// Update is called once per frame
public override void AgentReset()
{
for (int i = 0; i < 6; i++) // initialize robot component
{
transform_info component_tr = initial_transform_list[i];
robot_component_list[i].localPosition = new Vector3(component_tr._position_x, component_tr._position_y, component_tr._position_z);
robot_component_list[i].localRotation = new Quaternion(component_tr._rot_x, component_tr._rot_y, component_tr._rot_z, component_tr._rot_w);
//robot_component_list[i].SetPositionAndRotation(new Vector3(component_tr._position_x, component_tr._position_y, component_tr._position_z),
// new Quaternion(component_tr._rot_x, component_tr._rot_y, component_tr._rot_z, component_tr._rot_w)) ;
}
//Item_Object.GetComponent<SpawnObject>().Reset();
doing_action = false;
action_count = 0;
}
// Start is called before the first frame update
public override void InitializeAgent()
{
base.InitializeAgent();
rBody = GetComponent <Rigidbody>();
string[] name_list = { "Base", "part1", "part2", "part3", "leftGrip", "RightGrip" }; // name_list for joint
string[] add_name_list = { "part0", "leftGrip", "RightGrip" }; // doesn't has hinge_joint
Parent_Object = this.transform.parent.gameObject;
parentNewName = Regex.Replace(Parent_Object.name, "[^0-9.]", "");
epsilon = 1e-4f;
for (int i = 0; i <= Reward_MAX; i++)
{
reward_count_list.Add(0.0f);
threshold_list.Add(threshold_value);
}
//below method works, its just REALLY slow
//DirectoryInfo driveInfo = new DirectoryInfo("//143.248.32.61/bml/RobotArmData/");
//FileInfo[] files = driveInfo.GetFiles("*.*", SearchOption.AllDirectories);
////solution to storage problem but very very time consuming
//long totalByteSize = files.Sum(f => f.Length);
//print(totalByteSize);
////bigger than 75 gb
//if (totalByteSize > 80530636800)
//{
// pathCounter++;
// bool exists = System.IO.Directory.Exists(writePath + pathCounter);
// if (!exists)
// {
// System.IO.Directory.CreateDirectory(writePath + pathCounter);
// writePath = writePath + pathCounter;
// print("newPath: " + writePath);
// }
//}
//randProb = UnityEngine.Random.Range(0.00f, 1.00f);
//print(randProb);
//curr_prob = randProb;
int hinge_idx = 0;
foreach (Transform child in transform)
{
for (int i = 0; i < 6; i++)
{
string object_name = name_list[i];
if (child.gameObject.name.Equals(object_name))
{
if (object_name.Equals(add_name_list[1]) || object_name.Equals(add_name_list[2]))
{
Transform t = child.gameObject.transform;
transform_info t_info = new transform_info(object_name, t.localPosition.x, t.localPosition.y, t.localPosition.z, t.localRotation.x, t.localRotation.y, t.localRotation.z, t.localRotation.w);
robot_component_list.Add(child);
initial_transform_list.Add(t_info);
break;
}
else
{
Transform t = child.gameObject.transform;
transform_info t_info = new transform_info(object_name, t.localPosition.x, t.localPosition.y, t.localPosition.z, t.localRotation.x, t.localRotation.y, t.localRotation.z, t.localRotation.w);
robot_component_list.Add(child);
initial_transform_list.Add(t_info);
hinge_joints.Add(child.gameObject.GetComponent(typeof(HingeJoint)) as HingeJoint);
joint_idx[i] = hinge_idx;
hinge_idx += 1;
break;
}
}
else if (child.gameObject.name.Equals(add_name_list[0]))
{
Transform t = child.gameObject.transform;
transform_info t_info = new transform_info(object_name, t.localPosition.x, t.localPosition.y, t.localPosition.z, t.localRotation.x, t.localRotation.y, t.localRotation.z, t.localRotation.w);
robot_component_list.Add(child);
initial_transform_list.Add(t_info);
break;
}
}
}
foreach (Transform child in transform.parent)
{
if (child.gameObject.name.Equals("Item"))
{
Item_Object = child.gameObject;
}
else if (child.gameObject.name.Equals("ground"))
{
ground_Object = child.gameObject;
}
}
Item_Object.GetComponent <ObjectVoxelDetection>();
}
// Start is called before the first frame update
public override void InitializeAgent()
{
base.InitializeAgent();
rBody = GetComponent <Rigidbody>();
string[] name_list = { "Base", "part1", "part2", "part3", "leftGrip", "RightGrip" }; // name_list for joint
string[] add_name_list = { "part0", "leftGrip", "RightGrip" }; // doesn't has hinge_joint
float[] force_rate_arr = { 240, 320, 320, 240, 240, 240 };
Parent_Object = this.transform.parent.gameObject;
int hinge_idx = 0;
foreach (Transform child in transform)
{
for (int i = 0; i < 6; i++)
{
string object_name = name_list[i];
if (child.gameObject.name.Equals(object_name))
{
if (object_name.Equals(add_name_list[1]) || object_name.Equals(add_name_list[2]))
{
Transform t = child.gameObject.transform;
transform_info t_info = new transform_info(object_name, t.localPosition.x, t.localPosition.y, t.localPosition.z, t.localRotation.x, t.localRotation.y, t.localRotation.z, t.localRotation.w);
robot_component_list.Add(child);
initial_transform_list.Add(t_info);
break;
}
else
{
Transform t = child.gameObject.transform;
transform_info t_info = new transform_info(object_name, t.localPosition.x, t.localPosition.y, t.localPosition.z, t.localRotation.x, t.localRotation.y, t.localRotation.z, t.localRotation.w);
robot_component_list.Add(child);
initial_transform_list.Add(t_info);
hinge_joints.Add(child.gameObject.GetComponent(typeof(HingeJoint)) as HingeJoint);
hinge_rate.Add(force_rate_arr[i]);
joint_idx[i] = hinge_idx;
hinge_idx += 1;
break;
}
}
else if (child.gameObject.name.Equals(add_name_list[0]))
{
Transform t = child.gameObject.transform;
transform_info t_info = new transform_info(object_name, t.localPosition.x, t.localPosition.y, t.localPosition.z, t.localRotation.x, t.localRotation.y, t.localRotation.z, t.localRotation.w);
robot_component_list.Add(child);
initial_transform_list.Add(t_info);
break;
}
}
}
foreach (Transform child in transform.parent)
{
if (child.gameObject.name.Equals("Item"))
{
Item_Object = child.gameObject;
}
else if (child.gameObject.name.Equals("ground"))
{
ground_Object = child.gameObject;
}
}
Item_Object.GetComponent <ObjectVoxelDetection>();
}
