Tutorial using ROS for ver.3

Overview

This example records and replays motions of a human and a robot.

A record / playback function for motions and messages has been added to (HSR)Cleanup Task using Cloud and VR.

Please try (HSR)Cleanup Task using Cloud and VR first.

A record / playback button has been added to the upper right of the screen.
Motions and messages are recorded in a text file.

CleanupRec_Overview.png

Prerequisites

Please refer the prerequisites of (HSR)Cleanup Task using Cloud and VR.

Environments

Please refer the environments of (HSR)Cleanup Task using Cloud and VR.

Execution Procedure

Recording Procedure

  1. Launch the human (VR) side and robot (ROS) side according to Execution Procedure of (HSR)Cleanup Task using Cloud and VR.
  2. Press the record button to start recording.
    CleanupRec_RecStart.png
  3. Operate a human avatar and robot avatar.
  4. Press the stop recording button.
    CleanupRec_RecStop.png
  5. Under the MotionData folder, you can check the data file in Motions_yyyyMMdd_HHmmss.dat format.
    CleanupRec_DataFolder.png
  6. Stop the application.

Playback Procedure

  1. Press the play mode start button on the login screen of the application.
    CleanupRec_PlaybackStart.png
  2. Click YES on the confirmation panel. (The playback panel will appear.)
    CleanupRec_PlaybackYes.png
  3. Press the Read File button on the playback panel and then select the recorded data file.
    CleanupRec_PlayReadFile.png
  4. Press the play start button to play the recorded motions.
    CleanupRec_PlayStart.png
  5. Press the stop button to stop the playing.
    CleanupRec_PlayStop.png

Note

Object list related to recording

  1. MotionRecorder(GameObject)
  2. MessagePlayback(GameObject)
  3. Add items to the Extra Message Destinations of ChatManager(script) of ChatManager(GameObject)

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Attach file: fileCleanupRec_RecStop.png 22 download [Information] fileCleanupRec_RecStart.png 24 download [Information] fileCleanupRec_PlayStop.png 21 download [Information] fileCleanupRec_PlayStart.png 22 download [Information] fileCleanupRec_PlayReadFile.png 22 download [Information] fileCleanupRec_PlaybackYes.png 20 download [Information] fileCleanupRec_PlaybackStart.png 21 download [Information] fileCleanupRec_Overview.png 24 download [Information] fileCleanupRec_DataFolder.png 20 download [Information]

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Last-modified: 2020-05-21 (Thu) 12:14:25 (17d)