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.
The mobile base SDK, and the rest of Reachy software, is open-source and released under an Apache-2.0 License.
pip install mobile-base-sdk
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.
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 are available in this repository as notebooks or Python scripts to show you how to use the mobile base Python SDK.
You will find:
*
*
*
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.
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.
FAQs
Mobile Base SDK for the Reachy robot.
We found that mobile-base-sdk demonstrated a healthy version release cadence and project activity because the last version was released less than a year ago. It has 1 open source maintainer collaborating on the project.
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