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If you used actions to initiate the motion, you can also record the action goal topic (for example, something like joint_trajectory_action/goal for a robot arm). Then you can either do it the clean way and implement an action client that sends that goal, or just use rosbag to play back the action goal. However, your joints have to be at the exact same starting position of the trajectory (probably you'll need to write a node that moves them there first).