pollen-robotics/reachy2-sdk
Oct 2024 – Aug 2025
8 Months active
Languages Used
JSONPythoncfgC++Jupyter NotebookMarkdowngRPCCython
Technical Skills
Embedded SystemsMobile RoboticsPython ProgrammingRoboticsSDK DevelopmentSoftware Development
glannuzel
PROFILE
Glannuzel
Gaëlle Lannuzel developed and maintained advanced robotics features for the pollen-robotics/reachy2-sdk, focusing on reliable hardware control, robust API design, and maintainable code. Over eight months, she delivered enhancements such as mobile base navigation, hand and gripper manipulation, and camera and audio lifecycle management, using Python and gRPC to ensure seamless integration and testability. Her work included refactoring for code quality, implementing asynchronous and multithreaded logic, and expanding test coverage to reduce flakiness and improve deployment safety. By addressing both feature delivery and bug resolution, Gaëlle ensured the SDK’s stability, forward compatibility, and efficient developer experience across releases.
Overall Statistics
Feature vs Bugs
65%Features
Repository Contributions
175Total
Bugs
29
Commits
175
Features
53
Lines of code
14,821
Activity Months8
Your Network
7 people
Work History
August 2025
14 Commits • 3 Features
Aug 1, 2025Monthly summary for 2025-08: Delivered reliability-focused enhancements across the pollen-robotics/reachy2-sdk, improving mobile base velocity handling, camera lifecycle, and audio/media connectivity. These changes reduce runtime errors, improve startup/shutdown robustness, and expand test coverage, delivering business value through increased uptime and safer autonomous operation.
14 Commits • 3 Features
Aug 1, 2025Monthly summary for 2025-08: Delivered reliability-focused enhancements across the pollen-robotics/reachy2-sdk, improving mobile base velocity handling, camera lifecycle, and audio/media connectivity. These changes reduce runtime errors, improve startup/shutdown robustness, and expand test coverage, delivering business value through increased uptime and safer autonomous operation.
August 2025
April 2025
7 Commits • 1 Features
Apr 1, 2025In April 2025, delivered reliability and performance improvements for pollen-robotics/reachy2-sdk with a strong focus on gripper control and SDK test stability. Implemented test reliability consolidations, timing adjustments for asynchronous updates, and replay optimizations that reduce flakiness and shorten CI/test cycles. Also cleaned up ReachySDK by removing an unused _grpc_status property, simplifying the class and maintenance burden. These efforts improve hardware SDK reliability, accelerate development feedback, and drive more deterministic automated tests across components.
April 2025
7 Commits • 1 Features
Apr 1, 2025In April 2025, delivered reliability and performance improvements for pollen-robotics/reachy2-sdk with a strong focus on gripper control and SDK test stability. Implemented test reliability consolidations, timing adjustments for asynchronous updates, and replay optimizations that reduce flakiness and shorten CI/test cycles. Also cleaned up ReachySDK by removing an unused _grpc_status property, simplifying the class and maintenance burden. These efforts improve hardware SDK reliability, accelerate development feedback, and drive more deterministic automated tests across components.
March 2025
58 Commits • 22 Features
Mar 1, 2025March 2025 performance summary for pollen-robotics/reachy2-sdk. Focused on delivering robust hand manipulation capabilities, API resilience, and code quality improvements to enable safer and more scalable robotic operations. Major work included delivering Hand Goto functionality with gripper gotorequest handling, stabilizing height control, and fixing critical inheritance and test stability issues. Expanded test coverage for tripod (offline and online) and updated tests to align with API changes. Implemented API versioning warnings and reachy2_sdk_api checks to prevent API-compatibility issues, while improving documentation, typing, and code quality. Overall impact: increased reliability, safer hand manipulation, better maintainability, and faster feature delivery across versions.
58 Commits • 22 Features
Mar 1, 2025March 2025 performance summary for pollen-robotics/reachy2-sdk. Focused on delivering robust hand manipulation capabilities, API resilience, and code quality improvements to enable safer and more scalable robotic operations. Major work included delivering Hand Goto functionality with gripper gotorequest handling, stabilizing height control, and fixing critical inheritance and test stability issues. Expanded test coverage for tripod (offline and online) and updated tests to align with API changes. Implemented API versioning warnings and reachy2_sdk_api checks to prevent API-compatibility issues, while improving documentation, typing, and code quality. Overall impact: increased reliability, safer hand manipulation, better maintainability, and faster feature delivery across versions.
March 2025
February 2025
68 Commits • 19 Features
Feb 1, 2025February 2025 (2025-02) summary for pollen-robotics/reachy2-sdk: Focused on navigation reliability, mobile-base capabilities, API stability, and maintainability. Highlights include feature delivery for enhanced goto/navigation, core mobile-base improvements, and observability, alongside API alignment fixes and improved testing/documentation. The work reduces risk in field deployments by improving movement accuracy, base control, and traceability, while increasing developer efficiency through clearer docs and tests. Key features delivered: - Added log on reset odom (commit 8d09fc63ad7520fb97de9b26bdcf1f126c9443c7). - Mobile Base Core Enhancements delivering core navigation capabilities and safer defaults (commits: 63e0c9e7e94005f7e0def93a940975b6c812ef, 0a9db302e6838049427820ebfa1e9eda71b00b92, b575b6025dd78339a997d173fda7a8d5b7b9bdd8, aa644c71cdec5b56197931f3441f493a914930c5). - Elliptical goto support and parameter enhancements (commits: 3784bff8ac331fb20533b9e89783385e1687e29f, 45a5dbf1e487b9489b74a288448ddd9c407a8722, 67d6d74d13a9ec66c0254a52a6bce38f5f8f94c9, 910cd8d83015b4b1c3a1e357160b5b4253cc3977, 82a24a33436461599937c8edcb7546ba687a0dbd). - Antenna goto support and component integration (commits: 92af86ef455943f0ed3defd2e122b781b0344423, ec98da4cfff5c46deda8b47fbc639e8cda1a0a80, 889efac365d988dffa1cd1485b31125932f8479b, 27e51194938f212a4455c5fa5253b89c3cfd8e96). - Code quality, docs, and tests improvements (commits: 520bdbf25a644474de7c462a7da04c737ee0400a, fba10f4c1cad85bf5e45e010e814d134888ea41b, 8206bb148669fe34bbcdbac27b3675f974c81a4a, afd381297f73db11d6f04c557df318e6e2c53cf5, 7b4dc4e999b3a5e49c9d0e85820a1edfda8ed33d). Major bugs fixed: - API alignment and behavior fixes (afad5c061f68a099bafaab59cabe13165340adcc). - Mobile base wait/update fixes (0adbace42f29142b8cf7a1960d04234f2b32a035). - Elliptical mode handling in joint space and related parameter fixes (ea967e155fc3030d82a939bee352958cc87c7634, 5b6413c494386e8a9ecfa66b66a2a8e6ddeff061). - Type and grpc message handling fixes (e23f4070d2397a7a9ad147867dde7ecc72c5a127, be29ea3d5fc6b858cd7837c07e1b9888ac2f42c3). - Test stability and reliability improvements (8206bb148669fe34bbcdbac27b3675f974c81a4a). Overall impact and accomplishments: - Strengthened navigation and base control leading to more reliable autonomous operations in dynamic environments. - Improved API stability and forward compatibility with ongoing changes in the goto/navigation stack. - Increased developer productivity and confidence through better documentation, tests, and logging/observability. Technologies/skills demonstrated: - Python development, refactoring and API tuning. - Documentation via pydoc-style updates. - Test automation, notebook alignment, and CI readiness.
February 2025
68 Commits • 19 Features
Feb 1, 2025February 2025 (2025-02) summary for pollen-robotics/reachy2-sdk: Focused on navigation reliability, mobile-base capabilities, API stability, and maintainability. Highlights include feature delivery for enhanced goto/navigation, core mobile-base improvements, and observability, alongside API alignment fixes and improved testing/documentation. The work reduces risk in field deployments by improving movement accuracy, base control, and traceability, while increasing developer efficiency through clearer docs and tests. Key features delivered: - Added log on reset odom (commit 8d09fc63ad7520fb97de9b26bdcf1f126c9443c7). - Mobile Base Core Enhancements delivering core navigation capabilities and safer defaults (commits: 63e0c9e7e94005f7e0def93a940975b6c812ef, 0a9db302e6838049427820ebfa1e9eda71b00b92, b575b6025dd78339a997d173fda7a8d5b7b9bdd8, aa644c71cdec5b56197931f3441f493a914930c5). - Elliptical goto support and parameter enhancements (commits: 3784bff8ac331fb20533b9e89783385e1687e29f, 45a5dbf1e487b9489b74a288448ddd9c407a8722, 67d6d74d13a9ec66c0254a52a6bce38f5f8f94c9, 910cd8d83015b4b1c3a1e357160b5b4253cc3977, 82a24a33436461599937c8edcb7546ba687a0dbd). - Antenna goto support and component integration (commits: 92af86ef455943f0ed3defd2e122b781b0344423, ec98da4cfff5c46deda8b47fbc639e8cda1a0a80, 889efac365d988dffa1cd1485b31125932f8479b, 27e51194938f212a4455c5fa5253b89c3cfd8e96). - Code quality, docs, and tests improvements (commits: 520bdbf25a644474de7c462a7da04c737ee0400a, fba10f4c1cad85bf5e45e010e814d134888ea41b, 8206bb148669fe34bbcdbac27b3675f974c81a4a, afd381297f73db11d6f04c557df318e6e2c53cf5, 7b4dc4e999b3a5e49c9d0e85820a1edfda8ed33d). Major bugs fixed: - API alignment and behavior fixes (afad5c061f68a099bafaab59cabe13165340adcc). - Mobile base wait/update fixes (0adbace42f29142b8cf7a1960d04234f2b32a035). - Elliptical mode handling in joint space and related parameter fixes (ea967e155fc3030d82a939bee352958cc87c7634, 5b6413c494386e8a9ecfa66b66a2a8e6ddeff061). - Type and grpc message handling fixes (e23f4070d2397a7a9ad147867dde7ecc72c5a127, be29ea3d5fc6b858cd7837c07e1b9888ac2f42c3). - Test stability and reliability improvements (8206bb148669fe34bbcdbac27b3675f974c81a4a). Overall impact and accomplishments: - Strengthened navigation and base control leading to more reliable autonomous operations in dynamic environments. - Improved API stability and forward compatibility with ongoing changes in the goto/navigation stack. - Increased developer productivity and confidence through better documentation, tests, and logging/observability. Technologies/skills demonstrated: - Python development, refactoring and API tuning. - Documentation via pydoc-style updates. - Test automation, notebook alignment, and CI readiness.
January 2025
7 Commits • 2 Features
Jan 1, 2025Monthly Summary for 2025-01 (pollen-robotics/reachy2-sdk) Key features delivered: - Code formatting cleanup for mobile_base.py: Reformatted with Black; no functional changes. Commit: 8ebae3d8c25f1c775596cdd744d79d557a3a3907. - Mobile base goto behavior improvements: Zero-duration wait when awaiting a response, added goto_posture wrapper, and robust wait logic with odometry data and debugging aids. Commits: f45a7d8327a0dfa3d81e5215384ba7b0b27763da; 10ba105c3b10a95edeb5cc171bc85c689f971466; 9248a1147de4583f21a57d33f19ce296959d9458. - Goto parameter validation fixes for Arm and Head: Corrected argument order to ensure proper parameter handling. Commits: 0b3da5bee412db5535330ed048402984d36ab224; 69db1ef8983bda4d110d4324864fcbbc1215f641. - Correct ReachySDK mobile_base part reference: Fixed incorrect part reference from head to mobile_base. Commit: 5558c246f37a1ef0a027851355ad5244c63dc8c8. Major bugs fixed: - Corrected argument order for goto parameter validation (Arm and Head) to prevent parameter misinterpretation. - Fixed part reference in ReachySDK to ensure actions target the correct mobile_base instance. Overall impact and accomplishments: - Increased reliability and safety of mobile_base goto operations through proper parameter handling and robust wait logic. - Improved maintainability and readability of the mobile_base module via standardized formatting. - Reduced debugging time with enhanced visibility during waits and odometry-based validations. Technologies/skills demonstrated: - Python coding standards (Black formatting) and code cleanliness. - Robust numerical and state-based waiting logic using odometry data. - Parameter validation, error handling, and defensive programming. - Version control hygiene with clear commit messages and traceability to features and bug fixes.
7 Commits • 2 Features
Jan 1, 2025Monthly Summary for 2025-01 (pollen-robotics/reachy2-sdk) Key features delivered: - Code formatting cleanup for mobile_base.py: Reformatted with Black; no functional changes. Commit: 8ebae3d8c25f1c775596cdd744d79d557a3a3907. - Mobile base goto behavior improvements: Zero-duration wait when awaiting a response, added goto_posture wrapper, and robust wait logic with odometry data and debugging aids. Commits: f45a7d8327a0dfa3d81e5215384ba7b0b27763da; 10ba105c3b10a95edeb5cc171bc85c689f971466; 9248a1147de4583f21a57d33f19ce296959d9458. - Goto parameter validation fixes for Arm and Head: Corrected argument order to ensure proper parameter handling. Commits: 0b3da5bee412db5535330ed048402984d36ab224; 69db1ef8983bda4d110d4324864fcbbc1215f641. - Correct ReachySDK mobile_base part reference: Fixed incorrect part reference from head to mobile_base. Commit: 5558c246f37a1ef0a027851355ad5244c63dc8c8. Major bugs fixed: - Corrected argument order for goto parameter validation (Arm and Head) to prevent parameter misinterpretation. - Fixed part reference in ReachySDK to ensure actions target the correct mobile_base instance. Overall impact and accomplishments: - Increased reliability and safety of mobile_base goto operations through proper parameter handling and robust wait logic. - Improved maintainability and readability of the mobile_base module via standardized formatting. - Reduced debugging time with enhanced visibility during waits and odometry-based validations. Technologies/skills demonstrated: - Python coding standards (Black formatting) and code cleanliness. - Robust numerical and state-based waiting logic using odometry data. - Parameter validation, error handling, and defensive programming. - Version control hygiene with clear commit messages and traceability to features and bug fixes.
January 2025
December 2024
5 Commits • 1 Features
Dec 1, 2024December 2024 monthly summary for pollen-robotics/reachy2-sdk focusing on delivering hardware-control improvements for Reachy 2: antenna and head motion system enhancements, motor state handling, and integration into the Head component. Implemented motor class refactor, refined gesture/animation states, and expanded emotion set. Included a runnable demo notebook and code-quality improvements to ensure maintainability and reliability.
December 2024
5 Commits • 1 Features
Dec 1, 2024December 2024 monthly summary for pollen-robotics/reachy2-sdk focusing on delivering hardware-control improvements for Reachy 2: antenna and head motion system enhancements, motor state handling, and integration into the Head component. Implemented motor class refactor, refined gesture/animation states, and expanded emotion set. Included a runnable demo notebook and code-quality improvements to ensure maintainability and reliability.
November 2024
13 Commits • 3 Features
Nov 1, 2024Month: 2024-11 — Readout for pollen-robotics/reachy2-sdk focusing on delivered value to customers and developer experience. Highlights include a more accurate default right-arm posture, safer simulation in FAKE mode, stronger maintainability, and reinforced test reliability. The work supports faster onboarding, safer testing, and measurable improvements in SDK stability and compatibility across releases.
13 Commits • 3 Features
Nov 1, 2024Month: 2024-11 — Readout for pollen-robotics/reachy2-sdk focusing on delivered value to customers and developer experience. Highlights include a more accurate default right-arm posture, safer simulation in FAKE mode, stronger maintainability, and reinforced test reliability. The work supports faster onboarding, safer testing, and measurable improvements in SDK stability and compatibility across releases.
November 2024
October 2024
3 Commits • 2 Features
Oct 1, 2024Month 2024-10 — Delivered two core features in pollen-robotics/reachy2-sdk: ReachyInfo core runtime mode reporting and Mobile Base rotation API upgrade with degrees support. These updates improve runtime visibility across FAKE/REAL/GAZEBO modes and provide a more ergonomic, degree-based API with correct deg-to-rad conversion for goto, complemented by usage examples. The work enhances cross-environment operability, reduces integration friction for external controllers, and improves testing reliability in both simulation and real hardware deployments.
October 2024
3 Commits • 2 Features
Oct 1, 2024Month 2024-10 — Delivered two core features in pollen-robotics/reachy2-sdk: ReachyInfo core runtime mode reporting and Mobile Base rotation API upgrade with degrees support. These updates improve runtime visibility across FAKE/REAL/GAZEBO modes and provide a more ergonomic, degree-based API with correct deg-to-rad conversion for goto, complemented by usage examples. The work enhances cross-environment operability, reduces integration friction for external controllers, and improves testing reliability in both simulation and real hardware deployments.
Activity
Loading activity data...
Quality Metrics
Correctness88.8%
Maintainability89.4%
Architecture85.2%
Performance82.8%
AI Usage20.2%
Skills & Technologies
Programming Languages
C++CythonJSONJupyter NotebookMarkdownPythoncfggRPC
Technical Skills
API DesignAPI DevelopmentAPI IntegrationAnimationAsynchronous ProgrammingBackend DevelopmentBug FixC++ DevelopmentCode CleanupCode FormattingCode QualityCode RefactoringCode StyleComputer VisionConfiguration
Repositories Contributed To
Overview of all repositories you've contributed to across your timeline