Make a module dedicated to record and replay trajectories.

[simheo]

Feature Request

Description

Currently, our robot system lacks a dedicated module for recording and replaying trajectories, especially when it comes to simultaneous movements across multiple parts of the robot. We need a comprehensive solution that allows us to record and replay behaviors involving coordinated movements of various parts concurrently.

Feature Requirements

1. Trajectory Recording:

   • Ability to record trajectories involving multiple robot parts simultaneously (e.g., arm and head movements together).
   • User-friendly interface for initiating and stopping trajectory recording.

2. Trajectory Replay:

   • Seamless replay of recorded trajectories on demand.
   • Support for simultaneous playback of movements across different robot components.
   • Add a safe start fro replay: the robot will go as fast as possible to the first position. It should be better to add a soft start to reach the first position.

Use Case

As an example, imagine recording a behavior where both the robot's arm and head move in sync. The goal is to replay this behavior in a way that preserves the synchronized movement of both parts, allowing for realistic and cohesive robot actions.

Tasks

• [ ] Design the architecture for the trajectory recording and playback module.
• [ ] Implement the recording functionality with support for multi-part trajectories.
• [ ] Implement the playback functionality with simultaneous movement across different robot components.
• [ ] Integrate the module into the existing robot control system.
• [ ] Test the module thoroughly to ensure reliability and compatibility.

[FabienDanieau]

see #321 for the recording part