public override void InitializeAgent()
{
walker = GetComponent <WalkerAgent>();
this.enabled = walker.EnableSearcher;
if (enabled)
{
decisionInterval = agentParameters.numberOfActionsBetweenDecisions;
walker.SetCallback(Done);
nWaypoints = numWaypoints / decisionInterval;
waypoints = new Queue <Vector3>();
ant = GetComponent <Ant>();
}
}
/// <summary>
/// Add relevant information on each body part to observations.
/// </summary>
public void CollectObservationBodyPart(BodyPart bp, WalkerAgent a)
{
var rb = bp.rb;
AddVectorObs(bp.groundContact.touchingGround ? 1 : 0); // Is this bp touching the ground
AddVectorObs(rb.velocity);
AddVectorObs(rb.angularVelocity);
Vector3 localPosRelToHips = a.hips.InverseTransformPoint(rb.position);
AddVectorObs(localPosRelToHips);
if (bp.rb.transform != a.hips && bp.rb.transform != a.handL && bp.rb.transform != a.handR &&
bp.rb.transform != a.footL && bp.rb.transform != a.footR && bp.rb.transform != a.head)
{
AddVectorObs(bp.currentXNormalizedRot);
AddVectorObs(bp.currentYNormalizedRot);
AddVectorObs(bp.currentZNormalizedRot);
AddVectorObs(bp.currentStrength / jdController.maxJointForceLimit);
}
}
