reachy-sdk-api 0.1.1

gRPC Protobuf API definition for Reachy SDK.

Reachy 2021 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 orbita_kinematics.proto:

Service: OrbitaKinematics

• ComputeOrbitaIK - Carry out the inverse kinematics computation for Reachy's orbita neck.
• GetQuaternionTransform - Get the quaternion corresponding to a given lookVector in Reachy's orbita neck coordinate system.

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.

---

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

Visit pollen-robotics.com to learn more or visit our forum if you have any questions.