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; }