[[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) * Note [#u3c590f9] ** Object list related to recording [#z1bfb019] + MotionRecorder(GameObject) + MessagePlayback(GameObject) + Add items to the Extra Message Destinations of ChatManager(script) of ChatManager(GameObject)