reachy-sdk-api 0.7.3

gRPC Protobuf API definition for Reachy SDK.

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.

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This API is part of the version 2021 software release of Reachy.

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