/// <summary>
/// Collect the rigidbodies of the reacher in order to resue them for
/// observations and actions.
/// </summary>
public override void InitializeAgent()
{
m_RbA = pendulumA.GetComponent <Rigidbody>();
m_RbB = pendulumB.GetComponent <Rigidbody>();
m_MyAcademy = GameObject.Find("Academy").GetComponent <ReacherAcademy>();
SetResetParameters();
}
public override void AgentReset()
{
pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
rbA.velocity = new Vector3(0f, 0f, 0f);
rbA.angularVelocity = new Vector3(0f, 0f, 0f);
pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position;
pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
rbB.velocity = new Vector3(0f, 0f, 0f);
rbB.angularVelocity = new Vector3(0f, 0f, 0f);
goalDegree = Random.Range(0, 360);
UpdateGoalPosition();
ReacherAcademy academy = GameObject.Find("Academy").GetComponent <ReacherAcademy>();
float goalSize = academy.goalSize;
goalSpeed = academy.goalSpeed;
goal.transform.localScale = new Vector3(goalSize, goalSize, goalSize);
}
/// <summary>
/// Collect the rigidbodies of the reacher in order to resue them for
/// observations and actions.
/// </summary>
public override void InitializeAgent()
{
rbA = pendulumA.GetComponent <Rigidbody>();
rbB = pendulumB.GetComponent <Rigidbody>();
myAcademy = GameObject.Find("Academy").GetComponent <ReacherAcademy>();
}
