public FullState(QuaternionProprioState proprio, AchievedGoal ag, Sensor.Image shoulderImage, Sensor.Image gripperImage) { this.proprio = proprio; this.ag = ag; this.shoulderImage = shoulderImage; this.gripperImage = gripperImage; }
public FullState() { this.proprio = new QuaternionProprioState(); this.ag = new AchievedGoal(); this.shoulderImage = new Sensor.Image(); this.gripperImage = new Sensor.Image(); }
QuaternionProprioState GetQuaternionProprioState() { // arm information Transform grasp_target = articulationChain[ee_index].transform; Transform ee_info = articulationChain[ee_index - 1].transform; // QuaternionProprioState proprio = new QuaternionProprioState( grasp_target.position.x, //start arm grasp_target.position.y, grasp_target.position.z, ee_info.rotation.x, ee_info.rotation.y, ee_info.rotation.z, ee_info.rotation.w, (articulationChain[11].transform.localEulerAngles.z + left_outer_knuckle_offset) / 40.0F // gripper state from this ); return(proprio); }
public CheckPoseRequest(QuaternionProprioState QuatPos) { this.QuatPos = QuatPos; }
public CheckPoseRequest() { this.QuatPos = new QuaternionProprioState(); }