SettingFiles

A list of the settings files is as follows:

1. SIGVerseConfig / InteractiveCleanup / InteractiveCleanupConfig.json
2. SIGVerseConfig / InteractiveCleanup / EnvironmentInfoXX.json
3. SIGVerseConfig / InteractiveCleanup / AvatarMotionXX.dat
4. SIGVerseConfig / InteractiveCleanup / InteractiveCleanupScore.txt
5. SIGVerseConfig / InteractiveCleanup / PlaybackXX.dat

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

InteractiveCleanupConfig.json

InteractiveCleanupConfig.json is a dedicated Interactive Cleanup settings file.

No	Name	Type	Example	Description
1	teamName	string	Inter@ctive Cleanup	Team Name
2	sessionTimeLimit	int	360	Time limit of each session (seconds)
3	maxNumberOfTrials	int	15	Maximum number of trials
4	isScoreFileRead	bool	false	Read InteractiveCleanupScore.txt or not. It is for recovery in case of some failure. true: Resume from the score file. false: Normal mode.
5	executionMode	int	0	0: For the competition This mode uses EnvironmentInfoXX.json and AvatarMotionXX.dat. 1: For data generation This mode generates EnvironmentInfoXX.json and AvatarMotionXX.dat.
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 when in data generation mode or not. This parameter is used to avoid a lot of robot sensor data flowing and slowing down the PC performance when using VR. true: Reduce the robot's sensor data in data generation mode. false: Same as always.

EnvironmentInfoXX.json

EnvironmentInfoXX.json is a file recording information about relocatable objects output by the Interactive Cleanup app.
The names of objects to grasp as well as the position and orientation of the graspable objects, the position and orientation of objects for cleanup 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.

The items in the file are as follows.

No	Item	Description
1	taskMessage	Task information
2	environmentName	Environment name
3	graspingTargetName	Target object name
4	destinationName	Destination object name
5	graspablesPositions	Position of the graspable objects
6	destinationsPositions	Position of the destinations

AvatarMotionXX.dat

AvatarMotionXX.dat is a file recording the time-series motion data of the human avatar output by the Interactive Cleanup app.
XX in the file name is the attempt number of the task. AvatarMotion01.dat would be the name of the file for the first attempt of a task.

InteractiveCleanupScore.txt

InteractiveCleanupScore.txt is a file recording the score output by the Interactive Cleanup 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 the InteractiveCleanupScore.txt is as follows.

70
100
60
20

The InteractiveCleanupScore.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 InteractiveCleanupConfig.json.

PlaybackXX.dat

PlaybackXX.dat is the file recording the movement of objects during the competitive task output by the Interactive Cleanup 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 InteractiveCleanupConfig.json is set to 1, this file is output.
When playbackType in InteractiveCleanupConfig.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.