Overview
This component plays motion patterns.
| implementation_id | SequencePlayer |
| category | example |
Data Ports
Input Ports
| port name | data type | unit | description |
| qInit | RTC::TimedDoubleSeq | [rad] | initial joint angles |
| basePosInit | RTC::TimedPoint3D | [m] | initial position of the base link |
| baseRpyInit | RTC::TimedOrientation3D | [rad] | initial Roll-Pitch-Yaw angles of the base link |
Output Ports
| port name | data type | unit | description |
| qRef | RTC::TimedDoubleSeq | [rad] | reference joint angles |
| accRef | RTC::TimedAcceleration3D | [m] | reference acceleration |
| zmpRef | RTC::TimedPoint3D | [m] | reference ZMP |
| basePos | RTC::TimedPoint3D | [m] | reference position of the base link |
| baseRpy | RTC::TimedOrientation3D | [rad] | reference Roll-Pitch-Yaw angles of the base link |
Service Ports
Service Providers
| port name | interface name | service type | IDL | description |
| SequencePlayerService | service0 | SequencePlayerService | OpenHRP::SequencePlayerService | |
Service Consumers
N/A
Configuration Variables
N/A
Configuration File
| key | type | unit | description |
| dt | double | [s] | sampling time |
| model | std::string | | URL of a VRML model |
