reachy.parts.part
¶
Part abstraction module.
Module Contents¶
Classes¶
Part abstraction class. |
- class reachy.parts.part.ReachyPart(name, io)¶
Bases:
object
Part abstraction class.
- Parameters
Define instantiation, teardown functionalities. Also provides attach function for dynamixel motors and orbita actuator.
- teardown(self)¶
Clean up before closing.
- attach_dxl_motors(self, dxl_motors)¶
Attach given dynamixel motors to a part.
- Parameters
dxl_motors (dict) – motors config, the config must at least include an id for each motor (see attach_kinematic_chain for extra parameters)
- create_orbita_actuator(self, name, config)¶
Attach an orbita actuator to a part.