:mod:`reachy.parts.hand`
========================

.. py:module:: reachy.parts.hand

.. autoapi-nested-parse::

   Hand part modules.

   Define different hand parts:

   * a :py:class:`~reachy.parts.hand.ForceGripper`
   * a :py:class:`~reachy.parts.hand.OrbitaWrist`



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

Classes
~~~~~~~

.. autoapisummary::

   reachy.parts.hand.Hand
   reachy.parts.hand.EmptyHand
   reachy.parts.hand.LeftEmptyHand
   reachy.parts.hand.RightEmptyHand
   reachy.parts.hand.ForceGripper
   reachy.parts.hand.LeftForceGripper
   reachy.parts.hand.RightForceGripper
   reachy.parts.hand.OrbitaWrist




.. class:: Hand(root, io)


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

   Hand abstraction part.

   :param side: which side the hand is attached to ('left' or 'right')
   :type side: str
   :param io: port name where the modules can be found
   :type io: str

   .. attribute:: fans
      

      


.. class:: EmptyHand(root, io)


   Bases: :py:obj:`Hand`

   Wrist with no hand Part.

   :param io: port name where the modules can be found
   :type io: str
   :param side: which side the part is attached to ('left' or 'right')
   :type side: str

   Composed of three dynamixel motors.

   .. attribute:: fans
      

      


.. class:: LeftEmptyHand(root, io)


   Bases: :py:obj:`EmptyHand`

   Left Empty Hand Part.

   .. attribute:: dxl_motors
      

      


.. class:: RightEmptyHand(root, io)


   Bases: :py:obj:`EmptyHand`

   Right Empty Hand Part.

   .. attribute:: dxl_motors
      

      


.. class:: ForceGripper(root, io)


   Bases: :py:obj:`Hand`

   Force Gripper Part.

   :param io: port name where the modules can be found
   :type io: str
   :param side: which side the part is attached to ('left' or 'right')
   :type side: str

   Composed of three dynamixel motors and a force sensor for gripping pressure.

   .. attribute:: fans
      

      

   .. method:: __repr__(self)

      Force gripper representation.


   .. method:: open(self, end_pos=-30, duration=1)

      Open the gripper.

      :param end_pos: open end position (in degrees)
      :type end_pos: float
      :param duration: open move duration (in seconds)
      :type duration: float


   .. method:: close(self, end_pos=30, duration=1, target_grip_force=100)

      Close the gripper.

      :param end_pos: close end position (in degrees)
      :type end_pos: float
      :param duration: close move duration (in seconds)
      :type duration: float
      :param target_grip_force: force threshold to stop closing the gripper
      :type target_grip_force: float

      :returns: whether we did grasp something
      :rtype: bool


   .. method:: grip_force(self)
      :property:

      Get current grip force.



.. class:: LeftForceGripper(root, io)


   Bases: :py:obj:`ForceGripper`

   Left Force Gripper Part.

   .. attribute:: dxl_motors
      

      


.. class:: RightForceGripper(root, io)


   Bases: :py:obj:`ForceGripper`

   Right Force Gripper Part.

   .. attribute:: dxl_motors
      

      


.. class:: OrbitaWrist(root, io)


   Bases: :py:obj:`Hand`

   Orbita Wrist hand.

   :param io: port name where the modules can be found
   :type io: str
   :param side: which side the part is attached to ('left' or 'right')
   :type side: str

   A 3dof Orbita Wrist at the end of the arm.

   .. attribute:: dxl_motors
      

      

   .. attribute:: orbita_config
      

      

   .. method:: __repr__(self)

      Orbita wrist representation.


   .. method:: homing(self)

      Launch Wrist homing procedure.