public PhysicsBodySensor(ArticulationBody rootBody, PhysicsSensorSettings settings, string sensorName = null)
{
var poseExtractor = new ArticulationBodyPoseExtractor(rootBody);
m_PoseExtractor = poseExtractor;
m_SensorName = string.IsNullOrEmpty(sensorName) ? $"ArticulationBodySensor:{rootBody?.name}" : sensorName;
m_Settings = settings;
var numJointExtractorObservations = 0;
var articBodies = poseExtractor.Bodies;
if (articBodies != null)
{
m_JointExtractors = new IJointExtractor[articBodies.Length - 1]; // skip the root
for (var i = 1; i < articBodies.Length; i++)
{
var jointExtractor = new ArticulationBodyJointExtractor(articBodies[i]);
numJointExtractorObservations += jointExtractor.NumObservations(settings);
m_JointExtractors[i - 1] = jointExtractor;
}
}
else
{
m_JointExtractors = new IJointExtractor[0];
}
var numTransformObservations = m_PoseExtractor.GetNumPoseObservations(settings);
m_Shape = new[] { numTransformObservations + numJointExtractorObservations };
}
/// <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 numTransformObservations = Settings.TransformSize(poseExtractor.NumPoses);
return(new[] { numTransformObservations });
}
/// <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 });
}
public PhysicsBodySensor(ArticulationBody rootBody, PhysicsSensorSettings settings, string sensorName = null)
{
var poseExtractor = new ArticulationBodyPoseExtractor(rootBody);
m_PoseExtractor = poseExtractor;
m_SensorName = string.IsNullOrEmpty(sensorName) ? $"ArticulationBodySensor:{rootBody?.name}" : sensorName;
m_Settings = settings;
var numJointExtractorObservations = 0;
m_JointExtractors = new List <IJointExtractor>(poseExtractor.NumEnabledPoses);
foreach (var articBody in poseExtractor.GetEnabledArticulationBodies())
{
var jointExtractor = new ArticulationBodyJointExtractor(articBody);
numJointExtractorObservations += jointExtractor.NumObservations(settings);
m_JointExtractors.Add(jointExtractor);
}
var numTransformObservations = m_PoseExtractor.GetNumPoseObservations(settings);
m_Shape = new[] { numTransformObservations + numJointExtractorObservations };
}
/// <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 });
}
