{"id":18456414,"url":"https://github.com/pollen-robotics/reachy-sdk-api","last_synced_at":"2025-04-08T04:34:52.152Z","repository":{"id":37471912,"uuid":"319668410","full_name":"pollen-robotics/reachy-sdk-api","owner":"pollen-robotics","description":"Reachy 2021 and 2023 SDK gRPC APIs.","archived":false,"fork":false,"pushed_at":"2023-10-04T10:16:41.000Z","size":8820,"stargazers_count":2,"open_issues_count":3,"forks_count":3,"subscribers_count":2,"default_branch":"main","last_synced_at":"2025-03-23T06:41:23.788Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"C#","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/pollen-robotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2020-12-08T14:46:34.000Z","updated_at":"2023-05-17T09:47:53.000Z","dependencies_parsed_at":"2024-11-06T08:11:32.387Z","dependency_job_id":"062b1aba-24e8-4403-93df-7cddf516b99c","html_url":"https://github.com/pollen-robotics/reachy-sdk-api","commit_stats":{"total_commits":99,"total_committers":7,"mean_commits":"14.142857142857142","dds":0.6363636363636364,"last_synced_commit":"0e7a5b68407e1d3992109f292ea9988112104473"},"previous_names":[],"tags_count":10,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Freachy-sdk-api","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Freachy-sdk-api/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Freachy-sdk-api/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pollen-robotics%2Freachy-sdk-api/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/pollen-robotics","download_url":"https://codeload.github.com/pollen-robotics/reachy-sdk-api/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":247779796,"owners_count":20994569,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-06T08:11:29.047Z","updated_at":"2025-04-08T04:34:51.652Z","avatar_url":"https://github.com/pollen-robotics.png","language":"C#","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Reachy 2021 and 2023 SDK API\n\nCustom gRPC messages and services used by Reachy's SDK server.\n\n\n## Install Python SDK API\n\nVia pip:\n```pip install reachy-sdk-api```\n\nFrom source:\n```bash\ngit clone https://github.com/pollen-robotics/reachy-sdk-api.git\ncd ~/reachy-sdk-api/\npip install -e python\n```\n\n## Generate gRPC code\n\n* For Python:\n\n```python -m grpc_tools.protoc -I./protos --python_out=./python/reachy_sdk_api --grpc_python_out=./python/reachy_sdk_api ./protos/*.proto```\n\n* For C#:\n\nOpen reachy_sdk.sln in Visual Studio\\\nClick Build \u003e Build Solution\n\n\n## Services\n### In *[joint.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/joint.proto)*:\nService: **JointService**\n* **GetAllJointsId** - Return the list of all Reachy's joints ids.\n* **GetJointsState** - Return the requested properties for the given joints.\n* **SendJointsCommands** - Set the requested joints to the requested positions.\n* **StreamJointsCommands** - Set continuously the requested joints to the requested positions.\n* **StreamJointsState** - Stream the requested properties for the given joints.\n\n### In *[arm_kinematics.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/arm_kinematics.proto)*:\nService: **ArmKinematics**\n* **ComputeArmFK** - Carry out the forward kinematics computation for Reachy's arm.\n* **ComputeArmIK** - Carry out the inverse kinematics computation for Reachy's arm.\n\n### In *[head_kinematics.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/head_kinematics.proto)*:\nService: **HeadKinematics**\n* **ComputeHeadFK** - Carry out the forward kinematics computation for Reachy's head.\n* **ComputeHeadIK** - Carry out the inverse kinematics computation for Reachy's head.\n\n### In *[fullbody_cartesian_command.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/fullbody_cartesian_command.proto)*:\nService: **FullBodyCartesianCommandService**\n* **SendFullBodyCartesianCommands** - Set the joints to the requested positions given targets in cartesian coordinate system, for both arms and head of Reachy.\n* **StreamFullBodyCartesianCommands** - Set continuously the joints to the requested positions given targets in cartesian coordinate system, for both arms and head of Reachy.\n\n### In *[camera_reachy.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/camera_reachy.proto)*:\nService: **CameraService**\n* **GetImage** - Return the image of the requested Reachy's camera.\n\n### In *[zoom_command.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/zoom_command.proto)*:\nService: **ZoomControllerService**\n* **SendZoomCommand** - Change Reachy's camera zoom into the requested position.\n* **SetZoomSpeed** - Change Reachy's camera zoom speed into the requested value.\n\n### In *[trajectory.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/trajectory.proto)*:\nService: **TrajectoryService**\n* **ComputeMinimumJerkTrajectory** - Compute a trajectory with a minimum jerk interpolation between a starting and a goal position in a given time.\n\n### In *[sensor.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/sensor.proto)*:\nService: **SensorService**\n* **GetAllForceSensorsId** - Return the list of all Reachy's sensors ids.\n* **GetSensorsState** - Return the state of the requested sensors.\n* **StreamSensorStates** - Stream the state of the requested sensors.\n\n### In *[mobile_platform_reachy.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/mobile_platform_reachy.proto)*:\nService : **MobilityService**\n* **SendDirection** - Send velocities commands to the mobile base for a predifined period of time.\n* **SendSetSpeed** - Send velocities commands to the mobile base.\n* **SendGoTo** - Send GoTo instruction to the mobile base.\n* **DistanceToGoal** - Return delta x, delta y, delta theta and distance from the last goal position sent using SendGoTo.\n* **SetControlMode** - Set the mobile base's control mode.\n* **GetControlMode** - Get the mobile base's control mode.\n* **SetZuuuMode** - Set the mobile base's drive mode.\n* **GetZuuuMode** - Get the mobile base's drive mode.\n* **GetBatteryLevel** - Get the mobile base's battery voltage.\n* **GetOdometry** - Get the mobile base's odometry.\n* **ResetOdometry** - Reset the mobile base's odometry.\n* **SetZuuuSafety** - Disable / enable the mobile base's anti-collision safety provided by the Lidar.\n\nService : **MobileBasePresenceService**\n* **GetMobileBasePresence** - Return if a mobile base is specified in Reachy config file. If yes, return the mobile base's version.\n---\n\nThis API is part of the version 2021 software release of Reachy.\n\nVisit [pollen-robotics.com](https://pollen-robotics.com) to learn more or join our [Dicord community](https://discord.gg/vnYD6GAqJR) if you have any questions or want to share your ideas.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpollen-robotics%2Freachy-sdk-api","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fpollen-robotics%2Freachy-sdk-api","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpollen-robotics%2Freachy-sdk-api/lists"}