Reachy 2021 and 2023 SDK API

Custom gRPC messages and services used by Reachy's SDK server.

Install Python SDK API

Via pip: pip install reachy-sdk-api

From source:

git clone https://github.com/pollen-robotics/reachy-sdk-api.git
cd ~/reachy-sdk-api/
pip install -e python

Generate gRPC code

• For Python:

python -m grpc_tools.protoc -I./protos --python_out=./python/reachy_sdk_api --grpc_python_out=./python/reachy_sdk_api ./protos/*.proto

• For C#:

Open reachy_sdk.sln in Visual Studio
Click Build > Build Solution

Services

In joint.proto:

Service: JointService

• GetAllJointsId - 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.

In arm_kinematics.proto:

Service: ArmKinematics

• ComputeArmFK - Carry out the forward kinematics computation for Reachy's arm.
• ComputeArmIK - Carry out the inverse kinematics computation for Reachy's arm.

In head_kinematics.proto:

Service: HeadKinematics

• ComputeHeadFK - Carry out the forward kinematics computation for Reachy's head.
• ComputeHeadIK - Carry out the inverse kinematics computation for Reachy's head.

In fullbody_cartesian_command.proto:

Service: FullBodyCartesianCommandService

• SendFullBodyCartesianCommands - 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.

In camera_reachy.proto:

Service: CameraService

• GetImage - Return the image of the requested Reachy's camera.

In zoom_command.proto:

Service: ZoomControllerService

• SendZoomCommand - Change Reachy's camera zoom into the requested position.
• SetZoomSpeed - Change Reachy's camera zoom speed into the requested value.

In trajectory.proto:

Service: TrajectoryService

• ComputeMinimumJerkTrajectory - Compute a trajectory with a minimum jerk interpolation between a starting and a goal position in a given time.

In sensor.proto:

Service: SensorService

• GetAllForceSensorsId - 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.

In mobile_platform_reachy.proto:

Service : MobilityService

• SendDirection - 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 : MobileBasePresenceService

• GetMobileBasePresence - 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.

Visit pollen-robotics.com to learn more or join our Dicord community if you have any questions or want to share your ideas.