/// <inheritdoc/>
public override int[] GetObservationShape()
{
if (RootBody == null)
{
return(new[] { 0 });
}
// TODO static method in PhysicsBodySensor?
// TODO only update PoseExtractor when body changes?
var poseExtractor = new ArticulationBodyPoseExtractor(RootBody);
var numPoseObservations = poseExtractor.GetNumPoseObservations(Settings);
var numJointObservations = 0;
foreach (var articBody in poseExtractor.GetEnabledArticulationBodies())
{
numJointObservations += ArticulationBodyJointExtractor.NumObservations(articBody, Settings);
}
return(new[] { numPoseObservations + numJointObservations });
}
/// <inheritdoc/>
public override int[] GetObservationShape()
{
if (RootBody == null)
{
return(new[] { 0 });
}
// TODO static method in PhysicsBodySensor?
// TODO only update PoseExtractor when body changes?
var poseExtractor = new ArticulationBodyPoseExtractor(RootBody);
var numPoseObservations = poseExtractor.GetNumPoseObservations(Settings);
var numJointObservations = 0;
// Start from i=1 to ignore the root
for (var i = 1; i < poseExtractor.Bodies.Length; i++)
{
numJointObservations += ArticulationBodyJointExtractor.NumObservations(
poseExtractor.Bodies[i], Settings
);
}
return(new[] { numPoseObservations + numJointObservations });
}