reachy.parts.hand
¶
Hand part modules.
Define different hand parts:
Module Contents¶
Classes¶
Hand abstraction part. |
|
Wrist with no hand Part. |
|
Left Empty Hand Part. |
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Right Empty Hand Part. |
|
Force Gripper Part. |
|
Left Force Gripper Part. |
|
Right Force Gripper Part. |
|
Orbita Wrist hand. |
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class
reachy.parts.hand.
Hand
(root, io)¶ Bases:
reachy.parts.part.ReachyPart
Hand abstraction part.
- Parameters
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fans
¶
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class
reachy.parts.hand.
EmptyHand
(root, io)¶ Bases:
reachy.parts.hand.Hand
Wrist with no hand Part.
- Parameters
Composed of three dynamixel motors.
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fans
¶
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class
reachy.parts.hand.
LeftEmptyHand
(root, io)¶ Bases:
reachy.parts.hand.EmptyHand
Left Empty Hand Part.
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dxl_motors
¶
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class
reachy.parts.hand.
RightEmptyHand
(root, io)¶ Bases:
reachy.parts.hand.EmptyHand
Right Empty Hand Part.
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dxl_motors
¶
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class
reachy.parts.hand.
ForceGripper
(root, io)¶ Bases:
reachy.parts.hand.Hand
Force Gripper Part.
- Parameters
Composed of three dynamixel motors and a force sensor for gripping pressure.
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fans
¶
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__repr__
(self)¶ Force gripper representation.
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open
(self, end_pos=- 30, duration=1)¶ Open the gripper.
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close
(self, end_pos=30, duration=1, target_grip_force=100)¶ Close the gripper.
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property
grip_force
(self)¶ Get current grip force.
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class
reachy.parts.hand.
LeftForceGripper
(root, io)¶ Bases:
reachy.parts.hand.ForceGripper
Left Force Gripper Part.
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dxl_motors
¶
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class
reachy.parts.hand.
RightForceGripper
(root, io)¶ Bases:
reachy.parts.hand.ForceGripper
Right Force Gripper Part.
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dxl_motors
¶
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