public PhysicsBodySensor(ArticulationBody rootBody, PhysicsSensorSettings settings, string sensorName = null)
{
var poseExtractor = new ArticulationBodyPoseExtractor(rootBody);
m_PoseExtractor = poseExtractor;
m_SensorName = string.IsNullOrEmpty(sensorName) ? $"ArticulationBodySensor:{rootBody?.name}" : sensorName;
m_Settings = settings;
var numJointExtractorObservations = 0;
m_JointExtractors = new List <IJointExtractor>(poseExtractor.NumEnabledPoses);
foreach (var articBody in poseExtractor.GetEnabledArticulationBodies())
{
var jointExtractor = new ArticulationBodyJointExtractor(articBody);
numJointExtractorObservations += jointExtractor.NumObservations(settings);
m_JointExtractors.Add(jointExtractor);
}
var numTransformObservations = m_PoseExtractor.GetNumPoseObservations(settings);
m_Shape = new[] { numTransformObservations + numJointExtractorObservations };
}
/// <summary>
/// Construct a new PhysicsBodySensor
/// </summary>
/// <param name="poseExtractor"></param>
/// <param name="settings"></param>
/// <param name="sensorName"></param>
public PhysicsBodySensor(
RigidBodyPoseExtractor poseExtractor,
PhysicsSensorSettings settings,
string sensorName
)
{
m_PoseExtractor = poseExtractor;
m_SensorName = sensorName;
m_Settings = settings;
var numJointExtractorObservations = 0;
m_JointExtractors = new List <IJointExtractor>(poseExtractor.NumEnabledPoses);
foreach (var rb in poseExtractor.GetEnabledRigidbodies())
{
var jointExtractor = new RigidBodyJointExtractor(rb);
numJointExtractorObservations += jointExtractor.NumObservations(settings);
m_JointExtractors.Add(jointExtractor);
}
var numTransformObservations = m_PoseExtractor.GetNumPoseObservations(settings);
m_Shape = new[] { numTransformObservations + numJointExtractorObservations };
}
/// <summary>
/// Construct a new PhysicsBodySensor
/// </summary>
/// <param name="rootBody">The root Rigidbody. This has no Joints on it (but other Joints may connect to it).</param>
/// <param name="rootGameObject">Optional GameObject used to find Rigidbodies in the hierarchy.</param>
/// <param name="virtualRoot">Optional GameObject used to determine the root of the poses,
/// <param name="settings"></param>
/// <param name="sensorName"></param>
public PhysicsBodySensor(
Rigidbody rootBody,
GameObject rootGameObject,
GameObject virtualRoot,
PhysicsSensorSettings settings,
string sensorName = null
)
{
var poseExtractor = new RigidBodyPoseExtractor(rootBody, rootGameObject, virtualRoot);
m_PoseExtractor = poseExtractor;
m_SensorName = string.IsNullOrEmpty(sensorName) ? $"PhysicsBodySensor:{rootBody?.name}" : sensorName;
m_Settings = settings;
var numJointExtractorObservations = 0;
var rigidBodies = poseExtractor.Bodies;
if (rigidBodies != null)
{
m_JointExtractors = new IJointExtractor[rigidBodies.Length - 1]; // skip the root
for (var i = 1; i < rigidBodies.Length; i++)
{
var jointExtractor = new RigidBodyJointExtractor(rigidBodies[i]);
numJointExtractorObservations += jointExtractor.NumObservations(settings);
m_JointExtractors[i - 1] = jointExtractor;
}
}
else
{
m_JointExtractors = new IJointExtractor[0];
}
var numTransformObservations = m_PoseExtractor.GetNumPoseObservations(settings);
m_Shape = new[] { numTransformObservations + numJointExtractorObservations };
}
