private void GetGameObjects(EnvironmentInfo environmentInfo, GameObject avatarMotionPlayback, GameObject worldPlayback)
{
this.robot = GameObject.FindGameObjectWithTag(TagRobot);
this.hsrGraspingDetector = this.robot.GetComponentInChildren <GraspingDetector>();
// Get grasping candidates
List <GameObject> graspingCandidates = ExtractGraspingCandidates(environmentInfo);
// List<GameObject> dummyGraspingCandidates = GameObject.FindGameObjectsWithTag(TagDummyGraspingCandidates).ToList<GameObject>();
this.graspables = new List <GameObject>();
this.graspables.AddRange(graspingCandidates);
// this.graspables.AddRange(dummyGraspingCandidates);
// Check the name conflict of graspables.
if (this.graspables.Count != (from graspable in this.graspables select graspable.name).Distinct().Count())
{
throw new Exception("There is the name conflict of graspable objects.");
}
SIGVerseLogger.Info("Count of Graspables = " + this.graspables.Count);
// Get grasping candidates positions
this.graspingCandidatesPositions = GameObject.FindGameObjectsWithTag(TagGraspingCandidatesPosition).ToList <GameObject>();
if (graspables.Count > this.graspingCandidatesPositions.Count)
{
throw new Exception("graspables.Count > graspingCandidatesPositions.Count.");
}
else
{
SIGVerseLogger.Info("Count of GraspingCandidatesPosition = " + this.graspingCandidatesPositions.Count);
}
this.destinationCandidates = GameObject.FindGameObjectsWithTag(TagDestinationCandidates).ToList <GameObject>();
if (this.destinationCandidates.Count == 0)
{
throw new Exception("Count of DestinationCandidates is zero.");
}
// Check the name conflict of destination candidates.
if (this.destinationCandidates.Count != (from destinations in this.destinationCandidates select destinations.name).Distinct().Count())
{
throw new Exception("There is the name conflict of destination candidates objects.");
}
SIGVerseLogger.Info("Count of Destinations = " + this.destinationCandidates.Count);
this.avatarMotionPlayer = avatarMotionPlayback.GetComponent <CleanupAvatarMotionPlayer>();
this.avatarMotionRecorder = avatarMotionPlayback.GetComponent <CleanupAvatarMotionRecorder>();
this.playbackRecorder = worldPlayback.GetComponent <CleanupPlaybackRecorder>();
}
protected void Awake()
{
this.collisionEffect = (GameObject)Resources.Load(SIGVerseUtils.CollisionEffectPath);
GameObject robot = GameObject.FindGameObjectWithTag(TagRobot);
this.hsrBaseColliders = new List <Collider>();
this.hsrBaseColliders.AddRange(SIGVerseUtils.FindTransformFromChild(robot.transform.root, HSRCommon.BaseName).GetComponentsInChildren <Collider>());
this.hsrBaseColliders.AddRange(SIGVerseUtils.FindTransformFromChild(robot.transform.root, HSRCommon.BumperName).GetComponentsInChildren <Collider>());
this.hsrHandColliders = new List <Collider>();
this.hsrHandColliders.AddRange(SIGVerseUtils.FindTransformFromChild(robot.transform.root, Link.wrist_roll_link.ToString()).GetComponentsInChildren <Collider>());
this.hsrGraspingDetector = robot.GetComponent <GraspingDetector>();
}
private void GetGameObjects(EnvironmentInfo environmentInfo, GameObject avatarMotionPlayback, GameObject worldPlayback)
{
this.robot = GameObject.FindGameObjectWithTag(TagRobot);
this.hsrBaseFootPrint = SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.base_footprint.ToString());
this.hsrGraspingDetector = this.robot.GetComponentInChildren <GraspingDetector>();
GameObject moderatorObj = GameObject.FindGameObjectWithTag(TagModerator);
// Get grasping candidates
this.graspingCandidates = this.ExtractGraspingCandidates(environmentInfo);
// List<GameObject> dummyGraspingCandidates = GameObject.FindGameObjectsWithTag(TagDummyGraspingCandidates).ToList<GameObject>();
this.graspables = new List <GameObject>();
this.graspables.AddRange(this.graspingCandidates);
// this.graspables.AddRange(dummyGraspingCandidates);
// Check the name conflict of graspables.
if (this.graspables.Count != (from graspable in this.graspables select graspable.name).Distinct().Count())
{
throw new Exception("There is the name conflict of graspable objects.");
}
SIGVerseLogger.Info("Count of Graspables = " + this.graspables.Count);
this.bedRoomArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameBedRoom);
this.kitchenArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameKitchen);
this.livingArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameLiving);
this.lobbyArea = GameObject.Find(this.environmentName + "/RoomArea/" + AreaNameLobby);
// Get grasping candidates positions
this.graspingCandidatesPositions = GameObject.FindGameObjectsWithTag(TagGraspingCandidatesPosition).ToList <GameObject>();
if (this.graspables.Count > this.graspingCandidatesPositions.Count)
{
throw new Exception("graspables.Count > graspingCandidatesPositions.Count.");
}
else
{
SIGVerseLogger.Info("Count of GraspingCandidatesPosition = " + this.graspingCandidatesPositions.Count);
}
this.destinationCandidates = GameObject.FindGameObjectsWithTag(TagDestinationCandidates).ToList <GameObject>();
this.destinationCandidates.Add(moderatorObj); // Treat moderator as a destination candidate
if (this.destinationCandidates.Count == 0)
{
throw new Exception("Count of DestinationCandidates is zero.");
}
// Check the name conflict of destination candidates.
if (this.destinationCandidates.Count != (from destinations in this.destinationCandidates select destinations.name).Distinct().Count())
{
throw new Exception("There is the name conflict of destination candidates objects.");
}
SIGVerseLogger.Info("Count of Destinations = " + this.destinationCandidates.Count);
this.avatarMotionPlayer = avatarMotionPlayback.GetComponent <HandymanAvatarMotionPlayer>();
this.avatarMotionRecorder = avatarMotionPlayback.GetComponent <HandymanAvatarMotionRecorder>();
this.playbackRecorder = worldPlayback.GetComponent <HandymanPlaybackRecorder>();
this.playbackRecorder.SetEnvironmentName(this.environmentName);
}
