Reachy2 fake mujoco sdk server

You can interact with Reachy2 in mujoco through Reachy2's (fake) sdk!

For now this is a minimalistic re-implementation of the sdk, far from feature complete, but with enough basic fonctionnality to perform complex tasks.

Features :

• joint space control
• 6D end effector space control with goto and Reachy2's symbolic ik
• mobile base control
• access to the cameras (rgb and depth)

This is an early prototype, expect bugs :)

Installation

Using a virtual environment is advised

pip install -e .

Usage

Run the server :

$ reachy2-mujoco

Then you can use the ReachySDK as usual, just import it from reachy2_mujoco :

from reachy2_mujoco import ReachySDK

reachy = ReachySDK("localhost")

reachy.mobile_base.goto(-1.0, 1.0, -np.pi / 2)

reachy.r_arm.shoulder_pitch.goal_position = np.pi/2
# target_pose = <...> # 4x4 pose matrix
# reachy.r_arm.goto(target_pose)

reachy.send_goal_positions()

Demos

reachy2_mujoco_early_demo.mp4

reachy2_mujoco-2025-01-17_11.39.21.mp4

reachy2_balance-2025-01-27_19.05.22.mp4

TODO

• Match mobile base behavior with real one
• Better tune the actuators to match real behavior (ideally, perform system identification)
• Check that depth is metric
• Improve performance