How to Create the EnvironmentInfoXX.json

If HandymanConfig.json is executed with isGraspableObjectsPositionRandom as true, the layout information is exported to EnvironmentInfoXX.json when executed.

Thereafter, the layout information can be loaded from the EnvironmentInfoXX.json file that was output to perform a simulation with the same layout conditions each time by executing HandymanConfig.json with isGraspableObjectsPositionRandom set to false.
In this case, an error is triggered during execution if an existing EnvironmentInfoXX.json file is not found.

Resuming the Challenge from the Next Task After Ending a Task Before Completion

This section describes how to resume the challenge from the next task if the previous task is ended before completion for some reason.

If isScoreFileUsed is true in HandymanConfig.json, the file already including scores can be used to start the next task in the challenge.

Playback of Robot Movements During the Challenge

This section describes how to easily play back the movements of the robot for later review of the robot movements during the challenge. Be aware this playback cannot fully reproduce collisions and changes to points during the challenge.

If HandymanConfig.json is executed with playbackType as 1, the operational information during the challenge is exported to PlaybackXX.dat.

Thereafter, load the operational information from Playback00.dat and play back the movements by setting playbackType to 2 in HandymanConfig.json and executing the program.
Make sure the number for the file to load is "00" for playback. The file name needs to be changed to "00" because the number of the attempt is used when recording the operation. Only one file can be used for playback each time the program starts.