Metadata-Version: 2.1
Name: reachy-sdk-api
Version: 0.2.0
Summary: gRPC Protobuf API definition for Reachy SDK.
Home-page: https://github.com/pollen-robotics/reachy-sdk-api
Author: Pollen Robotics
Author-email: contact@pollen-robotics.com
License: UNKNOWN
Description: # Reachy 2021 SDK API
        
        Custom gRPC messages and services used by Reachy's SDK server.
        
        
        ## Install Python SDK API
        
        Via pip:
        ```pip install reachy-sdk-api```
        
        From source:
        ```bash
        git clone https://github.com/pollen-robotics/reachy-sdk-api.git
        cd ~/reachy-sdk-api/
        pip install -e python
        ```
        
        ## Generate gRPC code
        
        * For Python:
        
        ```python -m grpc_tools.protoc -I./protos --python_out=./python/reachy_sdk_api --grpc_python_out=./python/reachy_sdk_api ./protos/*.proto```
        
        * For C#:
        
        Open reachy_sdk.sln in Visual Studio\
        Click Build > Build Solution
        
        
        ## Services
        ### In *[joint.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/joint.proto)*:
        Service: **JointService**
        * **GetAllJointsId** - Return the list of all Reachy's joints ids.
        * **GetJointsState** - Return the requested properties for the given joints.
        * **SendJointsCommands** - Set the requested joints to the requested positions.
        * **StreamJointsCommands** - Set continuously the requested joints to the requested positions.
        * **StreamJointsState** - Stream the requested properties for the given joints.
        
        ### In *[arm_kinematics.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/arm_kinematics.proto)*:
        Service: **ArmKinematics**
        * **ComputeArmFK** - Carry out the forward kinematics computation for Reachy's arm.
        * **ComputeArmIK** - Carry out the inverse kinematics computation for Reachy's arm.
        
        ### In *[orbita_kinematics.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/orbita_kinematics.proto)*:
        Service: **OrbitaKinematics**
        * **ComputeOrbitaIK** - Carry out the inverse kinematics computation for Reachy's orbita neck.
        * **GetQuaternionTransform** - Get the quaternion corresponding to a given lookVector in Reachy's orbita neck coordinate system.
        
        ### In *[fullbody_cartesian_command.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/fullbody_cartesian_command.proto)*:
        Service: **FullBodyCartesianCommandService**
        * **SendFullBodyCartesianCommands** - Set the joints to the requested positions given targets in cartesian coordinate system, for both arms and head of Reachy.
        * **StreamFullBodyCartesianCommands** - Set continuously the joints to the requested positions given targets in cartesian coordinate system, for both arms and head of Reachy.
        
        ### In *[camera_reachy.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/camera_reachy.proto)*:
        Service: **CameraService**
        * **GetImage** - Return the image of the requested Reachy's camera.
        
        ### In *[zoom_command.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/zoom_command.proto)*:
        Service: **ZoomControllerService**
        * **SendZoomCommand** - Change Reachy's camera zoom into the requested position.
        * **SetZoomSpeed** - Change Reachy's camera zoom speed into the requested value.
        
        ### In *[trajectory.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/trajectory.proto)*:
        Service: **TrajectoryService**
        * **ComputeMinimumJerkTrajectory** - Compute a trajectory with a minimum jerk interpolation between a starting and a goal position in a given time.
        
        ### In *[sensor.proto](https://github.com/pollen-robotics/reachy-sdk-api/blob/main/protos/sensor.proto)*:
        Service: **SensorService**
        * **GetAllForceSensorsId** - Return the list of all Reachy's sensors ids.
        * **GetSensorsState** - Return the state of the requested sensors.
        * **StreamSensorStates** - Stream the state of the requested sensors.
        
        ---
        
        This API is part of the version 2021 software release of Reachy.
        
        Visit [pollen-robotics.com](https://pollen-robotics.com) to learn more or visit [our forum](https://forum.pollen-robotics.com) if you have any questions.
        
Platform: UNKNOWN
Description-Content-Type: text/markdown
