Tutorial using ROS for ver.3

Overview

This example records and plays back the motions of a human, a robot, and several objects.

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 environment construction of (HSR)Cleanup Task using Cloud and VR.

Execution Procedure

Recording Procedure

  1. Launch the human (VR) side and robot (ROS) side according to the execution procedure of (HSR)Cleanup Task using Cloud and VR.
    • Human (VR) side execution procedure
      Start the [Assets/SIGVerse/ExampleScenes/HSR/HsrCleanupVRwithMotionRecorder(.unity)] scene
    • Robot (ROS) side execution procedure
      $ roslaunch sigverse_hsr_teleop_key teleop_key.launch
  2. Press the start recording 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.
    * You can continue to enter the playback mode without exiting, but basically you need to reboot.

Reference Video

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.
    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 start playback button to play the recorded motions.
    CleanupRec_PlayStart.png
  5. Press the stop playback button to stop the playing.
    CleanupRec_PlayStop.png

Reference Video

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 273 download [Information] fileCleanupRec_RecStart.png 499 download [Information] fileCleanupRec_PlayStop.png 424 download [Information] fileCleanupRec_PlayStart.png 451 download [Information] fileCleanupRec_PlayReadFile.png 444 download [Information] fileCleanupRec_PlaybackYes.png 392 download [Information] fileCleanupRec_PlaybackStart.png 447 download [Information] fileCleanupRec_Overview.png 448 download [Information] fileCleanupRec_DataFolder.png 412 download [Information]

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Last-modified: 2022-07-04 (Mon) 01:25:32 (94d)