README.md

Record and Replay Trajectory Example

Record and replay robot arm movements using the I2RT Python API.

Quick Start

python record_replay_trajectory.py

What It Does

• Record: Move the robot arm by hand while it captures joint positions at 30Hz
• Replay: Robot automatically reproduces your recorded motion
• Save: Store trajectories as .npy files for later use
• Load: Load previously saved trajectories from files

Controls

• r - Start/stop recording
• p - Play back recorded motion
• s - Save trajectory to file
• l - Load trajectory from file
• q - Quit

What You'll See

Controls:
  r : Start/stop recording
  p : Start replay
  s : Save trajectory
  l : Load trajectory from file
  q : Quit

Status:
Recording: False  Replaying: False
Trajectory length: 0 samples
Press 'q' to quit.

Workflow

1. Run the script
2. Option A: Press r to start recording, move arm, press r to stop
3. Option B: Press l to load a previously saved trajectory file
4. Press p to replay the motion
5. Press s to save (optional)
6. Press q to quit

Options

--channel can0          # CAN bus channel
--gripper linear_4310   # Yam gripper type so the gravity compensation can load the correct model
--output file.npy       # Output filename
--load file.npy         # Load trajectory at startup