reachy.trajectory.player
¶
Trajectory player module.
Module Contents¶
Classes¶
Trajectory player abstraction. |
- class reachy.trajectory.player.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)¶