/// <summary>
/// Construct a new PhysicsBodySensor
/// </summary>
/// <param name="rootBody"></param>
/// <param name="settings"></param>
/// <param name="sensorName"></param>
public PhysicsBodySensor(Rigidbody rootBody, GameObject rootGameObject, PhysicsSensorSettings settings, string sensorName = null)
{
m_PoseExtractor = new RigidBodyPoseExtractor(rootBody, rootGameObject);
m_SensorName = string.IsNullOrEmpty(sensorName) ? $"PhysicsBodySensor:{rootBody?.name}" : sensorName;
m_Settings = settings;
var numTransformObservations = settings.TransformSize(m_PoseExtractor.NumPoses);
m_Shape = new[] { numTransformObservations };
}
public PhysicsBodySensor(ArticulationBody rootBody, PhysicsSensorSettings settings, string sensorName = null)
{
m_PoseExtractor = new ArticulationBodyPoseExtractor(rootBody);
m_SensorName = string.IsNullOrEmpty(sensorName) ? $"ArticulationBodySensor:{rootBody?.name}" : sensorName;
m_Settings = settings;
var numTransformObservations = settings.TransformSize(m_PoseExtractor.NumPoses);
m_Shape = new[] { numTransformObservations };
}
/// <inheritdoc/>
public override int[] GetObservationShape()
{
if (RootBody == null)
{
return(new[] { 0 });
}
// TODO static method in PhysicsBodySensor?
// TODO only update PoseExtractor when body changes?
var poseExtractor = new ArticulationBodyPoseExtractor(RootBody);
var numTransformObservations = Settings.TransformSize(poseExtractor.NumPoses);
return(new[] { numTransformObservations });
}