/// <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));
}
// Start is called before the first frame update
void Start()
{
ballHandlerScript = ballHandler.GetComponent <BallHandler>();
vibHandlerScript = vibHandler.GetComponent <VibHandler>();
}
