LBR IIWA Hand Guiding application with frames recording addChildFrame?

public class WriteFrameToAPIdataXML {
    private IPersistenceEngine engine;
    private XmlApplicationDataSource defaultDataSource;
    private ObjectFrame baseFrame;

    /**
     * @param app        -    RoboticsAPIApplication
     * @param baseFrame    -    Base Frame for the new frame. new frame will be stored under this frame
     * @param logger        ITaskLogger
     */
    public WriteFrameToAPIdataXML(RoboticsAPIApplication app, ObjectFrame baseFrame, ITaskLogger logger) {
        WriteFrameToAPIdataXML.app = app;
//        you need a baseFrame (parent) to be used as a parent of your new frames, and it has to have a teaching data for new frames to copy this data as theirs.
        this.baseFrame = baseFrame;

        // get the object to manipulate the RoboticsAPI.data.xml
        engine = app.getContext().getEngine(IPersistenceEngine.class);
        defaultDataSource = (XmlApplicationDataSource) engine.getDefaultDataSource();
    }


    /**
     *<code> public <b>writeFrame</b>(Frame frame, String name)</code><p>
     * writes the frame which has the <code>name</code> under baseFrame<br>
     * comment and STE1 data is also written from the <code>frame</code><br>
     * to set STE1 data to a frame, need to use <br>
     * <code>lbr.getCurrentCartesianPosition(tcp_tool).<b>copyWithRedundancy()</b></code>
     * @param frame    -    Frame to be wrote
     * @param name    -    Frame name
     */
    public void writeFrame(Frame frame, String name) {
        
        // Create a new frame under the Base Frame
        // base jogging deactivate, get tcp data, activate again
        baseFrame.setAdditionalParameter("UseAsBaseForJogging", false);
        Map<String, Object> teachingData = toolFrame.getAdditionalFrameData();
        String frameName = name;
        ObjectFrame newFrame = null;
//        use 1 of below 2 codes. one will work and the other doesn't regarding Sunrise version
//        newFrame = defaultDataSource.addFrame(frameName, baseFrame);
        newFrame = defaultDataSource.addFrame(baseFrame);
        defaultDataSource.renameFrame(newFrame, frameName);

        // get frame's STE1 values
        Map<String, IRedundancyCollection> ste1 = frame.getRedundancyInformation();
        
        try {    // copy frame's comment if there is.
            newFrame.setAdditionalParameter("Comment", (frame.getAdditionalParameter("Comment").toString()) );
        } catch (Exception e) {
        }

        // Transformate the newFrame from the baseFrame
        defaultDataSource.changeFrameTransformation(newFrame, baseFrame.transformationTo(frame));
        newFrame.getAdditionalFrameData().putAll(teachingData);
        newFrame.getRedundancyInformation().putAll(ste1);    // S T E1
        
        defaultDataSource.saveFile(false);
        if ( logger != null ) {
            logger.info("[" + name + "] frame written on API.data.xml");                            
        }
        baseFrame.setAdditionalParameter("UseAsBaseForJogging", true);
        
    }

        // You make those class variables on your own because I skipped.

    ...initialize() {
        record = getApplicationData().getFrame( "/RECORD" );
        frames = new ArrayList<Frame>();

        wxml = new WriteFrameToAPIdataXML( this, record, getLogger() );
        frames = new ArrayList<Frame>();
    }


    private void recording() {
        CartesianImpedanceControlMode freeCICM = new CartesianImpedanceControlMode();
        freeCICM.parametrize( CartDOF.TRANSL ).setStiffness( 0 );
        freeCICM.parametrize( CartDOF.ROT ).setStiffness( 0 );
        
        
        pick.moveAsync( positionHold( freeCICM, -1, TimeUnit.SECONDS ) );
        
        Timer object = new Timer();
        object.scheduleAtFixedRate( new TimerTask() {
            @Override
            public void run() {
                frames.add( lbr.getCurrentCartesianPosition( pick ) );
            }
        }, 0, recPeriod );

        getApplicationUI().displayModalDialog( ApplicationDialogType.WARNING, "QUIT?", "QUIT!!" );
        
        object.cancel();
        getLogger().info( "Recorded frames : [" + frames.size() + "]" );

        wxml.writeFrame( frames, "P" );
//    here I used another method that gets ArrayList<Frame> as its parameter. You need to make your own.
    }