reachy.trajectory
¶
Trajectory utility module.
Submodules¶
Package Contents¶
Classes¶
Trajectory Recorder utility class. |
|
Trajectory player abstraction. |
- class reachy.trajectory.TrajectoryRecorder(motors, position_field='present_position', freq=100)¶
Bases:
object
Trajectory Recorder utility class.
- Parameters
motors (list) – list of motors to record (eg. [reachy.right_arm.elbow_pitch, reachy.right_arm.shoulder_pitch])
position_field (str) – register to record as trajectories (default use the ‘present_position’, ‘goal_position’ can also be useful in some specific case)
freq (float) – record sample frequency (in Hz)
Note
A same recorder can be used to record multiple trajectories.
Facilitates the recording of a full trajectory on multiple motors.
- start(self, turn_compliant=False)¶
Start the record.
- Parameters
turn_compliant (bool) – whether or not to turn the motor compliant before starting the record.
- stop(self, turn_stiff=False)¶
Stop the record.
- Parameters
turn_stiff (bool) – whether or not to turn the motor stiff at the end of the record.
- property trajectories(self)¶
Retrieve a copy of the recorded trajectories.
- _record_loop(self)¶
- class reachy.trajectory.TrajectoryPlayer(reachy, trajectories, freq=100)¶
Bases:
object
Trajectory player abstraction.
- Parameters
- Provides high-level features to:
play a pre-defined trajectory
wait for the end of the replay
add fade in to smooth begining of motion
- play(self, wait=False, fade_in_duration=0)¶
Play a given trajectory.
- Parameters
Warning
you can call play multiple times to replay the trajectory. You are responisble for handling the concurrency issue if you try to run multiple trajectories on the same motors.
- wait_for_end(self)¶
Block until the end of a trajectory replay.
- _play_loop(self)¶