Help Changing rope length using variable

[rohit_dhak]

Hello,

So I am trying to control/change rope length using control input received from python.
I am successfully receiving the data from python side (checked it by debugging in unity console).


However now when I am trying to change the rope length using

Code:

cursor.ChangeLength(control_ip);

I am not sure if I am doing anything wrong, Its just not working, control_ip is a float.

I have a script attached to cable from where I am getting the rope and cursor object into my main control script.

The main control script is as following:

Code:

using System;
using System.Collections;
using System.Collections.Generic;
using System.IO;
using System.Net;
using System.Text;
using System.Globalization;
using System.Net.Sockets;
using UnityEngine;
using Obi;


public class Control_main : MonoBehaviour
{
// ------------------------------------------------------------------------------------------------------------------------------------------------//
    // Declaring variables and objects

    // Rope and cursor objects to manipulate cable lengths
    public ObiRope rope_1;
    public ObiRope rope_2;
    public ObiRope rope_3;
    public ObiRope rope_4;

    public ObiRopeCursor cursor_1;
    public ObiRopeCursor cursor_2;
    public ObiRopeCursor cursor_3;
    public ObiRopeCursor cursor_4;

    public float speed;


    // Current cable lengths
    public float c1_len;
    public float c2_len;
    public float c3_len;
    public float c4_len;

    // Robot object and position
    public GameObject robot_obj;
    public Vector3 robot_pos;

    // Control input
    public List<float> control_ip = new List<float>();

    // Control input variables (data received from python)
    public float c1_control_ip;    
    public float c2_control_ip;
    public float c3_control_ip;
    public float c4_control_ip;

    // Control script objects
    public GameObject c1;
    public GameObject c2;
    public GameObject c3;
    public GameObject c4;
    public GameObject listener;
    public GameObject sender;

    // Other scripts
    public Control_C1 c1Script;
    public Control_C2 c2Script;
    public Control_C3 c3Script;
    public Control_C4 c4Script;
    public TCPListenPipe listenerScript;
    public TCPSendPipe senderScript;

    // Misc
    public float delay = 10;
    float timer;
    bool running = true;

    // Simulation Status
    public string sim_stat = "sim_stat";
// ------------------------------------------------------------------------------------------------------------------------------------------------//

    // Start method
    public void Start()
    {
        // Waiting for simulation to be ready
        StartCoroutine(sim_steady());

        // Getting all required scene objects
        GetSceneObjects();

    }

// ------------------------------------------------------------------------------------------------------------------------------------------------//

    // Coroutine to wait for the simulation to get to steady state
    IEnumerator sim_steady()
    {
        sim_stat = "Simulation started";                    // changing simulation status to "started"
        Debug.Log("Simulation started");
        sim_stat = "Waiting for simulation to be steady";   // changing simulation status to "waiting"
        Debug.Log("Waiting for simulation to be steady");
        yield return new WaitForSeconds(10);
        sim_stat = "Simulation ready to use";               // changing simulation status to "ready to use"
        Debug.Log("Simulation ready to use");
    }

// ------------------------------------------------------------------------------------------------------------------------------------------------//
  
    // Method to get scene objects and parameters
    public void GetSceneObjects()
    {
        // Access cable objects
        c1 = GameObject.Find("Cable1");
        c2 = GameObject.Find("Cable2");
        c3 = GameObject.Find("Cable3");
        c4 = GameObject.Find("Cable4");
        listener = GameObject.Find("TrainingEnv");
        sender = GameObject.Find("TrainingEnv");

        // Access other scripts
        c1Script = FindObjectOfType<Control_C1>();
        c2Script = FindObjectOfType<Control_C2>();
        c3Script = FindObjectOfType<Control_C3>();
        c4Script = FindObjectOfType<Control_C4>();
        listenerScript = FindObjectOfType<TCPListenPipe>();
        senderScript = FindObjectOfType<TCPSendPipe>();


        // Getting rope and cursor objects
        rope_1 = c1Script.rope1;
        rope_2 = c2Script.rope2;
        rope_3 = c3Script.rope3;
        rope_4 = c4Script.rope4;

        cursor_1 = c1Script.cursor1;
        cursor_2 = c2Script.cursor2;
        cursor_3 = c3Script.cursor3;
        cursor_4 = c4Script.cursor4;

        speed = c1Script.speed;
    }

// ------------------------------------------------------------------------------------------------------------------------------------------------//

    // Method to receive robot position
    public void getRobPos()
    {
        // Getting robot object and position from TCPSendPipe
        robot_obj = senderScript.robot;
        robot_pos = senderScript.robPos;
    }

// ------------------------------------------------------------------------------------------------------------------------------------------------//

    // Method to get current cable lengths
    public void getCableLen()
    {
        // Access cable lengths (from Cable control scripts - cable observations)
        c1_len = c1Script.rope_c1;
        c2_len = c2Script.rope_c2;
        c3_len = c3Script.rope_c3;
        c4_len = c4Script.rope_c4;
    }

// ------------------------------------------------------------------------------------------------------------------------------------------------//

    // Method to receive actions
    public void Receive_actions()
    {
        // Access control inputs (from TCPListenPipe - data received from python)
        c1_control_ip = listenerScript.c1_action;
        c2_control_ip = listenerScript.c2_action;
        c3_control_ip = listenerScript.c3_action;
        c4_control_ip = listenerScript.c4_action;
    }
   
// ------------------------------------------------------------------------------------------------------------------------------------------------//
   
    // Method to perform control action
    public void set_control()
    {
        while (c1_len != c1_control_ip)
        {
            Debug.Log("Changing Cable Lengths");
            cursor_1.ChangeLength(c1_control_ip);
            if(c1_len == c1_control_ip)
            {
                Debug.Log("Action Completed");
                break;
            }
        }
    }

// ------------------------------------------------------------------------------------------------------------------------------------------------//
    // Method to print all data for debugging
    public void Debugging_data()
    {  
        Debug.Log("Current Cable Lengths: " + "\n");
        Debug.Log("cable 1:" + c1_len + "\n" + "cable 2 :" + c2_len + "\n" + "cable 3 :" + c3_len + "\n" + "cable 4 :" + c4_len + "\n");

        Debug.Log("Cable Control Inputs: " + "\n");
        Debug.Log("c1_control_ip :" + c1_control_ip + "\n" + "c2_control_ip :" + c2_control_ip + "\n" + "c3_control_ip :" + c3_control_ip + "\n" + "c4_control_ip :" + c4_control_ip + "\n");
       
        Debug.Log("Robot Position: " + "\n");
        Debug.Log("position: " + robot_pos);
    }

// ------------------------------------------------------------------------------------------------------------------------------------------------//

    // Update method (performs continuous control operation)
    void Update()
    {
        if (running)
        {
            if (sim_stat == "Simulation ready to use")
            {
                // Getting Control Actions
                Receive_actions();

                // Getting Current Cable Lengths
                getCableLen();

                // Getting Current Robot Position
                getRobPos();



                // Setting Control Actions
                //set_control();

                // Printing All Data
                Debugging_data();
            }
        }
    }
// ------------------------------------------------------------------------------------------------------------------------------------------------//
}

Any help is much appreciated.
Thank You.