private static void SaveEnvironmentInfo(string taskMessage, string correctedTaskMessage, string environmentName, bool isEnvironmentNameSent, string graspingTargetName, string destinationName, Dictionary <RelocatableObjectInfo, GameObject> graspablesPositionMap, Dictionary <RelocatableObjectInfo, GameObject> destinationsPositionsMap)
{
EnvironmentInfo environmentInfo = new EnvironmentInfo();
environmentInfo.taskMessage = taskMessage;
environmentInfo.correctedTaskMessage = correctedTaskMessage;
environmentInfo.environmentName = environmentName;
environmentInfo.isEnvironmentNameSent = isEnvironmentNameSent;
environmentInfo.graspingTargetName = graspingTargetName;
environmentInfo.destinationName = destinationName;
List <RelocatableObjectInfo> graspablesPositions = new List <RelocatableObjectInfo>();
foreach (KeyValuePair <RelocatableObjectInfo, GameObject> graspablePositionPair in graspablesPositionMap)
{
RelocatableObjectInfo graspableInfo = new RelocatableObjectInfo();
graspableInfo.name = graspablePositionPair.Value.name;
graspableInfo.position = graspablePositionPair.Key.position;
graspableInfo.eulerAngles = graspablePositionPair.Key.eulerAngles;
graspablesPositions.Add(graspableInfo);
}
environmentInfo.graspablesPositions = graspablesPositions;
List <RelocatableObjectInfo> destinationsPositions = new List <RelocatableObjectInfo>();
foreach (KeyValuePair <RelocatableObjectInfo, GameObject> destinationPositionPair in destinationsPositionsMap)
{
RelocatableObjectInfo destinationInfo = new RelocatableObjectInfo();
destinationInfo.name = destinationPositionPair.Value.name;
destinationInfo.position = destinationPositionPair.Key.position;
destinationInfo.eulerAngles = destinationPositionPair.Key.eulerAngles;
destinationsPositions.Add(destinationInfo);
}
environmentInfo.destinationsPositions = destinationsPositions;
string filePath = String.Format(Application.dataPath + EnvironmentInfoFileNameFormat, HandymanConfig.Instance.numberOfTrials);
StreamWriter streamWriter = new StreamWriter(filePath, false, Encoding.UTF8);
SIGVerseLogger.Info("Save Environment info. path=" + filePath);
streamWriter.WriteLine(JsonUtility.ToJson(environmentInfo, true));
streamWriter.Flush();
streamWriter.Close();
}
public Dictionary <RelocatableObjectInfo, GameObject> CreateDestinationsPositionsMap()
{
Dictionary <RelocatableObjectInfo, GameObject> destinationsPositionsMap = new Dictionary <RelocatableObjectInfo, GameObject>();
for (int i = 0; i < this.destinationCandidates.Count; i++)
{
RelocatableObjectInfo destinationPositionInfo = new RelocatableObjectInfo();
destinationPositionInfo.name = this.destinationCandidates[i].name;
destinationPositionInfo.position = this.destinationCandidates[i].transform.position;
destinationPositionInfo.eulerAngles = this.destinationCandidates[i].transform.eulerAngles;
destinationsPositionsMap.Add(destinationPositionInfo, this.destinationCandidates[i]);
}
return(destinationsPositionsMap);
}
public Dictionary <RelocatableObjectInfo, GameObject> CreateGraspablesPositionMap()
{
List <GameObject> graspingCandidatesPositionsInBedRoom = new List <GameObject>();
List <GameObject> graspingCandidatesPositionsInKitchen = new List <GameObject>();
List <GameObject> graspingCandidatesPositionsInLiving = new List <GameObject>();
List <GameObject> graspingCandidatesPositionsInLobby = new List <GameObject>();
this.DeactivateGraspingCandidatesPositions();
foreach (GameObject graspingCandidatesPosition in this.graspingCandidatesPositions)
{
Vector3 position = graspingCandidatesPosition.transform.position;
if (this.IsTargetInArea(position, this.bedRoomArea))
{
graspingCandidatesPositionsInBedRoom.Add(graspingCandidatesPosition);
}
if (this.IsTargetInArea(position, this.kitchenArea))
{
graspingCandidatesPositionsInKitchen.Add(graspingCandidatesPosition);
}
if (this.IsTargetInArea(position, this.livingArea))
{
graspingCandidatesPositionsInLiving.Add(graspingCandidatesPosition);
}
if (this.IsTargetInArea(position, this.lobbyArea))
{
graspingCandidatesPositionsInLobby.Add(graspingCandidatesPosition);
}
}
// Shuffle the grasping candidates list
this.graspables = this.graspables.OrderBy(i => Guid.NewGuid()).ToList();
// Shuffle the grasping candidates position list
graspingCandidatesPositionsInBedRoom = graspingCandidatesPositionsInBedRoom.OrderBy(i => Guid.NewGuid()).ToList();
graspingCandidatesPositionsInKitchen = graspingCandidatesPositionsInKitchen.OrderBy(i => Guid.NewGuid()).ToList();
graspingCandidatesPositionsInLiving = graspingCandidatesPositionsInLiving.OrderBy(i => Guid.NewGuid()).ToList();
graspingCandidatesPositionsInLobby = graspingCandidatesPositionsInLobby.OrderBy(i => Guid.NewGuid()).ToList();
List <GameObject> graspingCandidatesPositionsTmp = new List <GameObject>();
for (int i = 0; graspingCandidatesPositionsTmp.Count < this.graspables.Count; i++)
{
if (graspingCandidatesPositionsInBedRoom.Count > i)
{
graspingCandidatesPositionsTmp.Add(graspingCandidatesPositionsInBedRoom[i]);
}
if (graspingCandidatesPositionsInKitchen.Count > i)
{
graspingCandidatesPositionsTmp.Add(graspingCandidatesPositionsInKitchen[i]);
}
if (graspingCandidatesPositionsInLiving.Count > i)
{
graspingCandidatesPositionsTmp.Add(graspingCandidatesPositionsInLiving[i]);
}
if (graspingCandidatesPositionsInLobby.Count > i)
{
graspingCandidatesPositionsTmp.Add(graspingCandidatesPositionsInLobby[i]);
}
}
Dictionary <RelocatableObjectInfo, GameObject> graspingCandidatesMap = new Dictionary <RelocatableObjectInfo, GameObject>();
for (int i = 0; i < this.graspables.Count; i++)
{
RelocatableObjectInfo graspablePositionInfo = new RelocatableObjectInfo();
graspablePositionInfo.name = this.graspables[i].name;
graspablePositionInfo.position = graspingCandidatesPositionsTmp[i].transform.position - new Vector3(0, graspingCandidatesPositionsTmp[i].transform.localScale.y * 0.49f, 0);
graspablePositionInfo.eulerAngles = graspingCandidatesPositionsTmp[i].transform.eulerAngles;
graspingCandidatesMap.Add(graspablePositionInfo, this.graspables[i]);
}
return(graspingCandidatesMap);
}
