RobotInterface Integration

Mount the kit rigidly on the robot flange, then configure the IMU when creating your RobotInterface:

python
robot = RobotInterface(
    robot_ip="<robot-ip>",
    use_reforge_imu=True,
    imu_comm_mode="usb",
    imu_record_mode="streaming",
    imu_record_frequency_hz=200,
)

Use USB and streaming at 200 Hz for the normal workflow.

For a high-rate run, use USB logging:

python
robot = RobotInterface(
    robot_ip="<robot-ip>",
    use_reforge_imu=True,
    imu_comm_mode="usb",
    imu_record_mode="logging",
    imu_record_frequency_hz=800,
)

The manager connects the kit, runs its normal arm-to-IMU time calibration before the recording, and returns aligned robot and IMU data. Keep the kit mounted in the same position throughout calibration and recording.