Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Private/LuckyDataTransferSubsystem.cpp

@@ -17,7 +17,6 @@
 #include "JsonObjectConverter.h"
 #include "ReviewComments.h"
 #include "WebSocketsModule.h"
-#include "IWebSocket.h"
 #include "Kismet/KismetStringLibrary.h"
 #include "Camera/CameraActor.h"
 #include "Camera/CameraComponent.h"
@@ -56,7 +55,7 @@ void ULuckyDataTransferSubsystem::Deinitialize()
 
 void ULuckyDataTransferSubsystem::Internal_OpenWebsocket(const FString& URL, const FString& Protocol)
 {
-	const FString NewUrl = URL.IsEmpty() ? TEXT("ws://127.0.0.1:3000/world") : URL;
+	const FString NewUrl = URL.IsEmpty() ? TEXT("ws://127.0.0.1:3000/ws") : URL;
 	const FString NewProtocol = Protocol.IsEmpty() ? TEXT("ws") : Protocol;
 
 	UE_LOG(LogTemp, Warning, TEXT("Opening WebSocket URL: %s"), *NewUrl);
@@ -67,9 +66,6 @@ void ULuckyDataTransferSubsystem::Internal_OpenWebsocket(const FString& URL, con
 	}
 	
 	Socket = FWebSocketsModule::Get().CreateWebSocket(NewUrl);
-
-	if (Socket.IsValid()) UE_LOG(LogTemp, Warning, TEXT("socket Valid %s"), *NewUrl);
-	
 	Socket->Connect();
 
 	//Set up callbacks
@@ -84,9 +80,8 @@ void ULuckyDataTransferSubsystem::Callback_OnConnected()
 	if (OnSocketReady.IsBound())
 	{
 		OnSocketReady.Broadcast(true);
+		UE_LOG(LogTemp, VeryVerbose, TEXT("WebSocket connected successfully"));
 	}
-	
-	UE_LOG(LogTemp, Warning, TEXT("WebSocket connected successfully"));
 }
 
 void ULuckyDataTransferSubsystem::Callback_OnConnectionError(const FString& Error)
@@ -212,7 +207,7 @@ bool ULuckyDataTransferSubsystem::WriteImageToDisk(const FString& inPath, const
 		return false;
 	}
 	
-	FString Path = inPath.IsEmpty() ? TEXT("../Saved/LuckyRobotsData") : inPath; // swap this for const path
+	FString Path = inPath.IsEmpty() ? TEXT("C:/LuckyRobotsImages") : inPath;
 	
 	if (!SensorPawns.IsEmpty())
 	{

Plugins/LuckyDataTransfer/Source/LuckyDataTransfer/Public/ObservationData.h

@@ -58,9 +58,6 @@ public:
 
 	UPROPERTY(BlueprintReadWrite, Category = "Observation")
 	FString filePath = FString();
-	
-	UPROPERTY(BlueprintReadWrite, Category = "Observation")
-	FString timeStamp = FString();
 };
 
 USTRUCT(BlueprintType)
@@ -69,16 +66,12 @@ struct FObservationPayload
 	GENERATED_USTRUCT_BODY()
 
 public:
-	UPROPERTY(BlueprintReadWrite, Category = "Observation")
-	FString type = FString();
-
-	UPROPERTY(BlueprintReadWrite, Category = "Observation")
-	FString request_id = FString();
-
-		
 	UPROPERTY(BlueprintReadWrite, Category = "Observation")
 	FString timeStamp = FString();
 	
+	UPROPERTY(BlueprintReadWrite, Category = "Observation")
+	FString id = FString();
+	
 	UPROPERTY(BlueprintReadWrite, Category = "Observation")
 	TMap<FString, float> ObservationState;
 	

Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp

@@ -209,46 +209,6 @@ mjData_& AMujocoVolumeActor::GetMujocoData() const
 	return *MujocoData.Get();
 }
 
-void AMujocoVolumeActor::UpdateGeomPosition(const FString BodyName, const FVector& NewPosition, const FQuat& NewRotation)
-{
-	// Step 1: Get body ID
-	const int Body_ID = mj_name2id(MujocoModel.Get(), mjOBJ_BODY, TCHAR_TO_ANSI(*BodyName));
-	if (Body_ID < 0) {
-		UE_LOG(LogTemp, Error, TEXT("Body not found: %s"), *BodyName);
-		return;
-	}
-
-	// Step 2: Get the joint ID (assuming one joint per body)
-	const int Joint_Adr = MujocoModel->body_jntadr[Body_ID];
-	if (MujocoModel->jnt_type[Joint_Adr] != mjJNT_FREE) {
-		UE_LOG(LogTemp, Error, TEXT("Body '%s' does not have a free joint."), *BodyName);
-		return;
-	}
-
-	// Step 3: Get qpos and qvel addresses
-	const int Qpos_Adr = MujocoModel->jnt_qposadr[Joint_Adr];
-	const int Qvel_Adr = MujocoModel->jnt_dofadr[Joint_Adr];
-
-	// Step 4: Convert position and rotation
-	MujocoData->qpos[Qpos_Adr + 0] = NewPosition.X / 100.f;       // X
-	MujocoData->qpos[Qpos_Adr + 1] = -NewPosition.Y / 100.f;      // Y (flip for Unreal Z-up)
-	MujocoData->qpos[Qpos_Adr + 2] = NewPosition.Z / 100.f;       // Z
-
-	// Unreal (X, Y, Z, W) → MuJoCo (W, X, Y, Z)
-	MujocoData->qpos[Qpos_Adr + 3] = NewRotation.W;
-	MujocoData->qpos[Qpos_Adr + 4] = NewRotation.X;
-	MujocoData->qpos[Qpos_Adr + 5] = NewRotation.Y;
-	MujocoData->qpos[Qpos_Adr + 6] = NewRotation.Z;
-
-	// Step 5: Zero velocity
-	for (int i = 0; i < 6; i++) {
-		MujocoData->qvel[Qvel_Adr + i] = 0.0;
-	}
-
-	// Step 6: Update MuJoCo state
-	mj_forward(MujocoModel.Get(), MujocoData.Get());
-}
-
 void AMujocoVolumeActor::SetActuatorValue(const FString& ActuatorName, double Value)
 {
 	if (MujocoModel)

Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h

@@ -109,10 +109,7 @@ public:
 	 * @return mjData_ - Full access to mujoco scene options and data 
 	 */
 	mjData_& GetMujocoData() const;
-
-	UFUNCTION(BlueprintCallable, Category = "Mujoco")
-	void UpdateGeomPosition(const FString BodyName, const FVector& NewPosition, const FQuat& NewRotation);
-
+	
 	// ---------------------------
 	// ------- POST UPDATE -------
 	// ---------------------------