188 add access to item poses in mujoco scenes#189
Merged
ClaireHzl merged 4 commits intoOct 21, 2025
Conversation
glannuzel
approved these changes
Oct 8, 2025
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Goes with the SDK Client PR : pollen-robotics/reachy2-sdk#553
Add of a mujoco proto with MujocoObjectPose and MujocoObjectsPoses.
Goes with branches:
237 of reachy2_sdk_server
552 of reachy2-sdk
4 of reachy2_mujoco_assets
To test it, you can launch with fruits scene :
reset; ros2 launch reachy_bringup reachy.launch.py start_sdk_server:=true start_rviz:=true fake:=true mujoco:=true scene:=fruitsthen check
reachy.mujoco.get_objects_poses(),reachy.mujoco.get_object_pose('orange1')andreachy.mujoco.get_relative_object_pose('orange1')