/// <summary>
/// Initial setup, called at startup.
/// </summary>
/// <remarks>
/// In future versions of ML-agents (> 0.14), InitializeAgent should be replaced by Initialize.
/// </remarks>
public override void InitializeAgent()
{
base.InitializeAgent();
// Initialize joint controllers
leftShoulder = new JointController("Left shoulder", leftShoulderJoint, new Vector3(-999, -999, -999), new Vector3(999, 999, 999)); //new Vector3(-999, -999, -25), new Vector3(999, 999, 25));
leftUpperArm = new JointController("Left upper arm", leftUpperArmJoint, new Vector3(-999, -999, -999), new Vector3(999, 999, 999));
leftElbow = new JointController("Left elbow", leftElbowJoint, new Vector3(-999, -999, -999), new Vector3(999, 999, 999)); //new Vector3(-25, -999, -999), new Vector3(25, 999, 999));
head = new JointController("Head", headJoint, new Vector3(-999, -999, -999), new Vector3(999, 999, 999));
// Retrieve the rubberArm and visuo-tactile stimulation objects from the environment
rubberArmController = rubberArm.GetComponent <RubberArmController>();
ballScript = ballHandler.GetComponent <BallHandler>();
vibScript = vibHandler.GetComponent <VibHandler>();
// Set the head rotation (and subsequently the camera perspective)
head.SetRelativeJointAngles(new Vector3(15f, -20f));
}
/// <summary>
/// Perform actions based on a vector of numbers
/// </summary>
/// <remarks>
/// In future versions of ML-agents (> 0.14), AgentAction should be replaced by OnActionReceived.
/// </remarks>
/// <param name="vectorAction">The list of actions to take</param>
public override void AgentAction(float[] vectorAction)
{
// The first action vector value specifies the type of control from the Python environment
switch (vectorAction[0])
{
// Normal action (joint velocity control)
default:
leftShoulder.MoveJoint(0f, 0f, vectorAction[1] * turnSpeed * Time.fixedDeltaTime);
leftElbow.MoveJoint(vectorAction[2] * turnSpeed * Time.fixedDeltaTime, 0f, 0f);
break;
// Joint angle rotation (set joint angle directly)
case 1f:
leftShoulder.SetRelativeJointAngles(new Vector3(0f, 0f, vectorAction[1]));
leftElbow.SetRelativeJointAngles(new Vector3(vectorAction[2], 0f, 0f));
break;
// Rubber arm joint (set rubber arm joint angle)
case 2f:
rubberArmController.setRelativeLeftShoulderZ(vectorAction[1]);
rubberArmController.setRelativeLeftElbowX(vectorAction[2]);
break;
}
}
/// <summary>
/// Sets joint angles such that the rubber arm is in the 'left' position (hand is 15cm left of center, 45cm left of body midline).
/// </summary>
public void setLeftCondition()
{
leftShoulder.SetRelativeJointAngles(new Vector3(0, 0, -10.924f));
leftElbow.SetRelativeJointAngles(new Vector3(-16.93f, 0, 0));
}
