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

.. py:module:: reachy.parts.part

.. autoapi-nested-parse::

   Part abstraction module.



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

Classes
~~~~~~~

.. autoapisummary::

   reachy.parts.part.ReachyPart




.. class:: ReachyPart(name, io)


   Bases: :py:obj:`object`

   Part abstraction class.

   :param name: name of the new part, can be composed if it's a subpart (eg. right_arm.hand)
   :type name: str
   :param io: port name where the modules can be found
   :type io: str

   Define instantiation, teardown functionalities.
   Also provides attach function for dynamixel motors and orbita actuator.

   .. method:: teardown(self)

      Clean up before closing.


   .. method:: attach_dxl_motors(self, dxl_motors)

      Attach given dynamixel motors to a part.

      :param dxl_motors: motors config, the config must at least include an id for each motor (see attach_kinematic_chain for extra parameters)
      :type dxl_motors: dict


   .. method:: create_orbita_actuator(self, name, config)

      Attach an orbita actuator to a part.

      :param name: name of the orbita actuator (eg neck for the head part)
      :type name: str
      :param config: orbita configuration (see OrbitaActuator for details)
      :type config: dict


   .. method:: attach_kinematic_chain(self, dxl_motors)

      Attach a kinematic chain composed of the given motors.

      :param dxl_motors: dynamixel motors config (as given in attach_dxl_motors), the config should also include 'link-translation' and 'link-rotation' for each motor
      :type dxl_motors: dict