SettingFiles - PartnerRobotChallengeVirtual/handyman-unity GitHub Wiki
A list of the settings file is as follows:
- SIGVerseConfig / Handyman / HandymanConfig.json
- SIGVerseConfig / Handyman / HandymanScore.txt
- SIGVerseConfig / Handyman / EnvironmentInfoXX.json
- SIGVerseConfig / Handyman / PlaybackXX.dat
For configuration files of SIGVerse please refer to following website.
https://github.com/PartnerRobotChallengeVirtual/common-unity/wiki/SettingFiles
HandymanConfig.json is a dedicated Handyman settings file.
| No | Name | Type | Example | Description |
|---|---|---|---|---|
| 1 | teamName | string | H@ndyman | Team Name |
| 2 | sessionTimeLimit | int | 600 | Time limit of each session |
| 3 | maxNumberOfTrials | int | 15 | Max number of the trials |
| 4 | isScoreFileRead | bool | false | Read HandymanScore.txt or not. It is for recovery in case of some failure. true: Start from the continuation of the score file. false: Normal mode. |
| 5 | isGraspableObjects PositionRandom |
bool | false | true: The positions of graspable objects are decided randomly when executed. And outputs EnvironmentInfoXX.json. (Then you need to manually correct the task message in EnvironmentInfoXX.json properly.) false: The positions of graspable objects are decided using EnvironmentInfoXX.json. And doesn't output EnvironmentInfoXX.json. |
| 6 | isAlwaysGoNext | bool | false | It is for debugging. true: Even if it failed, it goes to the next step. false: Normal mode. |
| 7 | playbackType | int | 1 | Playback mode 1: Record motions of scene objects. 2: Play the recorded motions. It is debug mode. |
| 8 | bgmVolume | float | 0.01 | BGM Volume. (between 0 and 1) |
HandymanScore.txt is a file recording the score output by the Handyman program.
This file records the score for the first task on the first line and the score for the second task on the second line.
An example of the HandymanScore.txt is as follows.
70
100
60
20
The HandymanScore.txt file is fundamentally output to record the score, but a file already including scores can be used to start the next competitive task if isScoreFileUsed is true in HandymanConfig.json.
EnvironmentInfoXX.json is a file recording information about relocatable objects output by the Handyman program.
The names of objects to grasp as well as the position and orientation of the graspable objects and other information are saved in the JSON format.
XX in the file name is the attempt number of the task. EnvironmentInfo01.json would be the name of the file for the first attempt of a task.
If isGraspableObjectsPositionRandom is true in HandymanConfig.json, the position and orientation of graspable objects is determined randomly on execution and output as this file.
(Then you need to manually correct the task message properly.)
If isGraspableObjectsPositionRandom is false, the existing EnvironmentInfoXX.json file is used to arrange graspable objects.
The items in the file are as follows.
| No | Item | Description |
|---|---|---|
| 1 | taskMessage | Instruction message |
| 2 | correctedTaskMessage | Corrected instruction to use when a mistake is pointed out |
| 3 | environmentName | Environment name |
| 4 | isEnvironmentNameSent | Send the environment name or send "unknown" |
| 5 | graspingTargetName | Target object name |
| 6 | destinationName | Destination object name |
| 7 | graspablesPositions | Position of the graspable objects |
| 8 | destinationsPositions | Position of the destinations |
PlaybackXX.dat is the file recording the movement of objects during the competitive task output by the Handyman program.
This is a time-series data file that primarily records the position and orientation of objects that can be moved (robot, graspable objects, non-kinematic objects, etc.).
This file is used to replay and confirm the movements of the robot that have been recorded.
XX in the file name is the attempt number of the task. Playback01.dat would be the name of the file for the first attempt of a task.
This file is output if playbackType in HandymanConfig.json is 1.
If playbackType is 2 in HandymanConfig.json, the program loads Playback00.dat to play back the robot and movement of the objects in the scene that have been recorded.
Therefore, if you would like to replay attempt 12 of a task, rename Playback12.dat in which the information has been recorded as Playback00.dat to use that file for playback.