:mod:`reachy.parts.arm`
=======================

.. py:module:: reachy.parts.arm

.. autoapi-nested-parse::

   Arm part module.

   Implements a Right and a Left Arm.



Module Contents
---------------

Classes
~~~~~~~

.. autoapisummary::

   reachy.parts.arm.Arm
   reachy.parts.arm.LeftArm
   reachy.parts.arm.RightArm




Attributes
~~~~~~~~~~

.. autoapisummary::

   reachy.parts.arm.hands


.. data:: hands
   

   

.. class:: Arm(side, io, dxl_motors, hand)


   Bases: :py:obj:`reachy.parts.part.ReachyPart`

   Arm abstraction class.

   :param side: 'right' or 'left'
   :type side: str
   :param io: port name where the modules can be found
   :type io: str
   :param dxl_motors: config of the dynamixel motors composing the arm
   :type dxl_motors: dict
   :param hand: name of the Hand to attach ('force_gripper', 'orbita_wrist' or it can be None if no hand are attached)
   :type hand: str

   Provides high-level access to:
       * ordered list of motors
       * forward and inverse kinematics

   .. attribute:: fans
      

      

   .. method:: teardown(self)

      Clean up before closing.


   .. method:: __repr__(self)

      Arm representation.


   .. method:: forward_kinematics(self, joints_position, use_rad=False)

      Compute the forward kinematics of the Arm.

      :param joints_position: angle joints configuration of the arm (in degrees by default)
      :type joints_position: :py:class:`~numpy.ndarray`
      :param use_rad: whether or not to use radians for joints configuration
      :type use_rad: bool

      .. note:: the end effector will be the end of the Hand if one is attached.


   .. method:: inverse_kinematics(self, target_pose, q0=None, use_rad=False, maxiter=10)

      Approximate the inverse kinematics of the Arm.

      :param target_pose: 4x4 homogeneous pose of the target end effector pose
      :type target_pose: :py:class:`~numpy.ndarray`
      :param q0: joint initial angle configurations (used for bootstraping the optimization)
      :type q0: :py:class:`~numpy.ndarray`
      :param use_rad: whether or not to use radians for joints configuration
      :type use_rad: bool
      :param maxiter: maximum number of iteration to run on the optimizer
      :type maxiter: int

      .. note:: the end effector will be the end of the Hand if one is attached.


   .. method:: enable_temperature_monitoring(self)

      Enable the automatic motor cooling procedure.

      The specified motors temperature will be watched and when they reached a specific threshold, the fan will automatically be turned on.
      When the temperature goes below a lower threshold, they will turn off.


   .. method:: disable_temperature_monitoring(self)

      Disable the automatic motor cooling procedure.


   .. method:: _temperature_monitoring(self)



.. class:: LeftArm(io, hand=None)


   Bases: :py:obj:`Arm`

   Left Arm part.

   :param io: port name where the modules can be found
   :type io: str
   :param hand: name of the :py:class:`~reachy.parts.hand.Hand` to attach ('force_gripper', 'orbita_wrist' or it can be None if no hand are attached)
   :type hand: str

   .. attribute:: dxl_motors
      

      


.. class:: RightArm(io, hand=None)


   Bases: :py:obj:`Arm`

   Right Arm part.

   :param io: port name where the modules can be found
   :type io: str
   :param hand: name of the :py:class:`~reachy.parts.hand.Hand` to attach ('force_gripper', 'orbita_wrist' or it can be None if no hand are attached)
   :type hand: str

   .. attribute:: dxl_motors