Arm Pose Recording and Recall

This tool allows you to easily capture and reuse specific arm configurations. This is especially useful for creating consistent starting positions or specific poses needed for tasks without having to hardcode joint angles.

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RoboCrew includes an interactive hardware script that lets you:

1. Move one or both arms by hand to a desired pose.
2. Save that pose to a JSON file.
3. Move the arm away.
4. Recall the saved pose and validate that the robot returned to it.

This is the fastest way to create reusable arm positions for demos, manipulation tasks, and repeatable testing.

1. Prerequisites

Before running the script:

1. Connect your arm controllers and ensure udev aliases are available:
   • /dev/arm_right
   • /dev/arm_left
2. Install RoboCrew in your environment.
3. Keep enough free space around the robot to manually reposition the arms safely.

2. Run the Position Recorder

From your RoboCrew environment, run one of the following commands:

robocrew-record-positions --arms both

robocrew-record-positions --arms right --position-name my_right_arm_pose

• --arms {left,right,both}: Select which arm(s) are recorded and recalled. Default is both.
• --position-name NAME: Output filename (without extension) under ~/.cache/robocrew/positions/. Default is position_save_recall_test.
• --pause SECONDS: Pause time after recall before validation. Default is 1.0.