Gravicode.PollenRobotics.Net.MicroDuck 0.1.1

PollenRobotics.Net

An unofficial .NET 10 SDK for Pollen Robotics hardware — Reachy Mini, MicroDuck and Reachy 2 — with a gallery, a 3D simulator and an LLM-assisted code editor.

Built by Gravicode Studios, led by Kang Fadhil.

Bahasa Indonesia di bawah — versi lengkap.

Everything here runs without a robot. The simulator is not a stub bolted on afterwards: the SDK talks to a transport interface, and the in-process simulation implements the same interface the daemon does, so a behaviour written against one runs unchanged against the other.

The simulator: Avalonia shell, three.js viewport, live joint instrumentation. The six struts are the neck's real parallel mechanism, solved every frame.

What is in the box

src/
  PollenRobotics.Net.Core          poses, joints, safety, the realtime loop
  PollenRobotics.Net.Kinematics    Stewart platform, 7-axis arms, damped least squares IK
  PollenRobotics.Net.Transport     line-delimited JSON-RPC, WebSocket, HTTP
  PollenRobotics.Net.ReachyMini    daemon REST + WebSocket client
  PollenRobotics.Net.MicroDuck     robotd JSON-RPC client
  PollenRobotics.Net.Reachy2       gRPC client on Pollen's own reachy2-sdk-api protos
  PollenRobotics.Net.Simulation    kinematic models + in-process transports
  PollenRobotics.Net.Ml            ONNX policy runner, ML.NET gesture classifier
  PollenRobotics.Net.Ai            Semantic Kernel: OpenAI, Anthropic, Gemini, Ollama
  PollenRobotics.Net.Ui            the Avalonia design system
  PollenRobotics.Net.Wizard.Core   project model, template catalogue, build pipeline
apps/     Gallery · Simulator · Wizard · Cli
samples/  DeskCompanion — the worked example the templates are distilled from
tools/    TemplateCheck — scaffolds and compiles every template
tests/    37 tests, xunit.v3
docs/     guides, plus the screenshots above in docs/images/

Getting started

dotnet build PollenRobotics.Net.slnx
dotnet run --project tests/PollenRobotics.Net.Tests

# Nothing below needs a robot.
dotnet run --project apps/PollenRobotics.Net.Gallery
dotnet run --project apps/PollenRobotics.Net.Simulator
dotnet run --project apps/PollenRobotics.Net.Wizard
dotnet run --project samples/PollenRobotics.Net.Samples.DeskCompanion -- --sim

dotnet test will not work here: this is an xUnit v3 project and the .NET 10 SDK no longer bridges it through VSTest. The test project is an executable - run it.

The CLI is the quickest way in:

cd apps/PollenRobotics.Net.Cli

dotnet run -- doctor                  # is a robot reachable, and if not, why
dotnet run -- joints reachy-mini      # the joint model with limits
dotnet run -- templates               # the twenty project templates
dotnet run -- new mini.hello DeskPet  # scaffold one
dotnet run -- mini dance --sim        # drive the simulator

Your first behaviour

using PollenRobotics.Net.Core.Geometry;
using PollenRobotics.Net.ReachyMini;
using PollenRobotics.Net.ReachyMini.Transports;
using PollenRobotics.Net.Simulation.Transports;

// The only line that decides whether this drives hardware or the simulator.
IReachyMiniTransport transport = useSimulator
    ? new SimulatedReachyMiniTransport()
    : new ReachyMiniDaemonTransport(ReachyMiniOptions.Default);

await using var mini = new ReachyMiniClient(transport, ownsTransport: true);

await mini.ConnectAsync();
await mini.EnsureAwakeAsync();

await mini.GotoTargetAsync(
    head: HeadPose.Create(z: 12, pitch: -8, mm: true),
    antennas: (45.Degrees(), (-45).Degrees()),
    duration: TimeSpan.FromSeconds(1.5));

await mini.GotoSleepAsync();

The gallery

Eleven demos, each one running against the simulation through the same client classes an application would use. The code panel is the code that is executing.

Commanding 65 degrees of head pitch against a 40-degree limit. The SDK throws; the exception is in the log, in red, with the fix in the message.

The same tool in light theme, mid-movement. Six neck arcs move together for one head pose — a Stewart platform has no one-to-one mapping between a pose axis and a motor.

The simulator

An Avalonia shell around a Blazor page that renders the robot with three.js. Both halves live in one process and share one SimulationEngine, so the 3D and the status panel read the same snapshot.

MicroDuck under its gait model. The camera follows a robot that travels; the joint arcs show the legs half a cycle apart.

Reachy 2: two seven-axis arms, an Orbita neck, grippers and the mobile base. Twenty-one joints.

The Robot Wizard

A code editor for robot applications, with Jack The Code Bender in a panel beside it.

A project scaffolded from the Idle Life template, opened in the editor. Build, Run and Deploy sit on the toolbar; the log below carries build errors, robot telemetry and Jack's own output in one stream.

Jack writing a behaviour. He looked the API up with the SDK reference functions before answering — CommandedHeadPose, GotoTargetAsync, waitForCompletion are all real members of this SDK, not recalled from something else.

Jack runs on Semantic Kernel and speaks to OpenAI, Anthropic, Gemini or Ollama (and anything OpenAI-compatible, through the endpoint override). His persona, model, temperature and function access live in appsettings.json, so they can be retuned without a rebuild.

He can call:

• the SDK reference — list types, describe a type, search members, read a robot's joint limits
• code generation — project files, program skeletons, the safety rules for a robot
• the web — Tavily search, page reading, file-from-URL
• the ordinary things models are bad at — arithmetic, unit conversion, today's date

Safety

The SDK throws on a limit violation rather than clamping.

Joint 'head.pitch' limited to [-40, 40] deg, commanded 65 deg.
Set RobotSafetyOptions.ClampInsteadOfThrow to clamp instead.

The Python SDK clamps silently, which is friendly in a REPL and dangerous in a control loop: a servo that has been quietly clamped for ten minutes looks exactly like one that is tracking correctly. Clamping is still available — you just have to ask for it.

Status

The SDK builds clean and 40 tests pass. Nothing has been run against physical hardware. Read PROGRESS.md before relying on any of it on a robot — it separates what is verified from what is written against published documentation.

Packages

Eleven packages, published on nuget.org at 0.1.1:

dotnet add package Gravicode.PollenRobotics.Net.ReachyMini
dotnet add package Gravicode.PollenRobotics.Net.Simulation

The version is 0.x deliberately. It reaches 1.0 when a real robot has answered.

The prefix is on the package ID only. Namespaces are unprefixed, so the code stays using PollenRobotics.Net.ReachyMini; everywhere. See docs/publishing.md.

Documentation

Licence

MIT. The .proto files under src/PollenRobotics.Net.Reachy2/Protos/ are Pollen Robotics' own, vendored verbatim from reachy2-sdk-api under Apache 2.0.

This project is not affiliated with or endorsed by Pollen Robotics.

<a name="bahasa-indonesia"></a>

PollenRobotics.Net — Bahasa Indonesia

SDK .NET 10 tidak resmi untuk perangkat keras Pollen Robotics — Reachy Mini, MicroDuck, dan Reachy 2 — lengkap dengan galeri, simulator 3D, dan editor kode berbantuan LLM.

Dibuat oleh Gravicode Studios, dipimpin Kang Fadhil.

Semua yang ada di sini bisa dijalankan tanpa robot. Simulatornya bukan tempelan: SDK berbicara ke sebuah antarmuka transport, dan simulasi in-process mengimplementasikan antarmuka yang sama seperti daemon. Jadi perilaku yang ditulis untuk salah satunya berjalan apa adanya di keduanya.

Isi paket

Mulai cepat

dotnet build PollenRobotics.Net.slnx
dotnet run --project tests/PollenRobotics.Net.Tests

# Semuanya di bawah ini tidak butuh robot.
dotnet run --project apps/PollenRobotics.Net.Gallery
dotnet run --project apps/PollenRobotics.Net.Simulator
dotnet run --project apps/PollenRobotics.Net.Wizard

Lewat CLI:

cd apps/PollenRobotics.Net.Cli

dotnet run -- doctor                  # apakah robot terjangkau, kalau tidak kenapa
dotnet run -- joints reachy-mini      # model sendi beserta batasnya
dotnet run -- templates               # dua puluh templat proyek
dotnet run -- new mini.hello DeskPet  # buat proyek baru
dotnet run -- mini dance --sim        # jalankan di simulator

Perilaku pertama Anda

// Satu-satunya baris yang menentukan ini menggerakkan robot atau simulator.
IReachyMiniTransport transport = useSimulator
    ? new SimulatedReachyMiniTransport()
    : new ReachyMiniDaemonTransport(ReachyMiniOptions.Default);

await using var mini = new ReachyMiniClient(transport, ownsTransport: true);

await mini.ConnectAsync();
await mini.EnsureAwakeAsync();

await mini.GotoTargetAsync(
    head: HeadPose.Create(z: 12, pitch: -8, mm: true),
    antennas: (45.Degrees(), (-45).Degrees()),
    duration: TimeSpan.FromSeconds(1.5));

await mini.GotoSleepAsync();

Galeri

Sebelas demo, masing-masing berjalan di simulasi lewat kelas klien yang sama seperti yang dipakai aplikasi sungguhan. Panel kode di sebelah kanan adalah kode yang sedang berjalan.

Memerintahkan pitch kepala 65 derajat terhadap batas 40 derajat. SDK melempar exception; pesannya muncul merah di log, lengkap dengan cara memperbaikinya.

Alat yang sama dengan tema terang, di tengah gerakan. Enam busur leher bergerak bersama untuk satu pose kepala — platform Stewart tidak punya pemetaan satu-ke-satu antara sumbu pose dan motor.

Simulator

Shell Avalonia yang membungkus halaman Blazor dan merender robot dengan three.js. Keduanya hidup di satu proses dan berbagi satu SimulationEngine.

MicroDuck dengan model gait-nya. Kamera mengikuti robot yang berpindah; busur sendi menunjukkan kedua kaki berselisih setengah siklus.

Reachy 2: dua lengan tujuh sumbu, leher Orbita, gripper, dan mobile base. Dua puluh satu sendi.

Robot Wizard

Editor kode untuk aplikasi robot, dengan Jack The Code Bender di panel sebelahnya.

Proyek hasil templat Idle Life, terbuka di editor. Build, Run, dan Deploy ada di toolbar; log di bawah membawa error build, telemetri robot, dan keluaran Jack dalam satu aliran.

Jack menulis sebuah perilaku. Ia mencari API lewat fungsi referensi SDK sebelum menjawab — CommandedHeadPose, GotoTargetAsync, waitForCompletion semuanya anggota nyata SDK ini, bukan hasil mengingat SDK lain.

Jack berjalan di atas Semantic Kernel dan mendukung OpenAI, Anthropic, Gemini, atau Ollama (dan apa pun yang kompatibel OpenAI, lewat override endpoint). Persona, model, temperature, dan akses fungsinya disimpan di appsettings.json, jadi bisa diubah tanpa build ulang.

Fungsi yang bisa ia panggil:

• referensi SDK — daftar tipe, uraikan tipe, cari anggota, baca batas sendi robot
• pembuatan kode — file proyek, kerangka program, aturan keselamatan tiap robot
• web — pencarian Tavily, pembacaan halaman, baca berkas dari URL
• hal yang model biasanya lemah — aritmetika, konversi satuan, tanggal hari ini

Keselamatan

SDK ini melempar exception saat batas dilanggar, bukan diam-diam menjepit nilai.

Joint 'head.pitch' limited to [-40, 40] deg, commanded 65 deg.
Set RobotSafetyOptions.ClampInsteadOfThrow to clamp instead.

SDK Python menjepit tanpa memberi tahu. Itu ramah untuk REPL dan berbahaya untuk control loop: servo yang sudah sepuluh menit dijepit diam-diam terlihat persis seperti servo yang bekerja normal. Penjepitan tetap tersedia — Anda hanya perlu memintanya secara eksplisit.

Status

SDK ini build bersih dan 40 test lulus. Belum pernah dijalankan pada perangkat keras sungguhan. Baca PROGRESS.md sebelum mengandalkannya di robot — di sana dipisahkan mana yang sudah terverifikasi dan mana yang ditulis berdasarkan dokumentasi publik.

Paket

Sebelas paket, sudah terbit di nuget.org pada versi 0.1.1:

dotnet add package Gravicode.PollenRobotics.Net.ReachyMini
dotnet add package Gravicode.PollenRobotics.Net.Simulation

Versinya sengaja 0.x. Angka 1.0 baru pantas setelah ada robot sungguhan yang menjawab.

Prefix hanya melekat pada ID paket. Namespace tetap tanpa prefix, jadi kode Anda tetap menulis using PollenRobotics.Net.ReachyMini;. Prosedur lengkapnya ada di docs/publishing.md.

Lisensi

MIT. Berkas .proto di src/PollenRobotics.Net.Reachy2/Protos/ adalah milik Pollen Robotics, disalin apa adanya dari reachy2-sdk-api di bawah Apache 2.0.

Proyek ini tidak berafiliasi dengan dan tidak didukung secara resmi oleh Pollen Robotics.