https://github.com/pollen-robotics/reachy2-sdk

Reachy 2 Python SDK
https://github.com/pollen-robotics/reachy2-sdk

pollen-robotics reachy sdk

Last synced: 3 months ago
JSON representation

Reachy 2 Python SDK

• Host: GitHub
• URL: https://github.com/pollen-robotics/reachy2-sdk
• Owner: pollen-robotics
• License: apache-2.0
• Created: 2023-08-10T13:11:11.000Z (over 1 year ago)
• Default Branch: develop
• Last Pushed: 2024-10-29T17:35:55.000Z (3 months ago)
• Last Synced: 2024-10-29T18:57:39.287Z (3 months ago)
• Topics: pollen-robotics, reachy, sdk
• Language: Python
• Homepage: https://www.pollen-robotics.com
• Size: 3.82 MB
• Stars: 4
• Watchers: 3
• Forks: 0
• Open Issues: 31
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
# Python SDK for Reachy 2

[![Licence](https://img.shields.io/badge/licence-Apache%202.0-blue)](LICENSE) 

[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black) 

![linter](https://github.com/pollen-robotics/reachy2-sdk/actions/workflows/lint.yml/badge.svg) 

![pytest](https://github.com/pollen-robotics/reachy2-sdk/actions/workflows/unit_tests.yml/badge.svg) 

![coverage](https://img.shields.io/endpoint?url=https://gist.githubusercontent.com/FabienDanieau/92452aca5c894f95fb934dc2a7a6815f/raw/covbadge.json)

![Docs](https://github.com/pollen-robotics/python-template/actions/workflows/docs.yml/badge.svg)

## Install

Use the following command to install:

```console

$ pip install -e .[dev]

```

The *[dev]* option includes tools for developers.

## Usage

Check out the [examples](src/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](https://pollen-robotics.github.io/reachy2-sdk/reachy2_sdk.html)

It can be generated locally with:

```console

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.

```console

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:

```console

$ 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 

```console

$ pytest -m cameras

```

## Logs

The SDK relies on the [python logging system](https://docs.python.org/3/howto/logging.html). Set the desired debug level to see messages from the SDK.

```python

import logging

logging.basicConfig(level=logging.DEBUG)

```