void Awake()
{
this.baseFootprint = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintName);
this.baseFootprintPosNoise = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintPosNoiseName);
this.baseFootprintRotNoise = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintRotNoiseName);
this.baseFootprintRigidbody = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintRigidbodyName);
}
//private Transform lGripperPalmLink;
//private Transform lGripperLFingerLink;
//private Transform lGripperRFingerLink;
//private Transform lGripperRFingerTipLink;
//private Transform lGripperLFingerTipLink;
void Awake()
{
this.torsoLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.torso_lift_link.ToString());
this.headPanLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.head_pan_link.ToString());
this.headTiltLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.head_tilt_link.ToString());
//this.laserTiltMountLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.laser_tilt_mount_link.ToString());
this.rUpperArmRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_upper_arm_roll_link.ToString());
this.rShoulderPanLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_shoulder_pan_link.ToString());
this.rShoulderLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_shoulder_lift_link.ToString());
this.rForearmRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_forearm_roll_link.ToString());
this.rElbowFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_elbow_flex_link.ToString());
this.rWristFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_wrist_flex_link.ToString());
this.rWristRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_wrist_roll_link.ToString());
//this.rGripperPalmLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_gripper_palm_link .ToString());
//this.rGripperLFingerLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_gripper_l_finger_link .ToString());
//this.rGripperRFingerLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_gripper_r_finger_link .ToString());
//this.rGripperRFingerTipLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_gripper_r_finger_tip_link.ToString());
//this.rGripperLFingerTipLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_gripper_l_finger_tip_link.ToString());
this.lUpperArmRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_upper_arm_roll_link.ToString());
this.lShoulderPanLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_shoulder_pan_link.ToString());
this.lShoulderLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_shoulder_lift_link.ToString());
this.lForearmRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_forearm_roll_link.ToString());
this.lElbowFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_elbow_flex_link.ToString());
this.lWristFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_wrist_flex_link.ToString());
this.lWristRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_wrist_roll_link.ToString());
//this.lGripperPalmLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_gripper_palm_link .ToString());
//this.lGripperLFingerLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_gripper_l_finger_link .ToString());
//this.lGripperRFingerLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_gripper_r_finger_link .ToString());
//this.lGripperRFingerTipLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_gripper_r_finger_tip_link.ToString());
//this.lGripperLFingerTipLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_gripper_l_finger_tip_link.ToString());
}
void Awake()
{
this.armLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.ArmLiftLinkName);
this.armFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.ArmFlexLinkName);
this.armRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.ArmRollLinkName);
this.wristFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.WristFlexLinkName);
this.wristRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.WristRollLinkName);
this.headPanLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.HeadPanLinkName);
this.headTiltLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.HeadTiltLinkName);
this.torsoLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.TorsoLiftLinkName);
this.handLProximalLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.HandLProximalLinkName);
this.handRProximalLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.HandRProximalLinkName);
this.armLiftLinkIniPosZ = this.armLiftLink.localPosition.z;
this.torsoLiftLinkIniPosZ = this.torsoLiftLink.localPosition.z;
this.trajectoryInfoMap = new Dictionary <string, TrajectoryInfo>();
this.trajectoryInfoMap.Add(HSRCommon.ArmLiftJointName, null);
this.trajectoryInfoMap.Add(HSRCommon.ArmFlexJointName, null);
this.trajectoryInfoMap.Add(HSRCommon.ArmRollJointName, null);
this.trajectoryInfoMap.Add(HSRCommon.WristFlexJointName, null);
this.trajectoryInfoMap.Add(HSRCommon.WristRollJointName, null);
this.trajectoryInfoMap.Add(HSRCommon.HeadPanJointName, null);
this.trajectoryInfoMap.Add(HSRCommon.HeadTiltJointName, null);
this.trajectoryInfoMap.Add(HSRCommon.HandLProximalJointName, null);
this.trajectoryInfoMap.Add(HSRCommon.HandRProximalJointName, null);
this.trajectoryKeyList = new List <string>(trajectoryInfoMap.Keys);
}
void Awake()
{
this.armLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_lift_link.ToString());
this.armFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_flex_link.ToString());
this.armRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_roll_link.ToString());
this.wristFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.wrist_flex_link.ToString());
this.wristRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.wrist_roll_link.ToString());
this.headPanLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.head_pan_link.ToString());
this.headTiltLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.head_tilt_link.ToString());
this.torsoLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.torso_lift_link.ToString());
this.handMotorDummyLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.hand_motor_dummy_link.ToString());
this.handLProximalLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.hand_l_proximal_link.ToString());
this.handRProximalLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.hand_r_proximal_link.ToString());
this.handLDistalLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.hand_l_distal_link.ToString());
this.handRDistalLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.hand_r_distal_link.ToString());
this.armLiftLinkIniPosZ = this.armLiftLink.localPosition.z;
this.torsoLiftLinkIniPosZ = this.torsoLiftLink.localPosition.z;
this.trajectoryInfoMap = new Dictionary <HSRCommon.Joint, TrajectoryInfo>()
{
{ HSRCommon.Joint.arm_lift_joint, null },
{ HSRCommon.Joint.arm_flex_joint, null },
{ HSRCommon.Joint.arm_roll_joint, null },
{ HSRCommon.Joint.wrist_flex_joint, null },
{ HSRCommon.Joint.wrist_roll_joint, null },
{ HSRCommon.Joint.head_pan_joint, null },
{ HSRCommon.Joint.head_tilt_joint, null },
{ HSRCommon.Joint.hand_motor_joint, null },
};
this.trajectoryKeyList = new List <HSRCommon.Joint>(trajectoryInfoMap.Keys);
}
void Start()
{
if (this.rosbridgeIP.Equals(string.Empty))
{
this.rosbridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP;
}
if (this.sigverseBridgePort == 0)
{
this.sigverseBridgePort = ConfigManager.Instance.configInfo.sigverseBridgePort;
}
this.tcpClient = new System.Net.Sockets.TcpClient(this.rosbridgeIP, this.sigverseBridgePort);
this.networkStream = this.tcpClient.GetStream();
this.networkStream.ReadTimeout = 100000;
this.networkStream.WriteTimeout = 100000;
// Depth Camera
this.xtionDepthCamera = SIGVerseUtils.FindTransformFromChild(this.transform.root, "camera_depth_optical_frame").GetComponentInChildren <Camera>();
int imageWidth = this.xtionDepthCamera.targetTexture.width;
int imageHeight = this.xtionDepthCamera.targetTexture.height;
this.byteArray = new byte[imageWidth * imageHeight * 2];
for (int i = 0; i < this.byteArray.Length; i++)
{
this.byteArray[i] = 0;
}
this.imageTexture = new Texture2D(imageWidth, imageHeight, TextureFormat.RGB24, false);
// [camera/depth/CameraInfo]
string distortionModel = "plumb_bob";
double[] D = { 0.0, 0.0, 0.0, 0.0, 0.0 };
double[] K = { 570.3422241210938, 0.0, 314.5, 0.0, 570.3422241210938, 235.5, 0.0, 0.0, 1.0 };
double[] R = { 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 };
double[] P = { 570.3422241210938, 0.0, 314.5, 0.0, 0.0, 570.3422241210938, 235.5, 0.0, 0.0, 0.0, 1.0, 0.0 };
RegionOfInterest roi = new RegionOfInterest(0, 0, 0, 0, false);
this.cameraInfoData = new CameraInfoForSIGVerseBridge(null, (uint)imageHeight, (uint)imageWidth, distortionModel, D, K, R, P, 0, 0, roi);
// [camera/depth/Image_raw]
string encoding = "16UC1";
byte isBigendian = 0;
uint step = (uint)imageWidth * 2;
this.imageData = new ImageForSIGVerseBridge(null, (uint)imageHeight, (uint)imageWidth, encoding, isBigendian, step, null);
this.header = new Header(0, new SIGVerse.RosBridge.msg_helpers.Time(0, 0), "camera_depth_optical_frame");
this.cameraInfoMsg = new SIGVerseRosBridgeMessage <CameraInfoForSIGVerseBridge>("publish", this.topicNameCameraInfo, CameraInfoForSIGVerseBridge.GetMessageType(), this.cameraInfoData);
this.imageMsg = new SIGVerseRosBridgeMessage <ImageForSIGVerseBridge> ("publish", this.topicNameImage, ImageForSIGVerseBridge.GetMessageType(), this.imageData);
}
private bool IsDeliverySucceeded(Transform moderatorRoot)
{
Rigidbody targetRigidbody = this.graspingTarget.GetComponent <Rigidbody>();
Vector3 targetPos = targetRigidbody.transform.TransformPoint(targetRigidbody.centerOfMass);
Vector3 moderatorPos = SIGVerseUtils.FindTransformFromChild(moderatorRoot, DeliveryPositionName).position;
return(Vector3.Distance(targetPos, moderatorPos) <= DeliveryThreshold && this.IsObjectGraspedSucceeded());
}
void Awake()
{
this.baseFootprint = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.Link.base_footprint.ToString());
this.baseFootprintPosNoise = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintPosNoiseName);
this.baseFootprintRotNoise = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintRotNoiseName);
this.baseFootprintRigidbody = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintRigidbodyName);
this.jointTrajectoryOmni = this.transform.GetComponentInChildren <HSRSubJointTrajectoryOmni>(true);
}
protected override void InitializeVariables()
{
this.baseFootprint = SIGVerseUtils.FindTransformFromChild(this.transform.root, TIAGoCommon.Link.base_footprint.ToString());
this.baseFootprintPosNoise = SIGVerseUtils.FindTransformFromChild(this.transform.root, TIAGoCommon.BaseFootPrintPosNoiseName);
this.baseFootprintRotNoise = SIGVerseUtils.FindTransformFromChild(this.transform.root, TIAGoCommon.BaseFootPrintRotNoiseName);
this.baseFootprintRigidbody = SIGVerseUtils.FindTransformFromChild(this.transform.root, TIAGoCommon.BaseFootPrintRigidbodyName);
this.maxSpeedBase = TIAGoCommon.MaxSpeedBase;
this.maxSpeedBaseRad = TIAGoCommon.MaxSpeedBaseRad;
}
private bool SetSourceTransform()
{
if (!this.isServer)
{
return(false);
}
//Player[] players = PhotonNetwork.PlayerListOthers;
//int numberOfAvatars = players.Count(p => p.NickName.StartsWith("Human"));
if (PhotonNetwork.PlayerListOthers.Count(p => p.NickName.StartsWith(this.imitatorTargetPrefix)) == 0)
{
Debug.LogWarning("Imitator: source not found.");
return(false);
}
//this.srcAvatar = GameObject.FindGameObjectWithTag("Avatar").transform; // TODO: target should be selected in some way (e.g., a config value)
GameObject[] avatars = GameObject.FindGameObjectsWithTag("Avatar");
foreach (GameObject avatar in avatars)
{
if (avatar.name.StartsWith(this.imitatorTargetPrefix))
{
this.srcAvatar = avatar.transform;
break;
}
}
if (this.srcAvatar == null)
{
Debug.LogWarning("Imitator: source not found.");
return(false);
}
if (this.srcAvatar.GetComponent <HumanAvatarInitializer>().IsInitialized())
{
List <Transform> transforms = new List <Transform>();
foreach (Transform dsrTransform in destTransforms)
{
transforms.Add(SIGVerseUtils.FindTransformFromChild(this.srcAvatar.transform, dsrTransform.name));
}
srcTransforms = transforms.ToArray();
List <Transform> transformsRot = new List <Transform>();
foreach (Transform dsrTransformRot in destTransformsRot)
{
transformsRot.Add(SIGVerseUtils.FindTransformFromChild(this.srcAvatar.transform, dsrTransformRot.name));
}
srcTransformsRot = transformsRot.ToArray();
return(true);
}
return(false);
}
public static List <Transform> GetLinksInChildren(Transform root)
{
List <Transform> linkList = new List <Transform>();
foreach (string linkName in Enum.GetNames(typeof(Link)))
{
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, linkName));
}
return(linkList);
}
void Awake()
{
this.armLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.ArmLiftLinkName);
this.armFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.ArmFlexLinkName);
this.armRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.ArmRollLinkName);
this.wristFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.WristFlexLinkName);
this.wristRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.WristRollLinkName);
this.headPanLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.HeadPanLinkName);
this.headTiltLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.HeadTiltLinkName);
this.armLiftLinkIniPosZ = this.armLiftLink.localPosition.z;
}
public void SetPlaybackTargets()
{
this.targetTransforms = new List <Transform>();
// Robot
this.targetTransforms.Add(this.robot.transform);
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.base_footprint.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.arm_lift_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.arm_flex_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.arm_roll_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.wrist_flex_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.wrist_roll_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.head_pan_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.head_tilt_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.torso_lift_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.hand_motor_dummy_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.hand_l_proximal_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.hand_r_proximal_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.hand_l_distal_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.Link.hand_r_distal_link.ToString()));
// Avatar
Transform avatar = GameObject.FindGameObjectWithTag("Avatar").transform;
Transform[] avatarTransforms = avatar.GetComponentsInChildren <Transform>(true);
foreach (Transform avatarTransform in avatarTransforms)
{
bool isTagergetTransform = true;
foreach (string keyword in KeywordsOfAvatarPartsPathToIgnore)
{
if (SIGVerse.Common.SIGVerseUtils.GetHierarchyPath(avatarTransform).Contains(keyword))
{
isTagergetTransform = false;
}
}
if (isTagergetTransform)
{
this.targetTransforms.Add(avatarTransform);
}
}
// Additional
foreach (string playbackTargetTag in this.playbackTargetTags)
{
GameObject[] playbackTargetObjects = GameObject.FindGameObjectsWithTag(playbackTargetTag);
foreach (GameObject playbackTargetObject in playbackTargetObjects)
{
this.targetTransforms.Add(playbackTargetObject.transform);
}
}
}
public static List <Transform> GetLinksInChildren(Transform root)
{
List <Transform> linkList = new List <Transform>();
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, BaseFootPrintName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, BaseLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, ArmLiftLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, ArmFlexLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, ArmRollLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, WristFlexLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, WristRollLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandPalmLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandCameraFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandCameraRgbFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandLProximalLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandLSpringProximalLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandLMimicDistalLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandLDistalLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandLFingerTipFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandLFingerVacuumFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandMotorDummyLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandRProximalLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandRSpringProximalLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandRMimicDistalLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandRDistalLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HandRFingerTipFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, WristFtSensorFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, BaseImuFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, BaseRangeSensorLink));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, BaseRollLlinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, BaseLDriveWheelLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, BaseLPassiveWheelXFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, BaseLPassiveWheelYFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, BaseLPassiveWheelZLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, BaseRDriveWheelLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, BaseRPassiveWheelXFramName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, BaseRPassiveWheelYFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, BaseRPassiveWheelZLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, TorsoLiftLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HeadPanLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HeadTiltLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HeadCenterCameraFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HeadCenterCameraRgbFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HeadLStereoCameraLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HeadLStereoCameraRgbFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HeadRStereoCameraLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HeadRStereoCameraRgbFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HeadRgbdSensorLinkName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HeadRgbdSensorRgbFrameName));
AddLink(linkList, SIGVerseUtils.FindTransformFromChild(root, HeadRgbdSensorDepthFrameName));
return(linkList);
}
protected override void Awake()
{
if (CleanupConfig.Instance.configFileInfo.playbackType == WorldPlaybackCommon.PlaybackTypePlay)
{
// Activate all grasping candidates
GameObject graspingCandidatesObj = GameObject.Find("GraspingCandidates");
foreach (Transform graspingCandidate in graspingCandidatesObj.transform)
{
graspingCandidate.gameObject.SetActive(true);
graspingCandidate.position = new Vector3(0.0f, -5.0f, 0.0f); // Wait in the ground
// Disable rigidbodies
Rigidbody[] rigidbodies = graspingCandidate.GetComponentsInChildren <Rigidbody>(true);
foreach (Rigidbody rigidbody in rigidbodies)
{
rigidbody.isKinematic = true;
}
// Disable colliders
Collider[] colliders = graspingCandidate.GetComponentsInChildren <Collider>(true);
foreach (Collider collider in colliders)
{
collider.enabled = false;
}
}
}
base.Awake();
// Robot
Transform robot = GameObject.FindGameObjectWithTag("Robot").transform;
this.targetTransforms.Add(robot);
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.base_footprint.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.arm_lift_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.arm_flex_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.arm_roll_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.wrist_flex_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.wrist_roll_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.head_pan_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.head_tilt_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.torso_lift_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.hand_motor_dummy_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.hand_l_proximal_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.hand_r_proximal_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.hand_l_distal_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.hand_r_distal_link.ToString()));
}
void Awake()
{
this.armLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_lift_link.ToString());
this.armFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_flex_link.ToString());
this.armRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_roll_link.ToString());
this.wristFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.wrist_flex_link.ToString());
this.wristRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.wrist_roll_link.ToString());
this.headPanLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.head_pan_link.ToString());
this.headTiltLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.head_tilt_link.ToString());
this.handLProximalLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.hand_l_proximal_link.ToString());
this.handRProximalLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.hand_r_proximal_link.ToString());
this.armLiftLinkIniPosZ = this.armLiftLink.localPosition.z;
}
void Awake()
{
this.trajectoryInfoMap = new Dictionary <string, TrajectoryInfo>();
this.trajectoryInfoMap.Add(HSRCommon.OmniOdomX_JointName, null);
this.trajectoryInfoMap.Add(HSRCommon.OmniOdomY_JointName, null);
this.trajectoryInfoMap.Add(HSRCommon.OmniOdomT_JointName, null);
this.baseFootprintPosNoise = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintPosNoiseName);
this.baseFootprintRotNoise = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintRotNoiseName);
this.baseFootprintRigidbody = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintRigidbodyName);
this.initialPosition = this.baseFootprintRigidbody.position;//save initial position.
this.initialRotation = this.baseFootprintRigidbody.rotation;
}//Awake
protected void Awake()
{
this.collisionEffect = (GameObject)Resources.Load(CompetitionUtils.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, HSRCommon.WristRollLinkName).GetComponentsInChildren <Collider>());
this.hsrGraspingDetector = robot.GetComponent <HSRGraspingDetector>();
}
void Awake()
{
this.baseFootprint = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.Link.base_footprint.ToString());
this.baseFootprintRigidbody = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintRigidbodyName);
this.baseFootprintPosNoise = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintPosNoiseName);
this.baseFootprintRotNoise = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintRotNoiseName);
this.twist = this.transform.GetComponentInChildren <HSRSubTwist>(true);
this.trajectoryInfoMap = new Dictionary <HSRCommon.Joint, TrajectoryData>()
{
{ HSRCommon.Joint.odom_x, null },
{ HSRCommon.Joint.odom_y, null },
{ HSRCommon.Joint.odom_t, null },
};
}
void Awake()
{
this.torsoLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.torso_lift_link.ToString());
this.headPanLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.head_pan_link.ToString());
this.headTiltLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.head_tilt_link.ToString());
this.lShoulderPanLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_shoulder_pan_link.ToString());
this.lShoulderLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_shoulder_lift_link.ToString());
this.lUpperArmRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_upper_arm_roll_link.ToString());
this.lElbowFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_elbow_flex_link.ToString());
this.lForearmRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_forearm_roll_link.ToString());
this.lWristFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_wrist_flex_link.ToString());
this.lWristRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_wrist_roll_link.ToString());
this.rShoulderPanLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_shoulder_pan_link.ToString());
this.rShoulderLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_shoulder_lift_link.ToString());
this.rUpperArmRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_upper_arm_roll_link.ToString());
this.rElbowFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_elbow_flex_link.ToString());
this.rForearmRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_forearm_roll_link.ToString());
this.rWristFlexLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_wrist_flex_link.ToString());
this.rWristRollLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_wrist_roll_link.ToString());
this.torsoLiftLinkIniPosZ = this.torsoLiftLink.localPosition.z;
this.trajectoryInfoMap = new Dictionary <PR2Common.Joint, TrajectoryInfo>()
{
{ PR2Common.Joint.torso_lift_joint, null },
{ PR2Common.Joint.head_pan_joint, null },
{ PR2Common.Joint.head_tilt_joint, null },
{ PR2Common.Joint.l_shoulder_pan_joint, null },
{ PR2Common.Joint.l_shoulder_lift_joint, null },
{ PR2Common.Joint.l_upper_arm_roll_joint, null },
{ PR2Common.Joint.l_elbow_flex_joint, null },
{ PR2Common.Joint.l_forearm_roll_joint, null },
{ PR2Common.Joint.l_wrist_flex_joint, null },
{ PR2Common.Joint.l_wrist_roll_joint, null },
{ PR2Common.Joint.r_shoulder_pan_joint, null },
{ PR2Common.Joint.r_shoulder_lift_joint, null },
{ PR2Common.Joint.r_upper_arm_roll_joint, null },
{ PR2Common.Joint.r_elbow_flex_joint, null },
{ PR2Common.Joint.r_forearm_roll_joint, null },
{ PR2Common.Joint.r_wrist_flex_joint, null },
{ PR2Common.Joint.r_wrist_roll_joint, null }
};
this.trajectoryKeyList = new List <PR2Common.Joint>(trajectoryInfoMap.Keys);
}
void Awake()
{
if (this.handType == HandType.Left)
{
this.gripperLFingerLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_gripper_l_finger_link.ToString());
this.gripperRFingerLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_gripper_r_finger_link.ToString());
this.gripperLFingerTipLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_gripper_l_finger_tip_link.ToString());
this.gripperRFingerTipLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.l_gripper_r_finger_tip_link.ToString());
}
else
{
this.gripperLFingerLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_gripper_l_finger_link.ToString());
this.gripperRFingerLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_gripper_r_finger_link.ToString());
this.gripperLFingerTipLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_gripper_l_finger_tip_link.ToString());
this.gripperRFingerTipLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.r_gripper_r_finger_tip_link.ToString());
}
}
void Awake()
{
this.torsoLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.torso_lift_link.ToString());
this.head1Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.head_1_link.ToString());
this.head2Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.head_2_link.ToString());
this.arm1Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_1_link.ToString());
this.arm2Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_2_link.ToString());
this.arm3Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_3_link.ToString());
this.arm4Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_4_link.ToString());
this.arm5Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_5_link.ToString());
this.arm6Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_6_link.ToString());
this.arm7Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_7_link.ToString());
this.gripperLeftFingerLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.gripper_left_finger_link.ToString());
this.gripperRightFingerLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.gripper_right_finger_link.ToString());
this.torsoLiftLinkIniPosZ = this.torsoLiftLink.localPosition.z;
this.arm1LinkIniRotZ = this.arm1Link.localEulerAngles.z;
this.arm3LinkIniRotZ = this.arm3Link.localEulerAngles.z;
this.arm4LinkIniRotY = this.arm4Link.localEulerAngles.y;
this.arm6LinkIniRotY = this.arm6Link.localEulerAngles.y;
this.arm7LinkIniRotZ = this.arm7Link.localEulerAngles.z;
this.gripperLeftFingerLinkIniPosX = this.gripperLeftFingerLink.localPosition.x;
this.gripperRightFingerLinkIniPosX = this.gripperRightFingerLink.localPosition.x;
this.trajectoryInfoMap = new Dictionary <TIAGoCommon.Joint, TrajectoryInfo>()
{
{ TIAGoCommon.Joint.torso_lift_joint, null },
{ TIAGoCommon.Joint.head_1_joint, null },
{ TIAGoCommon.Joint.head_2_joint, null },
{ TIAGoCommon.Joint.arm_1_joint, null },
{ TIAGoCommon.Joint.arm_2_joint, null },
{ TIAGoCommon.Joint.arm_3_joint, null },
{ TIAGoCommon.Joint.arm_4_joint, null },
{ TIAGoCommon.Joint.arm_5_joint, null },
{ TIAGoCommon.Joint.arm_6_joint, null },
{ TIAGoCommon.Joint.arm_7_joint, null },
{ TIAGoCommon.Joint.gripper_left_finger_joint, null },
{ TIAGoCommon.Joint.gripper_right_finger_joint, null },
};
this.trajectoryKeyList = new List <TIAGoCommon.Joint>(trajectoryInfoMap.Keys);
}
protected override void Awake()
{
base.Awake();
// Robot
Transform robot = GameObject.FindGameObjectWithTag("Robot").transform;
this.targetTransforms.Add(robot);
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.BaseFootPrintName));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.ArmLiftLinkName));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.ArmFlexLinkName));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.ArmRollLinkName));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.WristFlexLinkName));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.WristRollLinkName));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.HeadPanLinkName));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.HeadTiltLinkName));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.TorsoLiftLinkName));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.HandLProximalLinkName));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.HandRProximalLinkName));
}
private void Awake()
{
try
{
// For practice mode
if (HumanNaviConfig.Instance.configInfo.executionMode == (int)ExecutionMode.Practice)
{
this.GetComponent <HumanNaviPubTaskInfo>().enabled = false;
this.GetComponent <HumanNaviPubMessage>().enabled = false;
this.GetComponent <HumanNaviSubMessage>().enabled = false;
this.GetComponent <HumanNaviPubAvatarStatus>().enabled = false;
this.GetComponent <HumanNaviPubObjectStatus>().enabled = false;
robot.transform.Find("RosBridgeScripts").gameObject.SetActive(false);
robot.GetComponentInChildren <HumanNaviSubGuidanceMessage>().enabled = false;
foreach (Camera camera in robot.transform.GetComponentsInChildren <Camera>())
{
camera.gameObject.SetActive(false);
}
}
this.robot.SetActive(false);
this.robotBaseFootprint = SIGVerseUtils.FindTransformFromChild(this.robot.transform, "base_footprint");
this.InitializeEnvironments();
this.tts = this.robot.transform.Find("CompetitionScripts").GetComponent <SAPIVoiceSynthesisExternal>();
this.InitializeTaskInfo();
}
catch (Exception e)
{
SIGVerseLogger.Error(e.Message);
this.ApplicationQuitAfter1sec();
}
}
void Awake()
{
List <UnityEngine.Transform> localLinkList = HSRCommon.GetLinksInChildren(this.transform.root);
foreach (UnityEngine.Transform localLink in localLinkList)
{
if (localLink.name == HSRCommon.Link.base_footprint.ToString())
{
TransformStamped localTransformStamped = new TransformStamped();
localTransformStamped.header.frame_id = HSRCommon.OdomName;
localTransformStamped.child_frame_id = localLink.name;
UnityEngine.Transform baseFootprintRigidbody = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintRigidbodyName);
TfInfo localTfInfo = new TfInfo(baseFootprintRigidbody, localTransformStamped);
this.localTfInfoList.Add(localTfInfo);
}
else
{
TransformStamped localTransformStamped = new TransformStamped();
localTransformStamped.header.frame_id = localLink.parent.name;
localTransformStamped.child_frame_id = localLink.name;
TfInfo localTfInfo = new TfInfo(localLink, localTransformStamped);
this.localTfInfoList.Add(localTfInfo);
}
}
this.synchronizer = this.GetComponent <HSRPubSynchronizer>();
this.publishSequenceNumber = this.synchronizer.GetAssignedSequenceNumber();
this.isUsingThread = this.synchronizer.useThread;
}
void Awake()
{
this.torsoLiftLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.torso_lift_link.ToString());
this.head1Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.head_1_link.ToString());
this.head2Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.head_2_link.ToString());
this.arm1Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_1_link.ToString());
this.arm2Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_2_link.ToString());
this.arm3Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_3_link.ToString());
this.arm4Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_4_link.ToString());
this.arm5Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_5_link.ToString());
this.arm6Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_6_link.ToString());
this.arm7Link = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.arm_7_link.ToString());
this.gripperLeftFingerLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.gripper_left_finger_link.ToString());
this.gripperRightFingerLink = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.gripper_right_finger_link.ToString());
this.torsoLiftLinkIniPosZ = this.torsoLiftLink.localPosition.z;
this.arm1LinkIniRotZ = this.arm1Link.localEulerAngles.z;
this.arm3LinkIniRotZ = this.arm3Link.localEulerAngles.z;
this.arm4LinkIniRotY = this.arm4Link.localEulerAngles.y;
this.arm6LinkIniRotY = this.arm6Link.localEulerAngles.y;
this.arm7LinkIniRotZ = this.arm7Link.localEulerAngles.z;
this.gripperLeftFingerLinkIniPosX = this.gripperLeftFingerLink.localPosition.x;
this.gripperRightFingerLinkIniPosX = this.gripperRightFingerLink.localPosition.x;
}
void Awake()
{
this.baseFootPrint = SIGVerseUtils.FindTransformFromChild(this.transform.root, HSRCommon.BaseFootPrintName);
this.baseRigidbody = this.baseFootPrint.GetComponent <Rigidbody>();
}
//---------------------------------------
protected override void Awake()
{
bool isPlayMode = HandymanConfig.Instance.configFileInfo.playbackType == WorldPlaybackCommon.PlaybackTypePlay;
if (isPlayMode)
{
foreach (GameObject environment in this.environments)
{
environment.SetActive(true);
} // Temporarily activate the environments to initialize the Transform Event.
// Deactivate the cubes of candidates positions
GameObject[] graspingCandidatesPositions = GameObject.FindGameObjectsWithTag(TagGraspingCandidatesPosition);
foreach (GameObject graspingCandidatesPosition in graspingCandidatesPositions)
{
graspingCandidatesPosition.SetActive(false);
}
// Activate all grasping candidates
GameObject graspingCandidatesObj = GameObject.Find("GraspingCandidates");
foreach (Transform graspingCandidate in graspingCandidatesObj.transform)
{
graspingCandidate.gameObject.SetActive(true);
graspingCandidate.position = new Vector3(0.0f, -5.0f, 0.0f); // Wait in the ground
// Disable rigidbodies
Rigidbody[] rigidbodies = graspingCandidate.GetComponentsInChildren <Rigidbody>(true);
foreach (Rigidbody rigidbody in rigidbodies)
{
rigidbody.isKinematic = true;
}
// Disable colliders
Collider[] colliders = graspingCandidate.GetComponentsInChildren <Collider>(true);
foreach (Collider collider in colliders)
{
collider.enabled = false;
}
}
}
base.Awake();
if (isPlayMode)
{
foreach (GameObject environment in this.environments)
{
environment.SetActive(false);
}
} // Deactivate environments
// Robot
Transform robot = GameObject.FindGameObjectWithTag("Robot").transform;
this.targetTransforms.Add(robot);
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.base_footprint.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.arm_lift_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.arm_flex_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.arm_roll_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.wrist_flex_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.wrist_roll_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.head_pan_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.head_tilt_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.torso_lift_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.hand_l_proximal_link.ToString()));
this.targetTransforms.Add(SIGVerseUtils.FindTransformFromChild(robot, HSRCommon.Link.hand_r_proximal_link.ToString()));
}
private void GetGameObjects(GameObject avatarMotionPlayback, GameObject worldPlayback)
{
this.robot = GameObject.FindGameObjectWithTag(TagRobot);
this.hsrBaseFootPrint = SIGVerseUtils.FindTransformFromChild(this.robot.transform, HSRCommon.BaseFootPrintName);
this.hsrGraspingDetector = this.robot.GetComponentInChildren <HSRGraspingDetector>();
GameObject moderator = GameObject.FindGameObjectWithTag(TagModerator);
// Get grasping candidates
this.graspingCandidates = GameObject.FindGameObjectsWithTag(TagGraspingCandidates).ToList <GameObject>();
if (this.graspingCandidates.Count == 0)
{
throw new Exception("Count of GraspingCandidates is zero.");
}
// 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(moderator); // 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>();
}
protected virtual void Awake()
{
this.baseFootprint = SIGVerseUtils.FindTransformFromChild(this.transform.root, "base_footprint");
}
void Awake()
{
this.baseFootprint = SIGVerseUtils.FindTransformFromChild(this.transform.root, Link.base_footprint.ToString());
}
