reachy2-sdk 1.0.6

Reachy 2 SDK

Python SDK for Reachy 2

Install

Use the following command to install:

$ pip install -e .[dev]

The [dev] option includes tools for developers.

Usage

Check out the examples folder for jupyter notebooks and example scripts.

Documentation

Documentation is generated via pdoc, and it's available at https://pollen-robotics.github.io/reachy2-sdk/reachy2_sdk.html

It can be generated locally with:

pdoc reachy2_sdk --output-dir docs --logo "https://pollen-robotics.github.io/reachy2-sdk/pollen_logo.png" --logo-link "https://www.pollen-robotics.com" --docformat google

The documentation relies on the provided docstrings with the google style. pydocstyle is used to enforced this style.

pydocstyle src/ --convention google --count

Unit tests

To ensure everything is functioning correctly, run the unit tests. There are two groups of tests: offline and online. Offline tests check internal functions using mock objects. Online tests require a connection to a simulated robot (e.g., in rviz), and the virtual robot should exhibit movement during these tests.

To execute the tests, use pytest with an optional category:

$ pytest [-m offline|online]

Note that only offline tests are executed by the Continuous Integration/Continuous Deployment (CI/CD) pipeline, as they don't require a gRPC connection.

Camera tests

Camera tests have their own marks because it requires the cameras to be plugged to the sdk server

$ pytest -m cameras

Logs

The SDK relies on the python logging system. Set the desired debug level to see messages from the SDK.

import logging
logging.basicConfig(level=logging.DEBUG)