/// <summary>
/// Add relevant information on each body part to observations.
/// </summary>
public void CollectObservationBodyPart(MLAgentsExamples.BodyPart bp, VectorSensor sensor)
{
var rb = bp.rb;
sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Is this bp touching the ground
sensor.AddObservation(rb.velocity);
sensor.AddObservation(rb.angularVelocity);
var localPosRelToHips = hips.InverseTransformPoint(rb.position);
sensor.AddObservation(localPosRelToHips);
if (bp.rb.transform != hips && bp.rb.transform != handL && bp.rb.transform != handR &&
bp.rb.transform != footL && bp.rb.transform != footR && bp.rb.transform != head)
{
sensor.AddObservation(bp.currentXNormalizedRot);
sensor.AddObservation(bp.currentYNormalizedRot);
sensor.AddObservation(bp.currentZNormalizedRot);
sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
}
}
/// <summary>
/// Add relevant information on each body part to observations.
/// </summary>
public void CollectObservationBodyPart(MLAgentsExamples.BodyPart bp, VectorSensor sensor)
{
var rb = bp.rb;
sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity);
sensor.AddObservation(velocityRelativeToLookRotationToTarget);
var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
if (bp.rb.transform != body)
{
var localPosRelToBody = body.InverseTransformPoint(rb.position);
sensor.AddObservation(localPosRelToBody);
sensor.AddObservation(bp.currentXNormalizedRot); // Current x rot
sensor.AddObservation(bp.currentYNormalizedRot); // Current y rot
sensor.AddObservation(bp.currentZNormalizedRot); // Current z rot
sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
}
}
