/********************* Template methods *********************/
void Awake()
{
Base = GameObject.Find("Base");
AxisB1 = GameObject.Find("AxisB1");
AxisB2 = GameObject.Find("AxisB2");
AxisC = GameObject.Find("AxisC");
AxisX = GameObject.Find("AxisX");
AxisY1 = GameObject.Find("AxisY1");
AxisY2 = GameObject.Find("AxisY2");
AxisZ = GameObject.Find("AxisZ");
Cutter = GameObject.Find("Cutter");
Base.layer = LayerMask.NameToLayer("Agent Entity");
AxisB1.layer = LayerMask.NameToLayer("Agent Entity");
AxisB2.layer = LayerMask.NameToLayer("Agent Entity");
AxisC.layer = LayerMask.NameToLayer("Agent Entity");
AxisX.layer = LayerMask.NameToLayer("Agent Entity");
AxisY1.layer = LayerMask.NameToLayer("Agent Entity");
AxisY2.layer = LayerMask.NameToLayer("Agent Entity");
AxisZ.layer = LayerMask.NameToLayer("Agent Entity");
Cutter.layer = LayerMask.NameToLayer("Agent Entity");
AxisB1.tag = "rotation";
AxisB2.tag = "rotation";
AxisC.tag = "rotation";
AxisX.tag = "translation";
AxisY1.tag = "translation";
AxisY2.tag = "translation";
AxisZ.tag = "translation";
Cutter.tag = "translation";
axisB1 = AxisB1.transform;
axisB2 = AxisB2.transform;
axisC = AxisC.transform;
axisX = AxisX.transform;
axisY1 = AxisY1.transform;
axisY2 = AxisY2.transform;
axisZ = AxisZ.transform;
cutter = Cutter.transform;
HandleAxis(AxisB2);
HandleAxis(AxisC);
HandleAxis(AxisY1);
HandleAxis(AxisY2);
HandleAxis(Cutter);
sensorCamWidthTopView = cameraSensorResolutionTopView[0];
sensorCamHeightTopView = cameraSensorResolutionTopView[1];
sensorCamWidthTopViewInverse = cameraSensorResolutionTopViewInverse[0];
sensorCamHeightTopViewInverse = cameraSensorResolutionTopViewInverse[1];
sensorCamWidthFrontView = cameraSensorResolutionFrontView[0];
sensorCamHeightFrontView = cameraSensorResolutionFrontView[1];
SetCameraSensor();
DetectorAll = GameObject.Find("DetectorAll");
DetectorAxisY1 = GameObject.Find("DetectorAxisY1");
DetectorAxisY2 = GameObject.Find("DetectorAxisY2");
DetectorCutter = GameObject.Find("DetectorCutter");
DetectorAxisY1.layer = LayerMask.NameToLayer("Detector");
DetectorAxisY2.layer = LayerMask.NameToLayer("Detector");
DetectorCutter.layer = LayerMask.NameToLayer("Detector");
markersAxisY = GameObject.Find("MarkersAxisY").transform;
MarkerAxisYIn = GameObject.Find("MarkerAxisYIn");
MarkerAxisYOut = GameObject.Find("MarkerAxisYOut");
MarkerAxisYCollisionFrontIn = GameObject.Find("MarkerAxisYCollisionFrontIn");
MarkerAxisYCollisionFrontOut = GameObject.Find("MarkerAxisYCollisionFrontOut");
MarkerAxisYCollisionTopIn = GameObject.Find("MarkerAxisYCollisionTopIn");
MarkerAxisYCollisionTopOut = GameObject.Find("MarkerAxisYCollisionTopOut");
MarkerAxisYIn.layer = LayerMask.NameToLayer("MarkerFront");
MarkerAxisYOut.layer = LayerMask.NameToLayer("MarkerFront");
MarkerAxisYCollisionFrontIn.layer = LayerMask.NameToLayer("MarkerFront");
MarkerAxisYCollisionFrontOut.layer = LayerMask.NameToLayer("MarkerFront");
MarkerAxisYCollisionTopIn.layer = LayerMask.NameToLayer("MarkerTop");
MarkerAxisYCollisionTopOut.layer = LayerMask.NameToLayer("MarkerTop");
markersCutter = GameObject.Find("MarkersCutter").transform;
MarkerCutterIn = GameObject.Find("MarkerCutterIn");
MarkerCutterOut = GameObject.Find("MarkerCutterOut");
MarkerCutterCollisionFrontIn = GameObject.Find("MarkerCutterCollisionFrontIn");
MarkerCutterCollisionFrontOut = GameObject.Find("MarkerCutterCollisionFrontOut");
MarkerCutterCollisionTopIn = GameObject.Find("MarkerCutterCollisionTopIn");
MarkerCutterCollisionTopOut = GameObject.Find("MarkerCutterCollisionTopOut");
MarkerCutterIn.layer = LayerMask.NameToLayer("MarkerFrontTop");
MarkerCutterOut.layer = LayerMask.NameToLayer("MarkerFrontTop");
MarkerCutterCollisionFrontIn.layer = LayerMask.NameToLayer("MarkerFront");
MarkerCutterCollisionFrontOut.layer = LayerMask.NameToLayer("MarkerFront");
MarkerCutterCollisionTopIn.layer = LayerMask.NameToLayer("MarkerTop");
MarkerCutterCollisionTopOut.layer = LayerMask.NameToLayer("MarkerTop");
foreach (Transform marker in markersAxisY)
{
RenderEmissionComponent(marker.gameObject);
}
foreach (Transform marker in markersCutter)
{
RenderEmissionComponent(marker.gameObject);
}
AssistantTools = GameObject.Find("AssistantTools");
EnvModeStr = EnvMode.ToString();
ProModeTopViewStr = ProModeTopView.ToString();
emissionIntensity = renderingDetails[0];
lightIntensity = renderingDetails[1];
lightRange = renderingDetails[2];
transparency = renderingDetails[3];
if (emissionAgentComponent)
{
RenderEmissionComponent(Base);
RenderEmissionComponent(AxisB1);
RenderEmissionComponent(AxisB2);
RenderEmissionComponent(AxisC);
RenderEmissionComponent(AxisX);
RenderEmissionComponent(AxisY1);
RenderEmissionComponent(AxisY2);
RenderEmissionComponent(AxisZ);
}
Controller_UI = GameObject.Find("Controller_UI");
heuristic = gameObject.GetComponent <BehaviorParameters>().behaviorType == BehaviorType.HeuristicOnly;
inference = gameObject.GetComponent <BehaviorParameters>().behaviorType == BehaviorType.InferenceOnly;
this.maxStep = numEpisodeStepMax;
}
public void Update(EnvironmentMode mode)
{
rootWeb.AllProperties[PropertyName] = mode.ToString();
rootWeb.Update();
}