.0 License.

Installation

From PyPi

pip install mobile-base-sdk

From the source

git clone https://github.com/pollen-robotics/mobile-base-sdk
pip install -e mobile-base-sdk

We recommend using a virtual environment for your development.

The SDK depends on numpy, grpc and reachy-sdk-api.

Getting Started

A section in our online documentation is dedicated to the mobile base SDK to learn how to use it.

Connecting the SDK to Reachy's mobile base is as simple as:

from mobile_base_sdk import MobileBaseSDK

mobile_base = MobileBaseSDK(host='my-reachy-ip')

Examples

Examples are available in this repository as notebooks or Python scripts to show you how to use the mobile base Python SDK.

You will find: *
* *

Connect to a Reachy

It is also possible to connect simultaneously to Reachy and its mobile base using reachy-sdk.

from reachy_sdk import ReachySDK

reachy = ReachySDK(host='my-reachy-ip', with_mobile_base=True)
reachy.mobile_base.goto(x=0.5, y=0.0, theta=0.0)

See the dedicated notebook for an example of using both Reachy and its mobile base simultaneously.

Support

This project adheres to the Contributor code of conduct. By participating, you are expected to uphold this code. Please report unacceptable behavior to contact@pollen-robotics.com.

Visit pollen-robotics.com to learn more or join our Dicord community if you have any questions or want to share your ideas. Follow @PollenRobotics on Twitter for important announcements.