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();
}
public Goal(Std.String type, AchievedGoal state_goal, Sensor.Image img_goal, Std.String lang_goal)
{
this.type = type;
this.state_goal = state_goal;
this.img_goal = img_goal;
this.lang_goal = lang_goal;
}
public Goal()
{
this.type = new Std.String();
this.state_goal = new AchievedGoal();
this.img_goal = new Sensor.Image();
this.lang_goal = new Std.String();
}
AchievedGoal GetAchievedGoal()
{
Transform obj_pose = obj1.transform;
AchievedGoal ag = new AchievedGoal(
obj_pose.position.x, //start obj
obj_pose.position.y,
obj_pose.position.z,
obj_pose.rotation.x,
obj_pose.rotation.y,
obj_pose.rotation.z,
obj_pose.rotation.w); // end obj
return(ag);
}
// Given a full state, resets
void resetEnvironment(AchievedGoal ag)
{
// reset object 1
obj1.transform.rotation = new Quaternion(ag.obj1_q1, ag.obj1_q2, ag.obj1_q3, ag.obj1_q4);
obj1.transform.position = new Vector3(ag.obj1_pos_x, ag.obj1_pos_y, ag.obj1_pos_z);
}
public ResetInfo(JointPositions joints, AchievedGoal ag)
{
this.joints = joints;
this.ag = ag;
}
public ResetInfo()
{
this.joints = new JointPositions();
this.ag = new AchievedGoal();
}
public RPYState(RPYProprioState proprio, AchievedGoal ag)
{
this.proprio = proprio;
this.ag = ag;
}
public RPYState()
{
this.proprio = new RPYProprioState();
this.ag = new AchievedGoal();
}
