4.7 Trajectory Control

Overview

The Trajectory module offers a full-cycle interface for offline trajectory execution, trajectory/path recording, conversion, and replay. It lets you designate a trajectory file, start/stop the robot along that trajectory, perform CSV-to-trajectory format conversion inside the controller, and supports host-side trajectory logging, status queries, and path-planner parameter configuration—making it easy to reproduce complex trajectories and create custom motions.

4.7.1 Set the Offline Trajectory File to Execute

Method Name	trajectory.set_offline_trajectory_file( `path` : str) -> StatusCodeEnum
Description	Sets the offline trajectory file to execute.
Request Parameters	`path` : str Name of the offline trajectory file (for example: `A.trajectory` ). File format is a plain text file: - Line 1: `6` → number of axes; `0.001` → time interval between points (s); `8093` → total number of trajectory points. - Line 2: Initial positions of the 6 axes. - Lines 3–8095: Trajectory points including position, velocity, acceleration, torque feedforward, `do_port` , and `do_state` for the 6 axes. - `do_port` : DO port used (1–24). - `do_port = -1` : no IO signal is triggered at this point. - `do_port = 1` and `do_state = 1` : `do1` is set ON at this point. - `do_port = 1` and `do_state = 0` : `do1` is set OFF at this point.
Return Value	StatusCodeEnum: Result of the function execution.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.2 Move to the Starting Point at a Safe Speed

Method Name	trajectory.prepare_offline_trajectory() -> StatusCodeEnum
Description	Moves the robot to the starting point of the offline trajectory at a safe speed.
Request Parameters	None
Return Value	StatusCodeEnum: Result of the function execution.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.3 Start Executing the Offline Trajectory

Method Name	trajectory.execute_offline_trajectory() -> StatusCodeEnum
Description	Starts executing the offline trajectory program.
Request Parameters	None
Return Value	StatusCodeEnum: Result of the function execution.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.4 Trajectory File Conversion

Method Name	trajectory.transform_csv_to_trajectory( `file_name` : str, `separator` : str = " ", `io_flag` : str = "2")
Description	Converts a trajectory CSV file to the controller trajectory format and stores it in the controller's trajectory directory.
Request Parameters	`file_name` : str CSV trajectory file name, without the `.csv` suffix. `separator` : " " (space) or "," (comma). When space, the converted file uses the `.trajectory` suffix; when comma, the converted file uses the `.csv` suffix. `io_flag` : If `1` , generated IO info uses defaults ( `do_port = -1` , `do_state = 0` ); if `2` , use user-specified IO info.
Return Value	str: Path of the converted trajectory file StatusCodeEnum: Result of the function execution.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.5 Query Trajectory File Conversion Status

Method Name	trajectory.check_transform_status( `file_name` : str) -> tuple[TransformStatusEnum, StatusCodeEnum]
Description	Queries the current status of the trajectory file conversion.
Request Parameters	`file_name` : str Path returned by `transform_csv_to_trajectory` .
Return Value	TransformStatusEnum: Conversion status StatusCodeEnum: Result of the function execution.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

trajectory/offline_trajectory.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: 离线轨迹使用示例 / Example of offline trajectory usage
"""

import time

from Agilebot import Arm, RobotStatusEnum, ServoStatusEnum, StatusCodeEnum

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the robot
ret = arm.connect("10.27.1.254")
# [ZH] 检查是否连接成功
# [EN] Check if the connection is successful
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 设置离线轨迹文件
# [EN] Set the offline trajectory file
ret = arm.trajectory.set_offline_trajectory_file("test_torque.trajectory")
if ret == StatusCodeEnum.OK:
    print("设置离线轨迹文件成功 / Set offline trajectory file successful")
else:
    print(f"设置离线轨迹文件失败，错误代码 / Set offline trajectory file failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 准备进行离线轨迹运行
# [EN] Prepare for offline trajectory execution
ret = arm.trajectory.prepare_offline_trajectory()
if ret == StatusCodeEnum.OK:
    print("准备离线轨迹运行成功 / Prepare offline trajectory execution successful")
else:
    print(f"准备离线轨迹运行失败，错误代码 / Prepare offline trajectory execution failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 等待控制器到位
# [EN] Wait for the controller to be ready
while True:
    robot_status, ret = arm.get_robot_status()
    if ret == StatusCodeEnum.OK:
        print("获取机器人状态成功 / Get robot status successful")
    else:
        print(f"获取机器人状态失败，错误代码 / Get robot status failed, error code: {ret.errmsg}")
        arm.disconnect()
        exit(1)
    print(f"robot_status arm: {robot_status}")
    servo_status, ret = arm.get_servo_status()
    if ret == StatusCodeEnum.OK:
        print("获取伺服状态成功 / Get servo status successful")
    else:
        print(f"获取伺服状态失败，错误代码 / Get servo status failed, error code: {ret.errmsg}")
        arm.disconnect()
        exit(1)
    print(f"伺服状态 / Servo status: {servo_status}")
    if robot_status == RobotStatusEnum.ROBOT_IDLE and servo_status == ServoStatusEnum.SERVO_IDLE:
        break
    time.sleep(2)

# [ZH] 执行离线轨迹
# [EN] Execute the offline trajectory
ret = arm.trajectory.execute_offline_trajectory()
if ret == StatusCodeEnum.OK:
    print("执行离线轨迹成功 / Execute offline trajectory successful")
else:
    print(f"执行离线轨迹失败，错误代码 / Execute offline trajectory failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.7.6 Start Recording Trajectory

Method Name	trajectory.trajectory_record_begin( `name` : str) -> StatusCodeEnum
Description	Instructs the robot to start recording a trajectory.
Parameters	`name` : trajectory program name.
Return	StatusCodeEnum: Execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.7 Stop Recording Trajectory

Method Name	trajectory.trajectory_record_finish( `name` : str) -> StatusCodeEnum
Description	Instructs the robot to stop recording a trajectory.
Parameters	`name` : trajectory program name.
Return	StatusCodeEnum: Execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.8 Start Replaying Trajectory

Method Name	trajectory.trajectory_replay_start( `name` : str) -> StatusCodeEnum
Description	Instructs the robot to start replaying a trajectory.
Parameters	`name` : trajectory program name.
Return	StatusCodeEnum: Execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.9 Stop Replaying Trajectory

Method Name	trajectory.trajectory_replay_stop( `name` : str) -> StatusCodeEnum
Description	Instructs the robot to stop replaying a trajectory.
Parameters	`name` : trajectory program name.
Return	StatusCodeEnum: Execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.10 Delete Trajectory

Method Name	trajectory.trajectory_record_delete( `name` : str) -> StatusCodeEnum
Description	Deletes the specified trajectory stored in the robot.
Parameters	`name` : trajectory program name.
Return	StatusCodeEnum: Execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.11 Get List of Recorded Trajectories

Method Name	trajectory.get_trajectory_record_list() -> tuple[list[str], StatusCodeEnum]
Description	Retrieves the list of recorded trajectories available for replay.
Parameters	None
Return	[list[str]]: list of trajectory program names. StatusCodeEnum: Execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

4.7.12 Get Starting Pose of a Recorded Trajectory

Method Name	trajectory.get_trajectory_record_start_pose( `name` : str) -> tuple[MotionPose, StatusCodeEnum]
Description	Retrieves the starting pose of a recorded trajectory.
Parameters	`name` : trajectory program name.
Return	MotionPose: Starting pose of the trajectory. StatusCodeEnum: Execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.5.0.0+ Industrial (Bronze): v7.5.0.0+

Example Code

trajectory/trajectory_record.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: 轨迹记录相关使用示例 / Example of real-time trajectory records usage
"""

import time

from Agilebot import Arm, RobotStatusEnum, ServoStatusEnum, StatusCodeEnum
from Agilebot.IR.A.hardware_state import HardwareState, HWState

# [ZH] 初始化捷勃特机器人
# [EN] Initialize the robot
arm = Arm()
# [ZH] 连接捷勃特机器人
# [EN] Connect to the robot
ret = arm.connect("10.27.1.254")
# [ZH] 检查是否连接成功
# [EN] Check if the connection is successful
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 订阅轨迹记录状态
# [EN] Subscribe to the trajectory record status
hw_state = HardwareState("10.27.1.254")
hw_state.subscribe(topic_list=[HWState.TOPIC_TRAJECTORY_RECORDS_STATUS])

# [ZH] 开始记录轨迹
# [EN] Start recording trajectory
ret = arm.trajectory.trajectory_record_begin("test")
if ret == StatusCodeEnum.OK:
    print("开始轨迹记录成功 / Start trajectory record successful")
else:
    print(f"开始轨迹记录失败，错误代码 / Start trajectory record failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)
time.sleep(10)

res = hw_state.recv()
print(f"轨迹记录状态 / Trajectory record status: {res}")

# [ZH] 结束记录轨迹
# [EN] End recording trajectory
ret = arm.trajectory.trajectory_record_finish("test")
if ret == StatusCodeEnum.OK:
    print("结束轨迹记录成功 / End trajectory record successful")
else:
    print(f"结束轨迹记录失败，错误代码 / End trajectory record failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

res = hw_state.recv()
print(f"轨迹记录状态 / Trajectory record status: {res}")

# [ZH] 获取轨迹列表
# [EN] Get trajectory list
record_list, ret = arm.trajectory.get_trajectory_record_list()
if ret == StatusCodeEnum.OK:
    print("获取轨迹记录列表成功 / Get trajectory record list successful")
else:
    print(f"获取轨迹记录列表失败，错误代码 / Get trajectory record list failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)
assert "test" in record_list

# [ZH] 获取轨迹起始位姿
# [EN] Get trajectory start pose
pose, ret = arm.trajectory.get_trajectory_record_start_pose("test")
if ret == StatusCodeEnum.OK:
    print("获取轨迹起始位姿成功 / Get trajectory start pose successful")
else:
    print(f"获取轨迹起始位姿失败，错误代码 / Get trajectory start pose failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 移动到起始位姿
# [EN] Move to the start pose
ret = arm.motion.move_joint(pose)
if ret == StatusCodeEnum.OK:
    print("关节运动成功 / Joint motion successful")
else:
    print(f"关节运动失败，错误代码 / Joint motion failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 等待控制器到位
# [EN] Wait for the controller to be ready
while True:
    robot_status, ret = arm.get_robot_status()
    if ret == StatusCodeEnum.OK:
        print("获取机器人状态成功 / Get robot status successful")
    else:
        print(f"获取机器人状态失败，错误代码 / Get robot status failed, error code: {ret.errmsg}")
        arm.disconnect()
        exit(1)
    print(f"robot_status arm: {robot_status}")
    servo_status, ret = arm.get_servo_status()
    if ret == StatusCodeEnum.OK:
        print("获取伺服状态成功 / Get servo status successful")
    else:
        print(f"获取伺服状态失败，错误代码 / Get servo status failed, error code: {ret.errmsg}")
        arm.disconnect()
        exit(1)
    print(f"伺服状态 / Servo status: {servo_status}")
    if robot_status == RobotStatusEnum.ROBOT_IDLE and servo_status == ServoStatusEnum.SERVO_IDLE:
        break
    time.sleep(2)

# [ZH] 开始回放轨迹
# [EN] Start replay trajectory
ret = arm.trajectory.trajectory_replay_start("test")
if ret == StatusCodeEnum.OK:
    print("开始轨迹回放成功 / Start trajectory replay successful")
else:
    print(f"开始轨迹回放失败，错误代码 / Start trajectory replay failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

time.sleep(5)

# [ZH] 停止回放轨迹
# [EN] Stop replay trajectory
ret = arm.trajectory.trajectory_replay_stop("test")
if ret == StatusCodeEnum.OK:
    print("停止轨迹回放成功 / Stop trajectory replay successful")
else:
    print(f"停止轨迹回放失败，错误代码 / Stop trajectory replay failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 删除轨迹
# [EN] Delete trajectory
ret = arm.trajectory.trajectory_record_delete("test")
if ret == StatusCodeEnum.OK:
    print("删除轨迹记录成功 / Delete trajectory record successful")
else:
    print(f"删除轨迹记录失败，错误代码 / Delete trajectory record failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 断开捷勃特机器人连接
# [EN] Disconnect from the robot
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.7.13 Start Recording Trajectory / Path

Method Name	trajectory.path_record_begin( `name` : str, `comment` : str, `param` : float, `angle` : float = 1) -> StatusCodeEnum
Description	Starts recording a trajectory table (.traj) or a path table (.path).
Parameters	`name` : trajectory / path file name, must end with .traj or .path. `comment` : description for the trajectory / path. `param` : - for .path tables: linear-motion distance threshold (mm). - for .traj tables: recording interval (ms). `angle` : rotational-angle threshold (°), only effective when `name` is a .path file.
Return	StatusCodeEnum: execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.8.0.0+ Industrial (Bronze): not supported

4.7.14 Stop Recording Trajectory / Path

Method Name	trajectory.path_record_finish() -> StatusCodeEnum
Description	Stops the current trajectory / path table recording.
Parameters	none
Return	StatusCodeEnum: execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.8.0.0+ Industrial (Bronze): not supported

4.7.15 Get Starting Pose of a Trajectory / Path

Method Name	trajectory.get_path_start_pose( `name` : str) -> tuple[MotionPose, StatusCodeEnum]
Description	Retrieves the starting pose of the specified trajectory / path file.
Parameters	`name` : trajectory / path file name.
Return	`MotionPose` : Starting pose. StatusCodeEnum: Execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.8.0.0+ Industrial (Bronze): not supported

4.7.16 Get Status of Trajectories / Paths

Method Name	trajectory.get_path_state( `path_list` : list[str]) -> tuple[dict[str, int], StatusCodeEnum]
Description	Batch-query the current status of trajectory / path files.
Parameters	`path_list` : list of trajectory / path file names to query.
Return	`dict[str, int]` : mapping of file name → status code. StatusCodeEnum: execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.8.0.0+ Industrial (Bronze): not supported

4.7.17 Set Path-Planner Parameters

Method Name	trajectory.set_path_planner_parameter( `transition_time` : float, `scaling_factor` : float) -> StatusCodeEnum
Description	Configures path-planner parameters affecting motion smoothness and speed / acceleration distribution.
Parameters	`transition_time` : blending time, 0–1. Larger values yield smoother acceleration / deceleration. `scaling_factor` : redistribution weight of path parameter s, 0–1: - 0: uniform time scaling (equal-length segments). - 1: linear scaling by maximum displacement (equal-velocity segments). - 0.5: equal-acceleration scaling. - 0.33: equal-jerk scaling (balanced).
Return	StatusCodeEnum: Execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.8.0.0+ Industrial (Bronze): not supported

4.7.18 Get Path-Planner Parameters

Method Name	trajectory.get_path_planner_parameter() -> tuple[float, float, StatusCodeEnum]
Description	Reads the current path-planner parameters.
Parameters	none
Return	`transition_time` : blending time, 0–1. `scaling_factor` : redistribution weight, 0–1. StatusCodeEnum: Execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.8.0.0+ Industrial (Bronze): not supported

4.7.19 Move Along a Trajectory / Path

Method Name	trajectory.move_path( `name` : str, `vel` : float = 100, `acc` : float = 1) -> StatusCodeEnum
Description	Commands the robot end-effector to move along the specified trajectory / path file.
Parameters	`name` : trajectory / path file name. `vel` : end-effector speed, 0–5000 mm/s. `acc` : acceleration multiplier, 0–1.2.
Return	StatusCodeEnum: Execution result of the function.
Compatible robot software version	Collaborative (Copper): v7.8.0.0+ Industrial (Bronze): not supported

Example Code

trajectory/path_record.py

#!python
"""
Copyright © 2016 Agilebot Robotics Ltd. All rights reserved.
Instruction: 路径记录相关使用示例 / Example of usage related to path records
"""

import time

from Agilebot import Arm, MoveMode, RobotStatusEnum, ServoStatusEnum, StatusCodeEnum

# [ZH] 初始化机械臂并连接到指定IP地址
# [EN] Initialize the robotic arm and connect to the specified IP address
arm = Arm()
ret = arm.connect("10.27.1.254")
if ret == StatusCodeEnum.OK:
    print("机器人连接成功 / Robot connected successfully")
else:
    print(f"机器人连接失败，错误代码 / Robot connection failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 开始记录轨迹，指定文件名、轨迹名、记录模式和覆盖选项
# [EN] Start trajectory recording, specifying filename, trajectory name, recording mode and overwrite option
ret = arm.trajectory.path_record_begin("test_path.path", "Path Test", 10, 1)
if ret == StatusCodeEnum.OK:
    print("开始路径记录成功 / Start path record successful")
else:
    print(f"开始路径记录失败，错误代码 / Start path record failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 检查记录状态，传入轨迹文件名列表
# [EN] Check recording status, passing in trajectory filename list
state, ret = arm.trajectory.get_path_state(["test_path.path"])
if ret == StatusCodeEnum.OK:
    print("获取路径状态成功 / Get path state successful")
else:
    print(f"获取路径状态失败，错误代码 / Get path state failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)
if state["test_path.path"] == 0:
    print("路径表记录中 / Path table recording in progress")

# [ZH] 示教运动
# [EN] Teaching motion
ret = arm.jogging.move(3, MoveMode.Continuous)
if ret == StatusCodeEnum.OK:
    print("点动运动成功 / Jogging movement successful")
else:
    print(f"点动运动失败，错误代码 / Jogging movement failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)
# 等待3秒，让机械臂持续运动
time.sleep(2)
# 停止机械臂运动
arm.jogging.stop()
time.sleep(2)
ret = arm.jogging.move(-3, MoveMode.Continuous)
if ret == StatusCodeEnum.OK:
    print("点动运动成功 / Jogging movement successful")
else:
    print(f"点动运动失败，错误代码 / Jogging movement failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)
# 等待3秒，让机械臂持续运动
time.sleep(2)
# 停止机械臂运动
arm.jogging.stop()
time.sleep(2)

# [ZH] 结束轨迹记录
# [EN] Finish trajectory recording
ret = arm.trajectory.path_record_finish()
if ret == StatusCodeEnum.OK:
    print("结束路径记录成功 / Finish path record successful")
else:
    print(f"结束路径记录失败，错误代码 / Finish path record failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 检查记录状态，传入轨迹文件名列表
# [EN] Check recording status, passing in trajectory filename list
state, ret = arm.trajectory.get_path_state(["test_path.path"])
if ret == StatusCodeEnum.OK:
    print("获取路径状态成功 / Get path state successful")
else:
    print(f"获取路径状态失败，错误代码 / Get path state failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)
if state["test_path.path"] == 1:
    print("路径表记录完成 / Path table recording completed")

# [ZH] 获取记录轨迹的起始位置姿态
# [EN] Get the starting position pose of the recorded trajectory
pose, ret = arm.trajectory.get_path_start_pose("test_path.path")
if ret == StatusCodeEnum.OK:
    print("获取路径起始位姿成功 / Get path start pose successful")
else:
    print(f"获取路径起始位姿失败，错误代码 / Get path start pose failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 移动到起始位姿
# [EN] Move to the start pose
ret = arm.motion.move_joint(pose)
if ret == StatusCodeEnum.OK:
    print("关节运动成功 / Joint motion successful")
else:
    print(f"关节运动失败，错误代码 / Joint motion failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 等待控制器到位
# [EN] Wait for the controller to be ready
while True:
    robot_status, ret = arm.get_robot_status()
    # [ZH] 检查机器人状态获取是否成功
    # [EN] Check if robot status acquisition is successful
    if ret == StatusCodeEnum.OK:
        print("获取机器人状态成功 / Get robot status successful")
    else:
        print(f"获取机器人状态失败，错误代码 / Get robot status failed, error code: {ret.errmsg}")
        arm.disconnect()
        exit(1)
    print(f"robot_status arm: {robot_status}")
    servo_status, ret = arm.get_servo_status()
    # [ZH] 检查伺服状态获取是否成功
    # [EN] Check if servo status acquisition is successful
    if ret == StatusCodeEnum.OK:
        print("获取伺服状态成功 / Get servo status successful")
    else:
        print(f"获取伺服状态失败，错误代码 / Get servo status failed, error code: {ret.errmsg}")
        arm.disconnect()
        exit(1)
    print(f"servo status arm: {servo_status}")
    if robot_status == RobotStatusEnum.ROBOT_IDLE and servo_status == ServoStatusEnum.SERVO_IDLE:
        break
    time.sleep(2)

# [ZH] 设置轨迹规划参数（速度比例和加速度比例）
# [EN] Set trajectory planning parameters (velocity ratio and acceleration ratio)
ret = arm.trajectory.set_path_planner_parameter(0.5, 0.3333333)
if ret == StatusCodeEnum.OK:
    print("设置路径规划参数成功 / Set path planner parameter successful")
else:
    print(f"设置路径规划参数失败，错误代码 / Set path planner parameter failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 获取轨迹规划参数以验证设置是否成功
# [EN] Get trajectory planning parameters to verify if the setting is successful
param1, param2, ret = arm.trajectory.get_path_planner_parameter()
if ret == StatusCodeEnum.OK:
    print("获取路径规划参数成功 / Get path planner parameter successful")
else:
    print(f"获取路径规划参数失败，错误代码 / Get path planner parameter failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)

# [ZH] 移动到记录的轨迹，指定轨迹文件名、速度和模式
# [EN] Move to the recorded trajectory, specifying trajectory filename, speed and mode
ret = arm.trajectory.move_path("test_path.path", 2000, 1)
if ret == StatusCodeEnum.OK:
    print("路径运动成功 / Path motion successful")
else:
    print(f"路径运动失败，错误代码 / Path motion failed, error code: {ret.errmsg}")
    arm.disconnect()
    exit(1)
time.sleep(3)

# [ZH] 断开与机械臂的连接
# [EN] Disconnect from the robotic arm
arm.disconnect()
print("机器人断开连接成功 / Robot disconnected successfully")

4.7 Trajectory Control ​

Overview ​

4.7.1 Set the Offline Trajectory File to Execute ​

4.7.2 Move to the Starting Point at a Safe Speed ​

4.7.3 Start Executing the Offline Trajectory ​

4.7.4 Trajectory File Conversion ​

4.7.5 Query Trajectory File Conversion Status ​

Example Code ​

4.7.6 Start Recording Trajectory ​

4.7.7 Stop Recording Trajectory ​

4.7.8 Start Replaying Trajectory ​

4.7.9 Stop Replaying Trajectory ​

4.7.10 Delete Trajectory ​

4.7.11 Get List of Recorded Trajectories ​

4.7.12 Get Starting Pose of a Recorded Trajectory ​

Example Code ​

4.7.13 Start Recording Trajectory / Path ​

4.7.14 Stop Recording Trajectory / Path ​

4.7.15 Get Starting Pose of a Trajectory / Path ​

4.7.16 Get Status of Trajectories / Paths ​

4.7.17 Set Path-Planner Parameters ​

4.7.18 Get Path-Planner Parameters ​

4.7.19 Move Along a Trajectory / Path ​

4.7 Trajectory Control

Overview

4.7.1 Set the Offline Trajectory File to Execute

4.7.2 Move to the Starting Point at a Safe Speed

4.7.3 Start Executing the Offline Trajectory

4.7.4 Trajectory File Conversion

4.7.5 Query Trajectory File Conversion Status

Example Code

4.7.6 Start Recording Trajectory

4.7.7 Stop Recording Trajectory

4.7.8 Start Replaying Trajectory

4.7.9 Stop Replaying Trajectory

4.7.10 Delete Trajectory

4.7.11 Get List of Recorded Trajectories

4.7.12 Get Starting Pose of a Recorded Trajectory

Example Code

4.7.13 Start Recording Trajectory / Path

4.7.14 Stop Recording Trajectory / Path

4.7.15 Get Starting Pose of a Trajectory / Path

4.7.16 Get Status of Trajectories / Paths

4.7.17 Set Path-Planner Parameters

4.7.18 Get Path-Planner Parameters

4.7.19 Move Along a Trajectory / Path