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

.. py:module:: reachy.parts

.. autoapi-nested-parse::

   Reachy parts submodule.

   Used to define all parts in Reachy:

   * :py:class:`RightArm`, :py:class:`LeftArm`
   * :py:class:`~reachy.parts.hand.ForceGripper`
   * :py:class:`Head`



Submodules
----------
.. toctree::
   :titlesonly:
   :maxdepth: 1

   arm/index.rst
   hand/index.rst
   head/index.rst
   kinematic/index.rst
   motor/index.rst
   part/index.rst


Package Contents
----------------

Classes
~~~~~~~

.. autoapisummary::

   reachy.parts.LeftArm
   reachy.parts.RightArm
   reachy.parts.Head




.. 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
      

      


.. class:: Head(io)


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

   Head part.

   :param io: port name where the modules can be found
   :type io: str
   :param default_camera: default camera to enable ('left' or 'right')
   :type default_camera: str

   Composed of an orbita actuator as neck, two controlled antennas and one camera.

   .. attribute:: orbita_config
      

      

   .. attribute:: dxl_motors
      

      

   .. method:: __repr__(self)

      Head representation.


   .. method:: teardown(self)

      Clean and close head part.


   .. method:: look_at(self, x, y, z, duration, wait)

      Make the head look at a 3D point in space.

      :param x: x coordinates in space
      :type x: float
      :param y: y coordinates in space
      :type y: float
      :param z: z coordinates in space
      :type z: float
      :param duration: move duration (in seconds)
      :type duration: float
      :param wait: whether or not to wait for the end of the motion
      :type wait: bool


   .. method:: compliant(self)
      :property:

      Check if the neck is compliant.


   .. method:: moving_speed(self)
      :property:

      Get the current disk moving speed.