implementation of drecon in unity 2022 lts
forked from:
https://github.com/joanllobera/marathon-envs
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89 lines
3.6 KiB
89 lines
3.6 KiB
7 months ago
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using System.Collections;
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using System.Collections.Generic;
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using System.Linq;
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using UnityEngine;
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public class DebugArticulationBody : MonoBehaviour
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{
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public Vector3 jointAcceleration;
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public Vector3 jointForce;
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public Vector3 jointPosition;
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public Vector3 jointVelocity;
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public ArticulationJacobian jacobian;
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public List<int> dofStartIndices;
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public List<float> driveTargets;
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public List<float> driveTargetVelocities;
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public List<float> jointAccelerations;
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public List<float> jointForces;
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public List<float> jointPositions;
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public List<float> jointVelocities;
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ArticulationBody _articulationBody;
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// Start is called before the first frame update
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void Start()
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{
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_articulationBody = GetComponent<ArticulationBody>();
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foreach (var ab in this.GetComponentsInChildren<ArticulationBody>())
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{
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if (ab.GetComponent<DebugArticulationBody>() == null)
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{
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ab.gameObject.AddComponent<DebugArticulationBody>();
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}
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}
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}
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// Update is called once per frame
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void Update()
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{
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if (_articulationBody == null)
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return;
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if (_articulationBody.isRoot)
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{
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if (dofStartIndices == null)
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{
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dofStartIndices = Enumerable.Range(0,_articulationBody.dofCount).ToList();
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driveTargets = Enumerable.Range(0,_articulationBody.dofCount)
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.Select(x=>0f).ToList();
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driveTargetVelocities = Enumerable.Range(0,_articulationBody.dofCount)
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.Select(x=>0f).ToList();
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jointAccelerations = Enumerable.Range(0,_articulationBody.dofCount)
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.Select(x=>0f).ToList();
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jointForces = Enumerable.Range(0,_articulationBody.dofCount)
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.Select(x=>0f).ToList();
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jointPositions = Enumerable.Range(0,_articulationBody.dofCount)
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.Select(x=>0f).ToList();
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jointVelocities = Enumerable.Range(0,_articulationBody.dofCount)
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.Select(x=>0f).ToList();
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}
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// _articulationBody.GetDenseJacobian(ref jacobian);
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_articulationBody.GetDofStartIndices(dofStartIndices);
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_articulationBody.GetDriveTargets(driveTargets);
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_articulationBody.GetDriveTargetVelocities(driveTargetVelocities);
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_articulationBody.GetJointAccelerations(jointAccelerations);
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_articulationBody.GetJointForces(jointForces);
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_articulationBody.GetJointPositions(jointPositions);
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_articulationBody.GetJointVelocities(jointVelocities);
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}
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if (_articulationBody.dofCount > 0)
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{
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jointAcceleration.x = _articulationBody.jointAcceleration[0];
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jointForce.x = _articulationBody.jointForce[0];
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jointPosition.x = _articulationBody.jointPosition[0];
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jointVelocity.x = _articulationBody.jointVelocity[0];
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}
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if (_articulationBody.dofCount > 1)
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{
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jointAcceleration.y = _articulationBody.jointAcceleration[1];
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jointForce.y = _articulationBody.jointForce[1];
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jointPosition.y = _articulationBody.jointPosition[1];
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jointVelocity.y = _articulationBody.jointVelocity[1];
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}
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if (_articulationBody.dofCount > 2)
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{
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jointAcceleration.z = _articulationBody.jointAcceleration[2];
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jointForce.z = _articulationBody.jointForce[2];
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jointPosition.z = _articulationBody.jointPosition[2];
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jointVelocity.z = _articulationBody.jointVelocity[2];
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}
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}
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}
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