| License | |
|---|---|
| Title | Creatives Commons BY-NC-SA 4.0 |
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Reachy simulator based on Unity 2021. It allows to simply play around with our SDK or the teleoperation app.
Download the zip archive from the release page, and unzip it on a Windows computer. Simply run Simulator.exe. The simulator is ready to be used!
- Download the Unity package available on the release page, or add
https://github.com/pollen-robotics/reachy2021-unity-package.git?path=/Packages/ReachySimulator#master
to the Package Manager (add package from git URL).
- Download the grpc_unity_package from the gRPC daily builds. Unzip it in the Assets folder. It can be done automatically from the menu "Pollen Robotics/Install GRPC". You may want to restart Unity if the menu is not visible after installing the package.
- Create a new 3D Unity project (or open an existing one).
- Follow the previous installation steps to add the package to your project.
- Drag and drop Reachy and the Server from the Prefabs folder into your scene.
- Then click Play and start controlling the robot.
You can create your own scene and environment for Reachy to evolve in!
The Unity simulator is only offering the gRPC services of the robot, not the below ROS2 services.
For this reason, the simulator is compatible with:
- Reachy 2021 Python SDK: connect to the simulated robot with the usual command:
from reachy_sdk import ReachySDK
reachy = ReachySDK(host='localhost') # Replace with the actual IP
Use the SDK version 0.5.4. Later versions are for Reachy 2023. pip install reachy-sdk==0.5.4
- VR teleoperation app
- Any gRPC client you may create, based on reachy-sdk-api
Check out our Medium article to see the python SDK in action!