To be featured in YARP 3.11: https://github.com/robotology/yarp/pull/3178. Current UC3M/RL goodies: - [Playback](https://github.com/roboticslab-uc3m/tools/tree/a1c82f6409ea4bacee0d8222d56cf607ca15fe6b/libraries/Playback) - [PlaybackThread](https://github.com/roboticslab-uc3m/tools/tree/a1c82f6409ea4bacee0d8222d56cf607ca15fe6b/libraries/YarpPlugins/PlaybackThread) - [examplePlaybackThread](https://github.com/roboticslab-uc3m/tools/tree/a1c82f6409ea4bacee0d8222d56cf607ca15fe6b/examples/cpp/examplePlaybackThread) Edit: [implementation](https://github.com/robotology/yarp/tree/master/src/yarpActionsPlayer) ([permalink](https://github.com/robotology/yarp/tree/b9213d6013e9b771295f391d43b71fb557b54190/src/yarpActionsPlayer)).