reachy.parts.head

Head part module.

Module Contents

Classes

Head

Head part.
class reachy.parts.head.Head(io)

Bases: reachy.parts.part.ReachyPart

Head part.

Parameters

  • io (str) – port name where the modules can be found

  • default_camera (str) – default camera to enable (‘left’ or ‘right’)

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

orbita_config
dxl_motors
__repr__(self)

Head representation.

teardown(self)

Clean and close head part.

look_at(self, x, y, z, duration, wait)

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

Parameters

  • x (float) – x coordinates in space

  • y (float) – y coordinates in space

  • z (float) – z coordinates in space

  • duration (float) – move duration (in seconds)

  • wait (bool) – whether or not to wait for the end of the motion

property compliant(self)

Check if the neck is compliant.

property moving_speed(self)

Get the current disk moving speed.