Backup diff of (HSR)Cleanup Task using Cloud and VR with Playback function(No. 2)

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[[Tutorial using ROS for ver.3]]

#contents

* Overview [#jd784345]

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.

#ref(CleanupRec_Overview.png)


* Prerequisites [#xd0ed33f]

Please refer [[the prerequisites of (HSR)Cleanup Task using Cloud and VR>(HSR)Cleanup Task using Cloud and VR#Prerequisites]].

* Environments [#jc01fc8a]

Please refer [[the environments of (HSR)Cleanup Task using Cloud and VR>(HSR)Cleanup Task using Cloud and VR#Environments]].





* Execution Procedure [#s8fe2c44]

** Recording Procedure [#tcff4cd8]

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


** Playback Procedure [#ma44bdd6]

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

Backup diff of (HSR)Cleanup Task using Cloud and VR with Playback function (No. 2)