# Raptor Input

# The exact inputs to the Raptor foundation policy.
# Having access to the exact inputs helps with debugging and post-hoc analysis.

uint32 MESSAGE_VERSION = 0

uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
bool active # Signals if the policy is active (aka publishing actuator_motors)
float32[3] position # [m] [@frame FLU] Position of the vehicle_local_position frame
float32[4] orientation # [-] Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z)
float32[3] linear_velocity # [m/s] [@frame FLU] Linear velocity in the vehicle_local_position frame
float32[3] angular_velocity # [rad/s]  [@frame FLU] Angular velocity in the body frame
uint8 ACTION_DIM = 4 # Policy output dimensionality (for quadrotors)
float32[4] previous_action # [@range -1, 1] Previous action. Motor commands normalized to [-1, 1]

# TOPICS raptor_input