Finish adjusting simulation to changed files

for testing, add runtimecommandfactory to scene

SPEAREDV2.0/Assets/LegoRobotPhysics/NXTWithPlane.prefab

@@ -204,6 +204,11 @@ PrefabInstance:
       propertyPath: m_LocalEulerAnglesHint.z
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 3638271986234392477, guid: bf8e3cbd745336648bd2f934ed57ca73,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.z
+      value: -0.7921938
+      objectReference: {fileID: 0}
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         type: 3}
       propertyPath: m_Name

SPEAREDV2.0/Assets/LegoRobotPhysics/Resources/legoNXTRobot.prefab

@@ -890,7 +890,7 @@ HingeJoint:
   m_Anchor: {x: 0, y: 0, z: 0}
   m_Axis: {x: 0, y: -1, z: 0}
   m_AutoConfigureConnectedAnchor: 1
-  m_ConnectedAnchor: {x: 1.2071272, y: -1.3262701, z: -0.79219365}
+  m_ConnectedAnchor: {x: 1.2071272, y: -1.3262701, z: -0.7921938}
   m_UseSpring: 0
   m_Spring:
     spring: 0
@@ -1491,6 +1491,7 @@ GameObject:
   m_Component:
   - component: {fileID: 879489888396195772}
   - component: {fileID: 4210807086003635628}
+  - component: {fileID: 3367204457853155817}
   - component: {fileID: 4210807086003635629}
   - component: {fileID: 4210807086003635630}
   m_Layer: 0
@@ -1550,6 +1551,19 @@ MonoBehaviour:
   avoidanceDistance: 0.2
   robotHeight: 0
   state: 7
+--- !u!114 &3367204457853155817
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4210807086003635631}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: ca9fc5f4bcbce3b4abfccb08e82b7f27, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  movementController: {fileID: 4210807086003635628}
 --- !u!54 &4210807086003635629
 Rigidbody:
   m_ObjectHideFlags: 0

SPEAREDV2.0/Assets/LegoRobotPhysics/Scripts/SimulationCommunicator.cs

@@ -23,7 +23,10 @@ public class SimulationCommunicator : MonoBehaviour
 
     public void simulate()
     {
-        List<RuntimeCommand> commands = programStore.getCommands();
+        //List<RuntimeCommand> commands = programStore.getCommands();
+        //////FOR TESTING//////////////////////////////////////////////////////
+        List<RuntimeCommand> commands = FindObjectOfType<RuntimeCommandFactory>().createSampleProgram();
+        ////////////////////////////////////////////////////////////////////////////////////
 
         List <MovementController.states> stateList = new List<MovementController.states>();
         List<Vector3> values = new List<Vector3>();
@@ -34,14 +37,10 @@ public class SimulationCommunicator : MonoBehaviour
             {
                 if (command.command.Lcommand == LegoCommand.MOVE)
                 {
-                    stateList.Add(MovementController.states.MOVE);
-                    values.Add(this.fixRotation((Vector3)command.arguments[0]));
+                    stateList.Add(MovementController.states.BRUTEMOVE); //because the legoCommand MOVE command is the simulation command BRUTEMOVE
+                    Vector2 goal = (Vector2)command.arguments[0];
+                    values.Add(this.fixRotation(new Vector3(goal.x, 0, goal.y)));
                 }
-                /*else if (command.command.Lcommand == LegoCommand.BRUTEMOVE)
-                {
-                    stateList.Add(MovementController.states.BRUTEMOVE);
-                    values.Add(this.fixRotation(command.arguments[0]));
-                }*/
                 else if (command.command.Lcommand == LegoCommand.CLAW_UP)
                 {
                     stateList.Add(MovementController.states.RELEASE);

SPEAREDV2.0/Assets/ProgramSubFramework/Commands/ClawDown.asset

@@ -12,9 +12,9 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: d3e54a85d75d4e340bc966d6d511dcde, type: 3}
   m_Name: ClawDown
   m_EditorClassIdentifier: 
-  isLegoCommand: 0
+  isLegoCommand: 1
   Lcommand: 3
   isDobotCommand: 0
   Dcommand: 0
   name: 
-  ArgumentTypes: []
+  Signature: {fileID: 0}

SPEAREDV2.0/Assets/ProgramSubFramework/RuntimeCommandFactory.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class RuntimeCommandFactory : MonoBehaviour
+{
+    public SPEAREDCommand moveSPEAREDCommand;
+    public SPEAREDCommand clawUpSPEAREDCommand;
+    public SPEAREDCommand clawDownSPEAREDCommand;
+
+    public RuntimeCommandFactory()
+    {
+        
+    }
+
+    public RuntimeCommand createMovementCommand(Vector2 positions)
+    {
+        RuntimeCommand runtimeCommand = ScriptableObject.CreateInstance<RuntimeCommand>();
+        runtimeCommand.command = moveSPEAREDCommand;
+        runtimeCommand.arguments = new List<object>{positions};
+        return runtimeCommand;
+    }
+
+    public RuntimeCommand createClawUpCommand()
+    {
+        RuntimeCommand runtimeCommand = ScriptableObject.CreateInstance<RuntimeCommand>();
+        runtimeCommand.command = clawUpSPEAREDCommand;
+        return runtimeCommand;
+    }
+
+    public RuntimeCommand createClawDownCommand()
+    {
+        RuntimeCommand runtimeCommand = ScriptableObject.CreateInstance<RuntimeCommand>();
+        runtimeCommand.command = clawDownSPEAREDCommand;
+        return runtimeCommand;
+    }
+
+    public List<RuntimeCommand> createSampleProgram()
+    {
+        List<RuntimeCommand> commands = new List<RuntimeCommand>();
+        commands.Add(this.createClawUpCommand());
+        commands.Add(this.createMovementCommand(new Vector2(0.6f, 0)));
+        commands.Add(this.createClawDownCommand());
+        commands.Add(this.createMovementCommand(new Vector2(1.1f, 0)));
+        commands.Add(this.createClawUpCommand());
+        commands.Add(this.createMovementCommand(new Vector2(0.9f, 0.4f)));
+        return commands;
+    }
+}

SPEAREDV2.0/Assets/ProgramSubFramework/RuntimeCommandFactory.cs.meta

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+  moveSPEAREDCommand: {fileID: 11400000, guid: 04d17c138bd6cf04e8e71e643f53b024, type: 2}
+  clawUpSPEAREDCommand: {fileID: 11400000, guid: 566f61427c3ddd442a1f0a910a1d4007,
+    type: 2}
+  clawDownSPEAREDCommand: {fileID: 11400000, guid: a1e72d57d06dc064e8468699772ab394,
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SPEAREDV2.0/Assets/ResetScenario.cs

@@ -36,6 +36,7 @@ public class ResetScenario : MonoBehaviour
         Destroy(currentScenario);
         this.currentScenario = scenario;
         code2canvas.movementController = scenario.GetComponentInChildren<MovementController>();
+        code2canvas.simulationCommunicator = scenario.GetComponentInChildren<SimulationCommunicator>();
     }
 
     // Update is called once per frame