reachy.parts

Reachy parts submodule.

Used to define all parts in Reachy:

Package Contents

Classes

LeftArm

Left Arm part.

RightArm

Right Arm part.

Head

Head part.
class reachy.parts.LeftArm(io, hand=None)

Bases: reachy.parts.arm.Arm

Left Arm part.

Parameters

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

  • hand (str) – name of the Hand to attach (‘force_gripper’, ‘orbita_wrist’ or it can be None if no hand are attached)

dxl_motors
class reachy.parts.RightArm(io, hand=None)

Bases: reachy.parts.arm.Arm

Right Arm part.

Parameters

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

  • hand (str) – name of the Hand to attach (‘force_gripper’, ‘orbita_wrist’ or it can be None if no hand are attached)

dxl_motors
class reachy.parts.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.