public PlaceLocation(string id, JointTrajectory post_place_posture, PoseStamped place_pose, double quality, GripperTranslation pre_place_approach, GripperTranslation post_place_retreat, string[] allowed_touch_objects)
{
this.id = id;
this.post_place_posture = post_place_posture;
this.place_pose = place_pose;
this.quality = quality;
this.pre_place_approach = pre_place_approach;
this.post_place_retreat = post_place_retreat;
this.allowed_touch_objects = allowed_touch_objects;
}
public Grasp(string id, JointTrajectory pre_grasp_posture, JointTrajectory grasp_posture, PoseStamped grasp_pose, double grasp_quality, GripperTranslation pre_grasp_approach, GripperTranslation post_grasp_retreat, GripperTranslation post_place_retreat, float max_contact_force, string[] allowed_touch_objects)
{
this.id = id;
this.pre_grasp_posture = pre_grasp_posture;
this.grasp_posture = grasp_posture;
this.grasp_pose = grasp_pose;
this.grasp_quality = grasp_quality;
this.pre_grasp_approach = pre_grasp_approach;
this.post_grasp_retreat = post_grasp_retreat;
this.post_place_retreat = post_place_retreat;
this.max_contact_force = max_contact_force;
this.allowed_touch_objects = allowed_touch_objects;
}
