The movement Recorder plugins permits you to record and replay timed movements based on saved grasps. You can save and reload different movements. There's a simple interpolation between two successive grasps, so make sure you don't ask for an impossible movement. You can choose how long you want to pause on a given grasp as well as the interpolation time between the previous grasp and this grasp. You can also loop between different steps of your recorded movement.

To create a new grasp, use the Grasp Controller plugin. It will be added automatically to the grasp dropdown list.