`reachy.trajectory.recorder`¶

Trajectory recording utility module.

Module Contents¶

Trajectory Recorder utility class.

class reachy.trajectory.recorder.TrajectoryRecorder(motors, position_field='present_position', freq=100)¶

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.