/// <summary>
/// Collect observations. Number of calls to AddVectorObs should match with the
/// observation vector size set in the Behavior Parameters inspector (of the Real body object).
/// </summary>
public override void CollectObservations()
{
// Shoulder extension/flexion
AddVectorObs(leftShoulder.GetRelativeZ());
// Elbow extension/flexion
AddVectorObs(leftElbow.GetRelativeX());
// Hand touch state (visual)
AddVectorObs(ballScript.GetLastTouch());
// Hand touch state (tactile)
AddVectorObs(vibScript.GetLastVib());
// Current Time
AddVectorObs(Time.time);
// Absolute hand distance error for logging
AddVectorObs(Vector3.Distance(middleHand.transform.position, rubberArmController.getMiddleHand().transform.position));
// Horizontal distance
AddVectorObs(middleHand.transform.position.z - rubberArmController.getMiddleHand().transform.position.z);
// Shoulder extension/flexion
AddVectorObs(rubberArmController.getRelativeLeftShoulderZ());
// Elbow extension/flexion
AddVectorObs(rubberArmController.getRelativeLeftElbowX());
}
/// <summary>
/// Get the shoulder's z rotation relative to the initial position.
/// </summary>
/// <returns>float: The relative z rotation</returns>
public float getRelativeLeftShoulderZ()
{
return(leftShoulder.GetRelativeZ());
}
