AUTHOR: Logan Duong

Outcome

Initial Goal: Get Reachy's arm functioning

Realized Outcome: Success

Steps to achieve outcome

These steps are performed using the following packages. Ensure that these are all installed before starting. These packages come preinstalled on the Reachy Raspberry Pi image, but may have diffferent versions. During our setup, we ran into errors using the most up to date versions.

  1. Ensure that all connections are secure, and that power is being delivered to the dynamixels and Luos Boards. 12V for the arm, and 7.4V for the antenna

  2. After verifying that everything is receiving power, unplug the luos board from power and unplug the usb connection. The arm must be connected in a specific sequence:

    a. Plug in the power for the dynamixels. A blue light will flash briefly on the dynamixel Luos board.

    b. Connect your USB cable to your computer

  3. Next, run the following command to determine which USB port it is plugged into.

pyluos-usb-gate discover

This will return your usb port (/dev/ttyUSB0) for example

  1. Launch python3
python3