Update readme; Add replay script

README.md

@@ -227,8 +227,9 @@ The robot first moves to the xArm SDK initial point, then replays the episode an
 
 ### Power-off
 
-1. **Press the emergency-stop button.**
+1. **Use the web console to return the arm to its initial position.**
-2. **Turn off the controller power.**
+2. **Press the emergency-stop button.**
+3. **Turn off the controller power.**
 
 ## Tools
 

README_ZH.md

@@ -227,8 +227,9 @@ uv run uf-lerobot-replay --dataset-root /path/to/xarm7_manual_datas --robot-ip 1
 
 ### 关机
 
-1. **先按下急停按钮。**
+1. **先通过网页控制将机械臂返回到初始位置。**
-2. **关闭控制器电源。**
+2. **再按下急停按钮。**
+3. **关闭控制器电源。**
 
 ## 工具
 

replay_trajectory.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+uv run uf-lerobot-replay \
+  --dataset-root /home/wsx/code/lerobot_robot_ufactory/datasets/xarm7_manual_replay_pick_bottle \
+  --robot-ip 192.168.1.245

start_manual_record.sh

@@ -6,3 +6,5 @@ set -euo pipefail
 exec uv run uf-lerobot-record \
   --config_path config/manual_mode/xarm7_manual_record_config.yaml \
   "$@"
+
+