Class RigidBodyPoseExtractor

Utility class to track a hierarchy of RigidBodies. These are assumed to have a root node, and child nodes are connect to their parents via Joints.

Inheritance

object

PoseExtractor

RigidBodyPoseExtractor

Inherited Members

PoseExtractor.GetEnabledModelSpacePoses()

PoseExtractor.GetEnabledLocalSpacePoses()

PoseExtractor.GetEnabledModelSpaceVelocities()

PoseExtractor.GetEnabledLocalSpaceVelocities()

PoseExtractor.NumEnabledPoses

PoseExtractor.NumPoses

PoseExtractor.GetParentIndex(int)

PoseExtractor.SetPoseEnabled(int, bool)

PoseExtractor.IsPoseEnabled(int)

PoseExtractor.Setup(int[])

PoseExtractor.UpdateModelSpacePoses()

PoseExtractor.UpdateLocalSpacePoses()

PoseExtractor.GetNumPoseObservations(PhysicsSensorSettings)

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Namespace: Unity.MLAgents.Sensors

Assembly: Unity.ML-Agents.dll

Syntax

[MovedFrom("Unity.MLAgents.Extensions.Sensors")]
public class RigidBodyPoseExtractor : PoseExtractor

Constructors

RigidBodyPoseExtractor(Rigidbody, GameObject, GameObject, Dictionary<Rigidbody, bool>)

Initialize given a root RigidBody.

Declaration

public RigidBodyPoseExtractor(Rigidbody rootBody, GameObject rootGameObject = null, GameObject virtualRoot = null, Dictionary<Rigidbody, bool> enableBodyPoses = null)

Parameters

Type	Name	Description
Rigidbody	rootBody	The root Rigidbody. This has no Joints on it (but other Joints may connect to it).
GameObject	rootGameObject	Optional GameObject used to find Rigidbodies in the hierarchy.
GameObject	virtualRoot	Optional GameObject used to determine the root of the poses, separate from the actual Rigidbodies in the hierarchy. For locomotion tasks, with ragdolls, this provides a stabilized reference frame, which can improve learning.
Dictionary<Rigidbody, bool>	enableBodyPoses	Optional mapping of whether a body's psoe should be enabled or not.

Methods

GetLinearVelocityAt(int)

Return the world space linear velocity of the i'th object.

Declaration

protected override Vector3 GetLinearVelocityAt(int index)

Parameters

Type	Name	Description
int	index	The index of the pose for which to get the linear velocity.

Returns

Type	Description
Vector3	The world space linear velocity at given index.

Overrides

PoseExtractor.GetLinearVelocityAt(int)

GetObjectAt(int)

Return the underlying object at the given index. This is only used for display in the inspector.

Declaration

protected override Object GetObjectAt(int index)

Parameters

Type	Name	Description
int	index	The index of the object to retrieve.

Returns

Type	Description
Object	The Object at given index.

Overrides

PoseExtractor.GetObjectAt(int)

GetPoseAt(int)

Return the world space Pose of the i'th object.

Declaration

protected override Pose GetPoseAt(int index)

Parameters

Type	Name	Description
int	index	The index of the pose to retrieve.

Returns

Type	Description
Pose	The world space Pose at given index.

Overrides

PoseExtractor.GetPoseAt(int)