Diff of (HSR)Cleanup Task using Cloud and VR with Playback function

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[[Tutorial using ROS for ver.3]]

#contents

* Overview [#jd784345]

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.

#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 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 [[the execution procedure of (HSR)Cleanup Task using Cloud and VR>(HSR)Cleanup Task using Cloud and VR#Execution]].
-- 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
+ 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. ~
&#x2a; 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. 
#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 start playback button to play the recorded motions.
#ref(CleanupRec_PlayStart.png)
+ 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)

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#counter