SettingFiles

A list of the settings files is as follows:

1. SIGVerseConfig / Handyman / HandymanConfig.json
2. SIGVerseConfig / Handyman / EnvironmentInfoXX.json
3. SIGVerseConfig / Handyman / AvatarMotionsXX.dat
4. SIGVerseConfig / Handyman / HandymanScore.txt
5. SIGVerseConfig / Handyman / PlaybackXX.dat

For SIGVerse configuration files, please refer to the following page.
https://github.com/RoboCupatHomeSim/common-unity2/wiki/SettingFiles

HandymanConfig.json

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 (seconds)
3	maxNumberOfTrials	int	15	Maximum number of trials
4	isScoreFileRead	bool	false	Read HandymanScore.txt or not. It is for recovery in case of some failure. true: Resume from 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. This is debug mode.
8	bgmVolume	float	0.01	BGM Volume. (between 0 and 1)
9	reduceLoadInDataGen	bool	true	Reduce the load of the robot's sensor data or not when generating competition data. (Generating competition data means setting isGraspableObjectsPositionRandom=true.) This parameter is used to avoid a lot of robot sensor data flowing and slowing down the PC performance. true: Reduce the robot's sensor data when generating competition data. false: Same as always.

EnvironmentInfoXX.json

EnvironmentInfoXX.json is a file recording information about relocatable objects output by the Handyman app.
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

AvatarMotionsXX.dat

AvatarMotionsXX.dat is a file recording the time-series motion data of the human avatar output by the Handyman app.
XX in the file name is the attempt number of the task. AvatarMotions01.dat would be the name of the file for the first attempt of a task.

HandymanScore.txt

HandymanScore.txt is a file recording the score output by the Handyman app.
Each line records the score for one task (line 1 for task 1, line 2 for task 2, and so on).

An example of 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 isScoreFileRead is true in HandymanConfig.json.

PlaybackXX.dat

PlaybackXX.dat is the file recording the movement of objects during the competitive task output by the Handyman app.
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.

When playbackType in HandymanConfig.json is set to 1, this file is output.
When playbackType in HandymanConfig.json is set to 2, the application reads this file and plays back the recorded motions of the robot and the objects in the scene.