Introduction

In this tutorial we'll use rxbag to record and replay a movement on the Dexterous Hand, using a Cyberglove. Please note that the method is very generic: with rxbag you can record and replay any topics you want.

Recording

We assume you started the Cyberglove and remapper as described in this tutorial. The Hand interface doesn't necessarily need to be started for the time being: we're just going to record the hand targets sent by the remapper node (which are directly remapped from the Cyberglove).

To record those, just run:

$ rxbag --record /srh/sendupdate

You can see the data being recorded. It should look like this:

When you close rxbag, you'll see a new file created in the folder you were, the filename should be of the format YYYY-MM-DD-hh-mm-ss.bag.

Replaying

You can now replay your recorded data, just run rxbag on the newly created file (replace by the correct file name):

$ rxbag 2011-04-21-12-37-36.bag

You now need to make sure rxbag is publishing the data: right click on the rxbag window, select Publish->Publish all. Now you can press the play button and your recorded movement will be played back. You'll see the place at which you are in the replayed sequence.