Serialized Form

Package edu.cmu.sphinx.frontend.util

Class edu.cmu.sphinx.frontend.util.VUMeterPanel

class VUMeterPanel extends JPanel implements Serializable

Serialized Fields

greenLevel

int greenLevel

numberOfLights

int numberOfLights

quit

boolean quit

redLevel

int redLevel

thread

Thread thread

vu

edu.cmu.sphinx.frontend.util.VUMeter vu

yellowLevel

int yellowLevel

Package edu.tufts.hrilab.action

Class edu.tufts.hrilab.action.ActionBinding

class ActionBinding extends Object implements Serializable

Serialized Fields

defaultValue

String defaultValue

This variable's default value.

isBound

boolean isBound

If this ActionBinding is bound to a value.

isLocal

boolean isLocal

Is this ActionBinding a local variable.

isReturn

boolean isReturn

If this ActionBinding is a return value.

isVarArg

boolean isVarArg

If this ActionBinding represents an argument for a varargs method. Only applies to Java methods (i.e., primitives and opspecs, not scripts).

javaType

Class<?> javaType

The Java type of this variable (i.e., Java class).

name

String name

The name of this variable.

semanticType

String semanticType

Semantic type.

value

Object value

This variable's value.

Class edu.tufts.hrilab.action.ActionCallback

class ActionCallback extends Object implements Serializable

Class edu.tufts.hrilab.action.Condition

class Condition extends Object implements Serializable

serialVersionUID:

-3956261989056437765L

Serialized Fields

predicates

LinkedHashMap<Predicate,Observable> predicates

type

ConditionType type

Class edu.tufts.hrilab.action.Effect

class Effect extends Object implements Serializable

serialVersionUID:

3956261989056437765L

Serialized Fields

auto

boolean auto

observable

Observable observable

predicate

Predicate predicate

type

EffectType type

Class edu.tufts.hrilab.action.EventSpec

class EventSpec extends Object implements Serializable

Serialized Fields

actor

String actor

command

String command

inputArgs

List<String> inputArgs

returnArgs

List<String> returnArgs

type

EventSpec.EventType type

Package edu.tufts.hrilab.action.db

Class edu.tufts.hrilab.action.db.ActionDBEntry

class ActionDBEntry extends DBEntry implements Serializable

serialVersionUID:

-6045952208937267757L

Serialized Fields

agents

List<Symbol> agents

Agents that can perform this action.

benefit

double benefit

conditions

List<Condition> conditions

Conditions that need to hold for this action to be executed.

cost

double cost

dbfile

String dbfile

The file this DBEntry originates from, if it is a script.

defaultPostConditions

List<Effect> defaultPostConditions

Default post-conditions (i.e., "did" effects).

effects

List<Effect> effects

Resulting effects of that action. These are explicitly written for the action.

eventSpecs

List<EventSpec> eventSpecs

Each eventSpec is a script event with its args.

hasTimeout

boolean hasTimeout

maxUrg

double maxUrg

minUrg

double minUrg

negAff

double negAff

observations

List<Predicate> observations

Observations executed by this action. TODO: move to new ObserverAction subclass

onCancelEvent

EventSpec onCancelEvent

Event to be executed when action is canceled/suspended/resumed.

onResumeEvent

EventSpec onResumeEvent

onSuspendEvent

EventSpec onSuspendEvent

policyConstraints

List<PolicyConstraints> policyConstraints

Policy constraints in the case that this action is a Recovery Policy. TODO: move to new RecoveryPolicy subclass

posAff

double posAff

resourceLocks

List<ActionResourceLock> resourceLocks

A list of resources required for this action.

timeout

long timeout

tsi

ai.thinkingrobots.trade.TRADEServiceInfo tsi

TRADE service in the case of a primitive action, null otherwise.

Class edu.tufts.hrilab.action.db.DBEntry

class DBEntry extends Object implements Serializable

serialVersionUID:

779232533378720982L

Serialized Fields

description

String description

The description is human-readable text describing the entry. The description is optional and an empty string by default.

isVarArgs

boolean isVarArgs

roles

List<ActionBinding> roles

Roles indicates the list of arguments expected for this entry. Default values may be provided and used when it is invoked if no other value is provided.

type

String type

Each entry in the database has an associated type. The type may be a name of an action or an operator. For example, the type could be "liftup". The type is also used to define a type hierarchy. The action with a type "liftup" may have a parent type of "action". The type hierarchy is used by isA.

Class edu.tufts.hrilab.action.db.OperatorDBEntry

class OperatorDBEntry extends DBEntry implements Serializable

Serialized Fields

implementation

Method implementation

Package edu.tufts.hrilab.action.goal

Class edu.tufts.hrilab.action.goal.GoalInfo

class GoalInfo extends Object implements Serializable

Serialized Fields

actor

Symbol actor

Actor responsible for this goal.

end

long end

System time that goal execution terminated.

failConditions

Justification failConditions

Justification containing failure reasons.

gid

long gid

Unique goal ID.

goal

Predicate goal

Goal predicate. This predicate can toggle between bound and unbound forms, depending on if the goal execution has been started. If the initial goal predicate has unbound variables, this predicate will contain unbound variables until the GoalContext binds them during the action selection stage of goal execution. If the GoalContext is reset and executed again, this predicate can be rebound to different variable bindings.

isAction

boolean isAction

If this goal is a state-base goal (isAction==false) or action-based (isAction==true). Action goals map directly onto an existing action, where no top-level task planning is needed.

metric

Predicate metric

Optional metric for task planning.

persistent

boolean persistent

If true, this goal is wrapped as a persistent goal (i.e., while loop) and executed until failure or cancellation/suspension.

priority

long priority

Goal priority. Used by the ExecutionManager to determine what goals to execute.

start

long start

System time that goal execution started.

status

GoalStatus status

GoalStatus.

unboundGoal

Symbol unboundGoal

Goal predicate that can have unbound variables. This goal predicate never changes, and is used to unbind the goal predicate so that a Goal can be reused inside a GoalContext when the context is reset.

Package edu.tufts.hrilab.action.justification

Class edu.tufts.hrilab.action.justification.AndJustification

class AndJustification extends Justification implements Serializable

Serialized Fields

justifications

List<Justification> justifications

Class edu.tufts.hrilab.action.justification.ConditionJustification

class ConditionJustification extends Justification implements Serializable

Serialized Fields

bindings

List<Map<Variable,Symbol>> bindings

Binding options for any free-variables in the condition predicate.

condition

Predicate condition

The condition that either holds (value == true) or does not hold (value == false). This is not the reason for failure or success.

Class edu.tufts.hrilab.action.justification.Justification

class Justification extends Object implements Serializable

Serialized Fields

step

Predicate step

value

boolean value

Class edu.tufts.hrilab.action.justification.OrJustification

class OrJustification extends Justification implements Serializable

Serialized Fields

justifications

List<Justification> justifications

Package edu.tufts.hrilab.action.learning

Class edu.tufts.hrilab.action.learning.ActionLearningGui

class ActionLearningGui extends JFrame implements Serializable

Serialized Fields

currentLearningState

LearningState currentLearningState

currentLearningStateChange

boolean currentLearningStateChange

table

JTable table

tableModel

DefaultTableModel tableModel

updateGui

edu.tufts.hrilab.action.learning.UpdateGui updateGui

Package edu.tufts.hrilab.action.lock

Class edu.tufts.hrilab.action.lock.ActionResourceLock

class ActionResourceLock extends Object implements Serializable

Serialized Fields

lock

Lock lock

lockName

String lockName

owner

Stack<ActionInterpreter> owner

released

Condition released

Class edu.tufts.hrilab.action.lock.ActionResourceLockLinear

class ActionResourceLockLinear extends ActionResourceLock implements Serializable

Class edu.tufts.hrilab.action.lock.ActionResourceLockPreempt

class ActionResourceLockPreempt extends ActionResourceLock implements Serializable

Exception edu.tufts.hrilab.action.lock.ResourceUnavailableException

class ResourceUnavailableException extends RuntimeException implements Serializable

Package edu.tufts.hrilab.action.operators

Exception edu.tufts.hrilab.action.operators.OperatorException

class OperatorException extends Exception implements Serializable

Package edu.tufts.hrilab.asr.sphinx4.gui

Class edu.tufts.hrilab.asr.sphinx4.gui.Sphinx4GUIPanel

class Sphinx4GUIPanel extends JFrame implements Serializable

Serialized Fields

acceptOnDeckText_btn

JButton acceptOnDeckText_btn

acceptState_rdBtn

JRadioButton acceptState_rdBtn

clearOnDeckQ_btn

JButton clearOnDeckQ_btn

component

Sphinx4Component component

confirmState_rdBtn

JRadioButton confirmState_rdBtn

controlState_btnGrp

ButtonGroup controlState_btnGrp

firstTime

boolean firstTime

Creates new form Sphinx4GUIPanel

jScrollPane1

JScrollPane jScrollPane1

onDeckText_txtArea

JTextArea onDeckText_txtArea

rejectOnDeckText_btn

JButton rejectOnDeckText_btn

rejectState_rdBtn

JRadioButton rejectState_rdBtn

Package edu.tufts.hrilab.fol

Class edu.tufts.hrilab.fol.Constant

class Constant extends Symbol implements Serializable

serialVersionUID:

-571526824461435393L

Serialized Fields

value

Object value

Class edu.tufts.hrilab.fol.Predicate

class Predicate extends Term implements Serializable

serialVersionUID:

-5670693651597478767L

Class edu.tufts.hrilab.fol.Symbol

class Symbol extends Object implements Serializable

serialVersionUID:

-2044814809823357783L

Serialized Fields

name

String name

type

String type

Class edu.tufts.hrilab.fol.Term

class Term extends Symbol implements Serializable

serialVersionUID:

-377965330056047941L

Serialized Fields

args

List<Symbol> args

Class edu.tufts.hrilab.fol.Variable

class Variable extends Symbol implements Serializable

serialVersionUID:

4085117658898612398L

Serialized Fields

value

Symbol value

Package edu.tufts.hrilab.map

Class edu.tufts.hrilab.map.PathAction

class PathAction extends Object implements Serializable

Serialized Fields

pose

javax.vecmath.Matrix4d pose

reference

Symbol reference

type

PathAction.Type type

Package edu.tufts.hrilab.simspeech.gui

Class edu.tufts.hrilab.simspeech.gui.SimSpeechProductionComponentVis

class SimSpeechProductionComponentVis extends JFrame implements Serializable

Serialized Fields

isSpeaking

boolean isSpeaking

IText

JTextArea IText

ITextWidth

int ITextWidth

textColor

Color textColor

tx

int tx

ty

int ty

Class edu.tufts.hrilab.simspeech.gui.SimSpeechRecognitionComponentVis

class SimSpeechRecognitionComponentVis extends JFrame implements Serializable

Serialized Fields

component

SimSpeechRecognitionComponent component

log

org.slf4j.Logger log

prevClick

long prevClick

sCommandButton

JButton sCommandButton

sCommandPanel

JPanel sCommandPanel

sCommandText

JTextField sCommandText

setAddresseeButton

JButton setAddresseeButton

setSpeakerButton

JButton setSpeakerButton

sPanel

JPanel sPanel

sUnkButton

JButton sUnkButton

textColor

Color textColor

Package edu.tufts.hrilab.slug.common

Class edu.tufts.hrilab.slug.common.Utterance

class Utterance extends Object implements Serializable

Serialized Fields

addressee

Symbol addressee

Intended addressee of utterance. It is usually the case the that addressee is also one of the listeners.

bindings

List<Map<Variable,Symbol>> bindings

boundSemantics

List<Term> boundSemantics

Cached bound semantics. These are not to be set externally, but rather populated internally when getBoundSemantics is called. These will be cleared if the bindings or semantics are changed, and repopulated on subsequent getBoundSemantics calls.

indirectSemantics

List<Term> indirectSemantics

Nested representation used by dialogue and action.

isInputUtterance

boolean isInputUtterance

If true, the utterance is from speech input. If false, the utterance is for speech output.

language

String language

BCP-47 Code defining the base language of this utterance

listeners

List<Symbol> listeners

Listeners of the utterance. It is usually the case the that addressee is also one of the listeners.

needsValidation

boolean needsValidation

If true, this utterance needs to be validated by a human user before it can be used by the rest of the system. This is currently for verifying LLM generated parses.

semantics

Symbol semantics

Nested representation used by dialogue and action.

speaker

Symbol speaker

Speaker of the utterance.

supplementalSemantics

List<Term> supplementalSemantics

Free-variable entity descriptors used by reference resolution.

tierAssignments

Map<Variable,Symbol> tierAssignments

translations

Map<String,String> translations

type

UtteranceType type

words

List<String> words

Individual words that were recognized or are to be spoken.

Package edu.tufts.hrilab.slug.dialogue.gui

Class edu.tufts.hrilab.slug.dialogue.gui.DialogueGui

class DialogueGui extends JFrame implements Serializable

Serialized Fields

diaLog

DiaLog diaLog

dialogueHistory_lbl

JLabel dialogueHistory_lbl

dialogueHistory_list

JList dialogueHistory_list

dialogueHistory_listModel

DefaultListModel dialogueHistory_listModel

dialogueHistory_scrollPn

JScrollPane dialogueHistory_scrollPn

dialoguePanel

JPanel dialoguePanel

directSemantics_lbl

JLabel directSemantics_lbl

directSemantics_list

JList directSemantics_list

directSemantics_scrollPn

JScrollPane directSemantics_scrollPn

indirectSemantics_lbl

JLabel indirectSemantics_lbl

indirectSemantics_list

JList indirectSemantics_list

indirectSemantics_scrollPn

JScrollPane indirectSemantics_scrollPn

offRecordSemanticHistory_listModel

DefaultListModel offRecordSemanticHistory_listModel

semanticHistory_listModel

DefaultListModel semanticHistory_listModel

Package edu.tufts.hrilab.slug.pragmatics

Class edu.tufts.hrilab.slug.pragmatics.PragRuleProverSet

class PragRuleProverSet extends HashSet<PragRuleProver> implements Serializable

Serialized Fields

dialogContext

List<Map<Integer,Utterance>> dialogContext

envContext

Set<Term> envContext

log

org.slf4j.Logger log

propertyContext

List<List<Term>> propertyContext

Package edu.tufts.hrilab.slug.refResolution

Class edu.tufts.hrilab.slug.refResolution.CrossMappingCandidateList

class CrossMappingCandidateList extends Object implements Serializable

Serialized Fields

bindings

scala.collection.immutable.List<edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticBinding> bindings

probability

double probability

Class edu.tufts.hrilab.slug.refResolution.CrossMappingCandidateList$

class CrossMappingCandidateList$ extends scala.runtime.AbstractFunction2<scala.collection.immutable.List<edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticBinding>,Object,edu.tufts.hrilab.slug.refResolution.CrossMappingCandidateList> implements Serializable

Serialization Methods

readResolve

private Object readResolve()

Class edu.tufts.hrilab.slug.refResolution.EntityScore

class EntityScore extends Object implements Serializable

Serialized Fields

bonus

double bonus

inMainClause

boolean inMainClause

recency

int recency

synProm

int synProm

Class edu.tufts.hrilab.slug.refResolution.EntityScore$

class EntityScore$ extends scala.runtime.AbstractFunction4<Object,Object,Object,Object,edu.tufts.hrilab.slug.refResolution.EntityScore> implements Serializable

Serialization Methods

readResolve

private Object readResolve()

Class edu.tufts.hrilab.slug.refResolution.Hypothesis

class Hypothesis extends Object implements Serializable

Serialized Fields

assignments

scala.collection.immutable.Map<Variable,Symbol> assignments

likelihood

double likelihood

Class edu.tufts.hrilab.slug.refResolution.Hypothesis$

class Hypothesis$ extends scala.runtime.AbstractFunction2<scala.collection.immutable.Map<Variable,Symbol>,Object,edu.tufts.hrilab.slug.refResolution.Hypothesis> implements Serializable

Serialization Methods

readResolve

private Object readResolve()

Class edu.tufts.hrilab.slug.refResolution.Property

class Property extends Object implements Serializable

serialVersionUID:

-9099527991981849806L

Serialized Fields

property

Term property

Class edu.tufts.hrilab.slug.refResolution.PropertyTemplate

class PropertyTemplate extends Object implements Serializable

Serialized Fields

arity

int arity

header

String header

latency

scala.concurrent.duration.Duration latency

likelihood

double likelihood

name

String name

pCeiling

double pCeiling

pFloor

double pFloor

Class edu.tufts.hrilab.slug.refResolution.PropertyTemplate$

class PropertyTemplate$ extends scala.runtime.AbstractFunction7<String,Object,Object,scala.concurrent.duration.Duration,Object,Object,String,edu.tufts.hrilab.slug.refResolution.PropertyTemplate> implements Serializable

Serialization Methods

readResolve

private Object readResolve()

Class edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticBinding

class RelevanceTheoreticBinding extends Object implements Serializable

Serialized Fields

candidate

edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticCandidate candidate

variable

Variable variable

Class edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticBinding$

class RelevanceTheoreticBinding$ extends scala.runtime.AbstractFunction2<Variable,edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticCandidate,edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticBinding> implements Serializable

Serialization Methods

readResolve

private Object readResolve()

Class edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticCandidate

class RelevanceTheoreticCandidate extends Object implements Serializable

Serialized Fields

ref

Symbol ref

relevance

double relevance

Class edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticCandidate$

class RelevanceTheoreticCandidate$ extends scala.runtime.AbstractFunction2<Symbol,Object,edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticCandidate> implements Serializable

Serialization Methods

readResolve

private Object readResolve()

Class edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticCandidateWithProabability

class RelevanceTheoreticCandidateWithProabability extends Object implements Serializable

Serialized Fields

candidate

edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticCandidate candidate

probability

double probability

Class edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticCandidateWithProabability$

class RelevanceTheoreticCandidateWithProabability$ extends scala.runtime.AbstractFunction2<edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticCandidate,Object,edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticCandidateWithProabability> implements Serializable

Serialization Methods

readResolve

private Object readResolve()

Class edu.tufts.hrilab.slug.refResolution.SingleVarCandidateList

class SingleVarCandidateList extends Object implements Serializable

Serialized Fields

candidates

scala.collection.mutable.ListBuffer<edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticCandidateWithProabability> candidates

tiers

scala.collection.mutable.ListBuffer<String> tiers

variable

Variable variable

Class edu.tufts.hrilab.slug.refResolution.SingleVarCandidateList$

class SingleVarCandidateList$ extends scala.runtime.AbstractFunction3<Variable,scala.collection.mutable.ListBuffer<String>,scala.collection.mutable.ListBuffer<edu.tufts.hrilab.slug.refResolution.RelevanceTheoreticCandidateWithProabability>,edu.tufts.hrilab.slug.refResolution.SingleVarCandidateList> implements Serializable

Serialization Methods

readResolve

private Object readResolve()

Package edu.tufts.hrilab.trade.gui

Class edu.tufts.hrilab.trade.gui.TRADEServicePanel

class TRADEServicePanel extends JPanel implements Serializable

Serialized Fields

classMethods

Map<JButton,edu.tufts.hrilab.trade.gui.TRADEServicePanel.MethodCallHelper> classMethods

componentGroups

List<String> componentGroups

maxGridWidth

int maxGridWidth

methodList

List<Method> methodList

methodsPanel

JPanel methodsPanel

nextGridY

int nextGridY

resultPanel

JPanel resultPanel

resultTxtArea

JTextArea resultTxtArea

testComponentClass

Class testComponentClass

testPanel

JPanel testPanel

Class edu.tufts.hrilab.trade.gui.TRADEServiceVis

class TRADEServiceVis extends JFrame implements Serializable

Package edu.tufts.hrilab.tts

Class edu.tufts.hrilab.tts.MaryTTSComponent.MyProperties

class MyProperties extends Properties implements Serializable

Class edu.tufts.hrilab.tts.MaryTTSComponentVis

class MaryTTSComponentVis extends JFrame implements Serializable

Serialized Fields

component

MaryTTSComponent component

jPanel

JPanel jPanel

textColor

Color textColor

Package edu.tufts.hrilab.unity.message

Class edu.tufts.hrilab.unity.message.Message

class Message extends Object implements Serializable

Serialized Fields

action

String action

agent

String agent

arguments

List<String> arguments

id

String id

response

List<String> response

Package edu.tufts.hrilab.util.xml

Class edu.tufts.hrilab.util.xml.Xml

class Xml extends Object implements Serializable

serialVersionUID:

1L

Serialized Fields

content

String content

name

String name

nameAttributes

Map<String,String> nameAttributes

nameChildren

Map<String,List<Xml>> nameChildren

Package edu.tufts.hrilab.vision.stm

Class edu.tufts.hrilab.vision.stm.Grasp

class Grasp extends Object implements Serializable

Serialized Fields

orientation

javax.vecmath.Quat4d orientation

Orientation of the gripper pose.

points

List<javax.vecmath.Vector3d> points

Points to place fingertips. 1 element for PINCH_TOGETHER or PUSH, 2 elements for PINCH_APART.

Class edu.tufts.hrilab.vision.stm.MemoryObject

class MemoryObject extends Object implements Serializable

Serialized Fields

baseTransform

javax.vecmath.Matrix4d baseTransform

Transform from base to vision coordinate frame.

boundingBox

Rectangle boundingBox

Pixel coordinates (for drawing).

children

Map<Symbol,List<MemoryObject>> children

Children MemoryObjects that make up scene graph (nodes). Hashed by MemoryObject's variable.

currCoordinateFrame

String currCoordinateFrame

Current coordinate system that all values are relative to. TODO: have this set dynamically.

descriptors

List<Term> descriptors

List of predicate descriptors.

detectionConfidence

double detectionConfidence

Detection confidence in the range [0 1].

dimensions

javax.vecmath.Point3d dimensions

3D dimensions of object (meters).

direction

javax.vecmath.Vector3d direction

Unit direction vector pointing to object from origin. TODO: use this in place of pan/tilt

faceIndices

int[][] faceIndices

3D mesh face indices. Indices into pointCloud array.

frameNum

long frameNum

Frame number from which object was last updated.

identifier

Symbol identifier

Unique identifier (e.g., token5, where 5 is the token id).

imgHeight

int imgHeight

Height of image (or point cloud) used to detection this MemoryObject.

imgWidth

int imgWidth

Width of image (or point cloud) used to detection this MemoryObject.

location

javax.vecmath.Point3d location

3D location in world coordinates (meters).

mask

int[] mask

2D pixel mask of object. Indices into image.

orientation

javax.vecmath.Quat4d orientation

Orientations of MemoryObject. This is usually null, as there is often not a meaningful definition of an orientation for a MO.

pointCloud

double[][] pointCloud

3D point cloud. [point-index][dim] where dim 0=x, 1=y, 2=z

primitives

List<MemoryPrimitive> primitives

Primitive MemoryObject shapes for use when instantiating MemortObjects in Gazebo.

relations

Map<String,List<MemoryObjectRelation>> relations

Related memory objects (edges) in the scene graph (hashed by relationship name (e.g., on, near, etc.)).

tokenId

long tokenId

Unique MemoryObject token ID.

trackingConfidence

double trackingConfidence

Tracking confidence in the range [0 1].

typeId

long typeId

Non-unique type ID.

variable

Variable variable

Variable from initial search request that is satisfied by this MemoryObject.

Class edu.tufts.hrilab.vision.stm.MemoryObjectRelation

class MemoryObjectRelation extends Object implements Serializable

Serialized Fields

confidence

float confidence

Detection or validation confidence [0 1].

descriptor

Term descriptor

Descriptor (e.g., on(X,Y), near(X,Z), etc).

relatedObject

MemoryObject relatedObject

Other MemoryObject that relationship is between.

Class edu.tufts.hrilab.vision.stm.MemoryPrimitive

class MemoryPrimitive extends Object implements Serializable

Serialized Fields

dims

double[] dims

pose

javax.vecmath.Matrix4d pose

Pose relative to coordinate frame of containing MemoryObject

shape

MemoryPrimitive.Shape shape