Trajectory player module.

Module Contents



Trajectory player abstraction.

class reachy.trajectory.player.TrajectoryPlayer(reachy, trajectories, freq=100)

Bases: object

Trajectory player abstraction.

  • reachy (Reachy) – robot which will play the trajectory

  • trajectories (dict) – Trajectory to play (such as {motor_name: list of positions})

  • freq (float) – Replay sample frequency (in Hz)

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.

  • wait (bool) – whether or not to wait for the end of the trajectory replay

  • fade_in_duration (float) – time in seconds to reach the starting position (can be used to smooth the begining of the motion)


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.


Block until the end of a trajectory replay.