package gps

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View/edit binary Protocol Buffers messages

Enum for actuator types (Specified in Relax/PositionCommand msgs)

• TRIAL_ARM = 0

• AUXILIARY_ARM = 1

• TOTAL_ACTUATOR_TYPES = 2

• LIN_GAUSS_CONTROLLER = 0

• CAFFE_CONTROLLER = 1

• TF_CONTROLLER = 2

• TOTAL_CONTROLLER_TYPES = 3

Enum for position control modes (sent in PositionCommand msg)

• NO_CONTROL = 0

• JOINT_SPACE = 1

• TASK_SPACE = 2

• TOTAL_CONTROL_MODES = 3

Message containing the data for a single sample.

• optional uint32 T = 1

  TODO - do we want this default here?

  sample length

• optional uint32 dX = 2

  dimension of state X

• optional uint32 dU = 3

  dimension of action U

• optional uint32 dO = 4

  dimension of observation

• repeated float X = 5

  Data arrays holding X, U, obs, and meta data.

• repeated float U = 6

• repeated float obs = 7

• repeated float meta = 8

Enum for sample types

• ACTION = 0

• JOINT_ANGLES = 1

• JOINT_VELOCITIES = 2

• END_EFFECTOR_POINTS = 3

• END_EFFECTOR_POINT_VELOCITIES = 4

• END_EFFECTOR_POINT_JACOBIANS = 5

• END_EFFECTOR_POINT_ROT_JACOBIANS = 6

• END_EFFECTOR_POSITIONS = 7

• END_EFFECTOR_ROTATIONS = 8

• END_EFFECTOR_JACOBIANS = 9

• END_EFFECTOR_HESSIANS = 10

• RGB_IMAGE = 11

• DEPTH_IMAGE = 12

• RGB_IMAGE_SIZE = 13

• CONTEXT_IMAGE = 14

  initial image of the agent's environment.

• CONTEXT_IMAGE_SIZE = 15

• IMAGE_FEAT = 16

• END_EFFECTOR_POINTS_NO_TARGET = 17

• END_EFFECTOR_POINT_VELOCITIES_NO_TARGET = 18

• NOISE = 19

• TOTAL_DATA_TYPES = 20