void Update()
{
// check for robot movement
RobotController robotController = robot.GetComponent <RobotController>();
for (int i = 0; i < robotController.joints.Length; i++)
{
float inputVal = Input.GetAxis(robotController.joints[i].inputAxis);
if (Mathf.Abs(inputVal) > 0)
{
RotationDirection direction = GetRotationDirection(inputVal);
robotController.RotateJoint(i, direction);
return;
}
}
robotController.StopAllJointRotations();
//check for robot reset
if (Input.GetKeyDown(KeyCode.Space))
{
Debug.Log("Pressed reset!");
float[] defaultRotations = { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f };
robotController.ForceJointsToRotations(defaultRotations);
}
}
// AGENT
public override void OnEpisodeBegin()
{
//float[] defaultRotations = { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f };
float[] defaultRotations = { 0.0f, 0.0f, -91.5f, 0.0f, 40.8f, -90.0f, 0.0f };
robotController.ForceJointsToRotations(defaultRotations);
touchDetector.hasTouchedTarget = false;
pinchDetector.hasPinchedTarget = false; // Added
tablePositionRandomizer.Move();
Debug.Log(Vector3.Distance(robot.transform.position, pincherController.CurrentGraspCenter()));
Debug.Log("CurrentGraspCenter: " + pincherController.CurrentGraspCenter());
}
