Reachy's work envelope


I saw this post (Workspace of Reachy) on the forum but its conversation diverged a bit from its original topic, so I am asking again here: Would it be possible to add documentation on the working envelope of each of Reachy’s arm ?

For example, if we use an iso spherical coordinate system for which the origin is located at an arm’s shoulder motor, what would be the range of radius r and of angles theta and phi reachable by Reachy ?

I could try to find it manually but I would like to have a precise and certified answer (reason why I’m creating this topic).


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