Using the mobile base without Reachy

There is no need to instanciate the entire Reachy stack to interact with the mobile base. Instanciating the mobile-base-sdk alone is very fast and easy:

from mobile_base_sdk import MobileBaseSDK

mobile_base = MobileBaseSDK('your-reachy-ip')

This will work even if the upper body is not powered (the computer has to be powered though).

Once the object ‘mobile_base’ is implemented the syntax is the same to what has been covered in the rest of the documentation, just remove the “reachy.” keyword. For example, to read the odometry just type:

mobile_base.odometry

You can use this Jupyter Notebook example to test this.