public override void OnEpisodeBegin() { resetter.Reset(); foreach (BallJoint joint in joints) { joint.OnReset(); } root.OnReset(); Array.Clear(lerpActions, 0, numActions); }
public override void OnEpisodeBegin() { resetter.Reset(); if (!fixateBodyRoot) { RandomizePosition(); } foreach (BallJoint joint in joints) { joint.OnReset(); } root.OnReset(); // Start new episode with nulled action values -> T-pose. Array.Clear(lerpActions, 0, numActions); CrntForce = 0; AccumForce = 0; DownStepCount = 0; }