public override void OnActionReceived(float[] vectorAction)
{
RobotController robotController = robotArm.GetComponent <RobotController>();
PincherController pincherController = robotHand.GetComponent <PincherController>();
for (int i = 0; i < robotController.joints.Length + 1; i++)
{
float inputVal = vectorAction[i];
if (i == 7)
{
pincherController.gripState = GripStateForInput(inputVal);
}
else
{
if (Mathf.Abs(inputVal) > 0)
{
RotationDirection direction = GetRotationDirection(inputVal);
robotController.RotateJoint(i, direction);
return;
}
}
}
robotController.StopAllJointRotations();
if (cube.position.y < 0.778f)
{
EndEpisode();
}
}
void Update()
{
// manual input
float input = Input.GetAxis("Fingers");
PincherController pincherController = hand.GetComponent <PincherController>();
pincherController.gripState = GripStateForInput(input);
}
void Start()
{
robotController = robot.GetComponent <RobotController>();
touchDetector = cube.GetComponent <TouchDetector>();
tablePositionRandomizer = cube.GetComponent <TablePositionRandomizer>();
pinchDetector = cube.GetComponent <PinchDetector>();
pincherController = endEffector.GetComponent <PincherController>();
}
void Start()
{
pincherController = hand.GetComponent <PincherController>();
}
