diff --git a/CLAUDE.md b/CLAUDE.md
index ca1c66e..5cc9551 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -398,10 +398,11 @@ self.arm_controller.set_joint_positions(saved_joint_positions)
 - **Play/Pause** - 控制回放播放
 
 ### 技术特性
-- **自动录制**：执行三阶段任务时自动记录每帧数据
+- **自动录制**：执行三阶段任务时自动记录每帧数据和规划路径
 - **智能保存**：文件自动以时间戳命名（`simulation_recording_YYYYMMDD_HHMMSS.json`）
-- **无侵入设计**：完全独立模块，对原有功能零影响
-- **数据完整性**：记录完整的机械臂状态、物体位置和系统配置
+- **完整回放**：回放时显示原始规划路径（暗绿色）和任务点标记
+- **精确重现**：机械臂按录制的关节位置精确回放
+- **数据完整性**：记录完整的机械臂状态、物体位置、规划路径和系统配置
 
 ### 数据格式
 ```json
@@ -419,6 +420,10 @@ self.arm_controller.set_joint_positions(saved_joint_positions)
       "object_position": [...]
     }
   ],
+  "path_data": {
+    "planned_path": [[...], [...], ...],
+    "executed_path": []
+  },
   "events": [...]
 }
 ```
diff --git a/config.json b/config.json
index 3feb3f8..0389948 100644
--- a/config.json
+++ b/config.json
@@ -48,9 +48,9 @@
   "task_points": {
     "point_A": {
       "position": [
+        0.0,
         0.5,
-        0.5,
-        0.8
+        0.5
       ],
       "description": "取物点，与机械臂同侧"
     },
@@ -58,14 +58,14 @@
       "position": [
         0.5,
         -0.3,
-        0.8
+        0.3
       ],
       "description": "目标点，墙体另一侧"
     }
   },
   "transport_object": {
     "initial_position": [
-      0.6,
+      1.0,
       0.5,
       0.5
     ],
diff --git a/src/gui/main_window.py b/src/gui/main_window.py
index 764e62c..4671804 100644
--- a/src/gui/main_window.py
+++ b/src/gui/main_window.py
@@ -591,6 +591,10 @@ class MainWindow:
             # 可视化完整路径
             self._visualize_path_segment(optimized_path, PATH_COLOR, "Complete Path")
 
+            # 记录规划路径到录制数据（如果正在录制）
+            if self.recorder.is_recording:
+                self.recorder.record_planned_path(optimized_path)
+
             # 添加任务点标记
             self._add_point_markers(object_position, point_a, point_b)
 
@@ -941,7 +945,30 @@ class MainWindow:
         if self.player.start_playback():
             self.play_btn.config(text="Stop", command=self.stop_playback)
             self.pause_play_btn.config(state=tk.NORMAL)
-            self.update_status("开始回放录制")
+
+            # 显示录制的路径（如果存在）
+            planned_path = self.player.get_planned_path()
+            if planned_path:
+                # 清除旧的路径可视化
+                if hasattr(self, 'path_visualization'):
+                    self.path_visualization.clear_all_paths()
+                # 显示录制的规划路径
+                self._visualize_path_segment(planned_path, [0.2, 0.5, 0.2], "Recorded Path")
+
+                # 重建任务点标记（从录制元数据）
+                metadata = self.player.get_recording_metadata()
+                if metadata and 'task_points' in metadata:
+                    task_points = metadata['task_points']
+                    object_pos = task_points.get('transport_object', {}).get('initial_position')
+                    point_a = task_points.get('point_a')
+                    point_b = task_points.get('point_b')
+
+                    if object_pos and point_a and point_b:
+                        self._add_point_markers(object_pos, point_a, point_b)
+
+                self.update_status("开始回放录制（已显示规划路径）")
+            else:
+                self.update_status("开始回放录制（无路径数据）")
 
             # 开始回放循环
             self._playback_loop()
diff --git a/src/simulation/playback.py b/src/simulation/playback.py
index 78236c5..f3bf497 100644
--- a/src/simulation/playback.py
+++ b/src/simulation/playback.py
@@ -254,4 +254,12 @@ class SimulationPlayer:
             if start_time <= event_time <= end_time:
                 events.append(event)
 
-        return events
\ No newline at end of file
+        return events
+
+    def get_planned_path(self) -> Optional[List[List[float]]]:
+        """获取录制的规划路径"""
+        if not self.recording_data:
+            return None
+
+        path_data = self.recording_data.get("path_data", {})
+        return path_data.get("planned_path", None)
\ No newline at end of file