- The added line is THIS COLOR.
- The deleted line is THIS COLOR.
[[Tutorial using ROS for ver.3]]
#contents
* Overview [#jd784345]
This example records and replays motions of a human and a robot.
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]].
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. ~
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]].
Please refer [[the environment construction 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.
+ Launch the human (VR) side and robot (ROS) side according to [[the execution procedure of (HSR)Cleanup Task using Cloud and VR>(HSR)Cleanup Task using Cloud and VR#Execution]].
+ Press the start recording 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.
+ Stop the application. ~
* You can continue to enter the playback mode without exiting, but basically you need to reboot.
''Reference Video''
#youtube(8g09wngT2_g)
** 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.)
+ Click YES on the confirmation panel.
#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.
+ Press the start playback button to play the recorded motions.
#ref(CleanupRec_PlayStart.png)
+ Press the stop button to stop the playing.
+ Press the stop playback button to stop the playing.
#ref(CleanupRec_PlayStop.png)
''Reference Video''
#youtube(NMkl8-jXq-o)
* 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)
----
#counter