/// <summary>
/// Loads and instantiates a forearm avatar prefab from Resources/Avatars/Forearms.
/// The prefab must include the tag "Forearm". Loads by name.
/// </summary>
/// <param name="forearmType">The name of the prefab forearm avatar to be loaded.</param>
/// <returns>The instantiated forearm GameObject.</returns>
private static GameObject LoadAbleForearm(float lowerArmLength, bool newTracker = true)
{
// Add motion tracker and assign as forearm tracker, use as parent
//GameObject llMotionTrackerGO = AvatarSystem.AddMotionTracker();
GameObject llMotionTrackerGO = SpawnMotionTracker(newTracker);
llMotionTrackerGO.tag = "ForearmTracker";
llMotionTrackerGO.transform.GetChild(1).gameObject.SetActive(false); // Disable marker
// Load forearm from avatar folder and check whether successfully loaded.
GameObject forearmPrefab = Resources.Load <GameObject>("Avatars/Forearms/ForearmAble");
if (forearmPrefab == null)
{
throw new System.Exception("The requested socket prefab was not found.");
}
// Get parent prosthesis manager
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
// Load forearm object info
//string objectPath = resourcesDataPath + "/Forearms/ForearmAble.json";
//string objectDataAsJson = File.ReadAllText(objectPath);
string objectPath = "Avatars/Forearms/ForearmAble";
string objectDataAsJson = Resources.Load <TextAsset>(objectPath).text;
activeForearmData = JsonUtility.FromJson <AvatarObjectData>(objectDataAsJson);
if (activeForearmData == null)
{
throw new System.Exception("The requested forearm information was not found.");
}
// Instantiate with tracker as parent.
GameObject forearmGO = Object.Instantiate(forearmPrefab, Vector3.zero, forearmPrefab.transform.rotation, llMotionTrackerGO.transform);
// Make sure the loaded forearm has a the follower script and correct setting
LimbFollower follower = forearmGO.GetComponent <LimbFollower>();
// If it wasn't found, then add it.
if (follower == null)
{
follower = forearmGO.AddComponent <LimbFollower>();
}
follower.avatarType = AvatarType.AbleBodied;
// Scale forearm to fit user's hand
float scaleFactor = lowerArmLength / (2 * activeForearmData.dimensions.x);
forearmGO.transform.localScale = new Vector3(scaleFactor, scaleFactor, scaleFactor);
return(forearmGO);
}
private void LoadDebugAvatar()
{
// Load avatar
if (avatarType == AvatarType.Transhumeral)
{
AvatarSystem.LoadAvatar(SaveSystem.ActiveUser, AvatarType.Transhumeral);
// Find the residual limb and change the follower
GameObject residualLimbGO = GameObject.FindGameObjectWithTag("ResidualLimbAvatar");
LimbFollower limbFollower = residualLimbGO.GetComponent <LimbFollower>();
Destroy(limbFollower);
AngleFollower angleFollower = residualLimbGO.AddComponent <AngleFollower>();
angleFollower.fixedTransform = fixedProsthesisPosition;
// Initialize prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
ConfigurableElbowManager elbowManager = prosthesisManagerGO.AddComponent <ConfigurableElbowManager>();
elbowManager.InitializeProsthesis(SaveSystem.ActiveUser.upperArmLength, (SaveSystem.ActiveUser.forearmLength + SaveSystem.ActiveUser.handLength / 2.0f));
// Set the reference generator to jacobian-based.
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_JACOBIANSYN");
instructionsText = synergyInstructions;
// Enable & configure EMG
if (emgEnable)
{
// Create and add sensor
//EMGWiFiManager emgSensor = new EMGWiFiManager(ip, port, channelSize);
ThalmicMyobandManager emgSensor = new ThalmicMyobandManager();
//emgSensor.ConfigureLimits(0, 1023, 0);
//emgSensor.ConfigureLimits(1, 1023, 0);
AvatarSystem.AddActiveSensor(emgSensor);
elbowManager.AddSensor(emgSensor);
//emgSensor.StartSensorReading();
// Set active sensor and reference generator to EMG.
elbowManager.ChangeSensor("VAL_SENSOR_SEMG");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_EMGPROP");
instructionsText = emgInstructions;
}
}
else
{
throw new System.NotImplementedException();
}
}
/// <summary>
/// Loads and instantiates a residual limb avatar prefab from Resources/Avatars/ResidualLimbs.
/// The prefab must include the tag "ResidualLimbAvatar". Loads by name.
/// </summary>
/// <param name="rlType">The name of the prefab residual limb avatar to be loaded.</param>
/// <returns>The instantiated residual limb GameObject.</returns>
private static GameObject LoadResidualLimb(string rlType, AvatarType avatarType)
{
// Load Avatar object to set as parent.
GameObject avatarGO = GameObject.FindGameObjectWithTag("Avatar");
// Load residual limb from avatar folder and check whether successfully loaded.
GameObject residualLimbPrefab = Resources.Load <GameObject>("Avatars/ResidualLimbs/" + rlType);
if (residualLimbPrefab == null)
{
throw new System.Exception("The requested residual limb prefab was not found.");
}
// Load the residual object info.
//string objectPath = resourcesDataPath + "/ResidualLimbs/" + rlType + ".json";
//string objectDataAsJson = File.ReadAllText(objectPath);
string objectPath = "Avatars/ResidualLimbs/" + rlType;
string objectDataAsJson = Resources.Load <TextAsset>(objectPath).text;
activeResidualLimbData = JsonUtility.FromJson <AvatarObjectData>(objectDataAsJson);
if (activeResidualLimbData == null)
{
throw new System.Exception("The requested residual limb information was not found.");
}
// Instantiate with tracker as parent.
GameObject residualLimbGO = Object.Instantiate(residualLimbPrefab, new Vector3(0.0f, -activeResidualLimbData.dimensions.x / 1.0f, 0.0f), Quaternion.identity, avatarGO.transform);
// Make sure the loaded residual limb has a the follower script and set the offset
LimbFollower follower = residualLimbGO.GetComponent <LimbFollower>();
// If it wasn't found, then add it.
if (follower == null)
{
follower = residualLimbGO.AddComponent <LimbFollower>();
}
follower.avatarType = avatarType;
follower.offset = new Vector3(0.0f, -activeResidualLimbData.dimensions.x / 1.0f, 0.0f);
return(residualLimbGO);
}
/// <summary>
/// Initializes the ExperimentSystem and its components.
/// Verifies that all components needed for the experiment are available.
/// </summary>
public override void InitialiseExperimentSystems()
{
//
// Set the experiment type and ID
//
if (AvatarSystem.AvatarType == AvatarType.AbleBodied)
{
experimentType = ExperimentType.TypeOne;
MonitorManager.DisplayText("Wrong avatar used. Please use a Transhumeral avatar.");
throw new System.Exception("Able-bodied avatar not suitable for prosthesis training.");
}
else if (AvatarSystem.AvatarType == AvatarType.Transhumeral)
{
// Check if EMG is available
bool EMGAvailable = false;
foreach (ISensor sensor in AvatarSystem.GetActiveSensors())
{
if (sensor.GetSensorType().Equals(SensorType.EMGWiFi))
{
EMGAvailable = true;
UDPSensorManager udpSensor = (UDPSensorManager)sensor;
udpSensor.StartSensorReading();
}
else if (sensor.GetSensorType().Equals(SensorType.ThalmicMyo))
{
EMGAvailable = true;
}
}
// Set whether emg or synergy based
if (EMGAvailable)
{
experimentType = ExperimentType.TypeTwo;
instructionsText = emgInstructions;
// Set EMG sensor and reference generator as active.
// Get prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
// Set active sensor and reference generator to EMG.
//elbowManager.ChangeSensor("VAL_SENSOR_SEMG");
elbowManager.ChangeSensor("VAL_SENSOR_THALMYO");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_EMGPROP");
}
else
{
experimentType = ExperimentType.TypeThree;
instructionsText = synergyInstructions;
// Set VIVE tracker and Jacobian synergy as active.
// Get prosthesis
GameObject prosthesisManagerGO = GameObject.FindGameObjectWithTag("ProsthesisManager");
elbowManager = prosthesisManagerGO.GetComponent <ConfigurableElbowManager>();
if (elbowManager.GetInterfaceType() == ReferenceGeneratorType.JacobianSynergy)
{
// Set the reference generator to jacobian-based.
elbowManager.ChangeSensor("VAL_SENSOR_VIVETRACKER");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_JACOBIANSYN");
}
else if (elbowManager.GetInterfaceType() == ReferenceGeneratorType.LinearKinematicSynergy)
{
// Set the reference generator to linear synergy.
elbowManager.ChangeSensor("VAL_SENSOR_VIVETRACKER");
elbowManager.ChangeReferenceGenerator("VAL_REFGEN_LINKINSYN");
}
else
{
throw new System.Exception("The prosthesis interface available is not supported.");
}
}
if (!debug)
{
// Find the residual limb and change the follower
residualLimbGO = GameObject.FindGameObjectWithTag("ResidualLimbAvatar");
limbFollower = residualLimbGO.GetComponent <LimbFollower>();
limbFollower.enabled = false;
angleFollower = residualLimbGO.AddComponent <AngleFollower>();
angleFollower.fixedTransform = fixedProsthesisPosition;
}
}
else
{
throw new System.NotImplementedException();
}
// Get Raycast Debug info
// handGO = GameObject.FindGameObjectWithTag("Hand");
// elbowGO = GameObject.FindGameObjectWithTag("Elbow_Upper");
// residualLimbGO = GameObject.FindGameObjectWithTag("ResidualLimbAvatar");
}
