This paper proposes to share gesture contents among heterogeneous robots. In this paper, we classify gestures in two types; pointing gesture and track gesture. Criteria of lassification is factors which are essential for each gesture. Pointing gestures are used for pointing somewhere around a robot. Trajectory of a gesture is important for track gesture. Track gestures can keep its essential factors by moving track horizontally or vertically. We made gesture translation algorithms for each classification and achieved sharing semantic information of gesture contents. We carried out quantitative evaluation with simualtions, and qualitative evaluation with questionnaire.