reachy_sdk.head

Reachy Head module.

Handles all specific method to an Head: - the inverse kinematics - look_at function

class reachy_sdk.head.Head(joints, grpc_channel)

Head class.

It exposes the neck orbita actuator at the base of the head. It provides look_at utility function to directly orient the head so it looks at a cartesian point expressed in Reachy’s coordinate system.

Parameters:

joints (List[Joint]) –

look_at(x, y, z, duration, starting_positions=None, sampling_freq=100, interpolation_mode=<function linear>)

Compute and send disks position to look at the (x, y, z) point in Reachy cartesian space.

X is forward, Y is left and Z is upward. They all expressed in meters.

This function will block until the movement is over. See look_at_async for an asynchronous version.

Parameters:

• x (float) –

• y (float) –

• z (float) –

• duration (float) –

• starting_positions (Dict[Joint, float] | None) –

• sampling_freq (float) –

• interpolation_mode (InterpolationMode) –

async look_at_async(x, y, z, duration, starting_positions=None, sampling_freq=100, interpolation_mode=<function linear>)

Compute and send disks position to look at the (x, y, z) point in Reachy cartesian space.

X is forward, Y is left and Z is upward. They all expressed in meters.

This function is asynchronous and will return a Coroutine. This can be used to easily combined multiple goto/look_at. See look_at for an blocking version.

Parameters:

• x (float) –

• y (float) –

• z (float) –

• duration (float) –

• starting_positions (Dict[Joint, float] | None) –

• sampling_freq (float) –

• interpolation_mode (InterpolationMode) –

property neck_orbita_joints

Get the 3 joints composing the Orbita neck.