Logging direct VR joystick inputs #648
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stephenmcc
commented
Feb 6, 2025
| { | ||
| return doneReplaying; | ||
| IntFunction<TrackerData> trackerDataSupplier = index -> segmentType.getSegmentSide() == null ? vrInputData.get(index).trackerData.get(trackerIndex.get(segmentType)) : vrInputData.get(index).controllerData.get(segmentType.getSegmentSide()); | ||
| packTrackerDataInternal(trackerDataSupplier, poseToPack, angularVelocityToPack, linearVelocityToPack); | ||
| } | ||
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Calculation of interpolated pose/velocity
stephenmcc
commented
Feb 6, 2025
| if (reset) | ||
| this.reset(); | ||
| ControllerData controllerData = vrInputData.get(index).controllerData.get(robotSide); | ||
| return controllerData.triggerPressed; | ||
| } | ||
|
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Checks button press over the interval from the previous update to this update, so that buttons aren't missed or replayed multiple times.
calvertdw
approved these changes
Feb 6, 2025
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Currently on hold until the ProMP test can be reworked |
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Changing the logging scheme for VR to directly log the joystick pose/velocity and button inputs - a/b/trigger. On replay, it interpolates the pose/velocity of the controller. Trackers are also logged, with the restriction that the set of trackers has to be the same as recording (could do more flexible setup in the future). Adding button to load the latest modified csv file in the logs directory for quicker playback.