How to load local trajectories

[yueminm]

Hi,

I'm doing some trajectory optimization, which can generate trajectories in the exactly same format as the .traj files generated by recording trajectories. However, when I try to load the generated trajectories with the load_traj() function, it says "load failed". And if I download the recorded trajectories and load it, it also fails, so seems like the load_traj() function just can't take local path as input. I'm wondering if there's any easy ways I can load a trajectory and send it at 250Hz.

Thanks.

[MinnaZhong]

Hi Yueminm,

load_traj reads the trajectory from the controller, the trajectory file must be uploaded to the controller via UfactoryStudio.
If you modify the traj file, we cannot guarantee it can be played normally, please use set_servo_angle_j to read the traj file yourself.
https://github.com/xArm-Developer/xArm-Python-SDK/blob/master/example/wrapper/common/7001-servo_j.py

A real-time system is a must to use set_servo_angle_j , please use Linux with PREEMPT_RT patched kernel.

Best regards
Minna