Introduction

Why using the simulation?#

Whether you don’t have a Reachy 2 robot yet or you simply want to prototype without using the real robot, the simulation is the perfect place to start.

The simulation environment replicates the behavior of the real Reachy 2 robot, allowing you to prototype and test your programs — even if you don’t have a physical robot.

It behaves similarly to the fake mode of the core service available on a real Reachy 2, meaning you can control the robot as if it were real, but without any hardware dependencies.

What is available in the simulation?#

✅ What works:

• Full compatibility with the Python SDK
• Access to the ROS 2 interface, just like with the real robot
• Accurate simulation of robot movements and responses

🚫 What’s not included:

• Camera access is not available yet in simulation (coming soon)
• The WebRTC service is not simulated, meaning teleoperation features are not supported
• Mobile base is not available yet in MuJoCo

Simulation platforms#

2 platforms are currently supported for simulation:

• Gazebo
• MuJoCo (still a work in progress)

Supported OS#

To use simulation, we provide a preconfigured Docker image that let you explore and develop for Reachy 2 on any operating system.
In just a few steps, you’ll be able to interact with a fully simulated robot, ideal for testing behaviors, building applications, or just getting familiar with the platform.