pollenrobotics/reachy2 repository overview

⁠Play with Reachy2 in a Docker container with all the necessary tools pre-installed.

⁠TL;DR

Already have Docker installed? Launch the Reachy2 simulation in a one command!

docker run --rm --platform linux/amd64 -p 8888:8888 -p 6080:6080 -p 50051:50051 --name reachy2 docker.io/pollenrobotics/reachy2

⁠Go check the display sections to access the simulation interfaces.

⁠Pre-requisites

Install Docker
Follow the installation instructions for Docker Desktop⁠.
You don't need to be logged in, as the image is open.

⁠Platform-specific Instructions

⁠Run the Robot Simulation

1. Via Docker Desktop (GUI)

   • Search for the image in the Docker Hub tab.
   • Pull the image.
   • Click Run to launch it via the Docker Desktop GUI.
   • Ensure to set the ports as pre-configured in the command.

2. Via Command Line Interface

   If you prefer using the terminal, you can run the following command. This is a one-liner that launches the container with the required ports exposed:

   docker run --rm --platform linux/amd64 -p 8888:8888 -p 6080:6080 -p 50051:50051 --name reachy2 docker.io/pollenrobotics/reachy2
   

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   • --platform linux/amd64 is only necessary for Apple Silicon (aarch64) platforms.

3. Running with Gazebo
   To launch the simulation with Gazebo and additional configurations, you can add arguments to the command like this:

   docker run --rm --platform linux/amd64 -p 8888:8888 -p 6080:6080 -p 50051:50051 --name reachy2 docker.io/pollenrobotics/reachy2 start_rviz:=true start_sdk_server:=true fake:=true orbbec:=false gazebo:=true
   

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4. Running with MuJoCo
   For now the mobile base is not handled yet, may come in later update:

   docker run --rm --platform linux/amd64 -p 8888:8888 -p 6080:6080 -p 50051:50051 --name reachy2 docker.io/pollenrobotics/reachy2 start_rviz:=true start_sdk_server:=true fake:=true orbbec:=false mujoco:=true
   

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⁠Accessing the Displays

1. Rviz/Gazebo
   To access Rviz or Gazebo, open the following URL in your web browser: http://localhost:6080/vnc.html?autoconnect=1&resize=remote⁠

2. Jupyter Notebook
   To access the notebook interface, go to: http://localhost:8888/tree⁠