soccer_trajectories.soccer_trajectories.Trajectory

class soccer_trajectories.soccer_trajectories.Trajectory(trajectory_path: str, mirror=False)

Bases: object

Interpolates a CSV trajectory for multiple joints.

__init__(trajectory_path: str, mirror=False)

Initialize a Trajectory from a CSV file at trajectory_path. if it’s getup trajectory append the desired final pose so the robot is ready for next action expects rectangular shape for csv table

Methods

__init__(trajectory_path[, mirror])	Initialize a Trajectory from a CSV file at trajectory_path.
get_setpoint(timestamp)	Get the position of each joint at timestamp.
joints()	Returns a list of joints in this trajectory.
run([real_time])

Attributes

RATE

get_setpoint(timestamp)

Get the position of each joint at timestamp. If timestamp < 0 or timestamp > self.total_time this will throw a ValueError.

joints()

Returns a list of joints in this trajectory.