reachy_sdk

ReachySDK package.

This package provides remote access (via socket) to a Reachy robot. It automatically handles the synchronization with the robot. In particular, you can easily get an always up-to-date robot state (joint positions, sensors value). You can also send joint commands, compute forward or inverse kinematics.

class reachy_sdk.reachy_sdk.ReachyParts(value)

Reachy parts options.

class reachy_sdk.reachy_sdk.ReachySDK(host, with_mobile_base=False, sdk_port=50055, camera_port=50057, restart_port=50059)

The ReachySDK class handles the connection with your robot.

It holds:

  • all joints (can be accessed directly via their name or via the joints list).

  • all force sensors (can be accessed directly via their name or via the force_sensors list).

  • all fans (can be accessed directly via their name or via the fans list).

The synchronisation with the robot is automatically launched at instanciation and is handled in background automatically.

Parameters:

  • host (str) –

  • with_mobile_base (bool) –

  • sdk_port (int) –

  • camera_port (int) –

  • restart_port (int) –

turn_off(part)

Turn the joints of the given Reachy’s part compliant.

The requested part can be ‘l_arm’, ‘r_arm’, ‘head’ or ‘reachy’. Having part = ‘reachy’ corresponds to turning all avaible joints compliant.

turn_off_smoothly(part, duration=2.0)

Turn smoothly the joints of the given Reachy’s part compliant.

Used to prevent parts from falling too hardwhen turned compliant.

The requested part can be ‘l_arm’, ‘r_arm’, ‘head’ or ‘reachy’. Having part = ‘reachy’ corresponds to turning all avaible joints compliant.

Parameters:

duration (float) –

turn_on(part)

Turn the joints of the given Reachy’s part stiff.

The requested part can be ‘l_arm’, ‘r_arm’, ‘head’ or ‘reachy’. Having part = ‘reachy’ corresponds to turning all avaible joints stiff.

reachy_sdk.reachy_sdk.flush_communication()

Flush communication before leaving.

We make sure all buffered commands have been sent before actually leaving.

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