public TransitionTuple(FullState o, PositionCommand a, double data_arrival_time, double model_processed_time)
{
this.o = o;
this.a = a;
this.data_arrival_time = data_arrival_time;
this.model_processed_time = model_processed_time;
}
public TransitionTuple()
{
this.o = new FullState();
this.a = new PositionCommand();
this.data_arrival_time = 0.0;
this.model_processed_time = 0.0;
}
public ToRecord(RPYState state, Sensor.Image shoulderImage, Sensor.Image gripperImage, PositionCommand a, int timestep, double data_arrival_time, double data_processed_time, double beat_sent_time, double act_begin_time, double model_processed_time)
{
this.state = state;
this.shoulderImage = shoulderImage;
this.gripperImage = gripperImage;
this.a = a;
this.timestep = timestep;
this.data_arrival_time = data_arrival_time;
this.data_processed_time = data_processed_time;
this.beat_sent_time = beat_sent_time;
this.act_begin_time = act_begin_time;
this.model_processed_time = model_processed_time;
}
public ToRecord()
{
this.state = new RPYState();
this.shoulderImage = new Sensor.Image();
this.gripperImage = new Sensor.Image();
this.a = new PositionCommand();
this.timestep = 0;
this.data_arrival_time = 0.0;
this.data_processed_time = 0.0;
this.beat_sent_time = 0.0;
this.act_begin_time = 0.0;
this.model_processed_time = 0.0;
}
// broadcast XYZRPY, which will get converted to joint commands by the ROS server - exactly as though they came from the AI!
void commandXYZPositions()
{
PositionCommand cmd = new PositionCommand(
XYZRPYSliderVals[0], // x
XYZRPYSliderVals[1], // y
XYZRPYSliderVals[2], // z
XYZRPYSliderVals[3], // r
XYZRPYSliderVals[4], // p
XYZRPYSliderVals[5], // y
XYZRPYSliderVals[6] // gripper
);
// Finally send the message to server_endpoint.py running in ROS
try
{
ros.Send("xyz_rpy_g_command", cmd);
}
catch
{
print("Exception sending command");
}
}
public findIKRequest(PositionCommand position)
{
this.position = position;
}
public findIKRequest()
{
this.position = new PositionCommand();
}
