private void CollectObservationBodyPart(BodyPart bp)
{
if (bp.rb.transform != Root.transform)
{
AddVectorObs(bp.currentXNormalizedRot);
AddVectorObs(bp.currentYNormalizedRot);
AddVectorObs(bp.currentZNormalizedRot);
AddVectorObs(bp.currentStrength / _jdController.maxJointForceLimit);
}
}
public void noKinematic(BodyPart bp)
{
bp.rb.isKinematic = false;
}