implementation of drecon in unity 2022 lts forked from: https://github.com/joanllobera/marathon-envs
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using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using Unity.Barracuda;
[System.Serializable]
public class RangeOfMotionValue
{
// [HideInInspector]
public string name;
public Vector3 lower;
public Vector3 upper;
public Vector3 rangeOfMotion { get {
var diff = upper - lower;
var rom = new Vector3(
Mathf.Abs(diff.x),
Mathf.Abs(diff.y),
Mathf.Abs(diff.z)
);
return rom;
}}
}
public class OscillationParameters
{
public string name;
public float dampingRatio;
public float natFreq;
}
[CreateAssetMenu(fileName = "RangeOfMotion", menuName = "Parser/CreateRangeOfMotionFile")]
public class RangeOfMotionValues : ScriptableObject
{
public RangeOfMotionValue[] Values { get { return _values.ToArray(); } }
//[HideInInspector]
[SerializeField]
List<RangeOfMotionValue> _values = new List<RangeOfMotionValue>();
List<OscillationParameters> _osc = new List<OscillationParameters>();
public void addJoint(Transform joint)
{
RangeOfMotionValue r = new RangeOfMotionValue();
r.name = joint.name;
_values.Add(r);
OscillationParameters o = new OscillationParameters();
o.name = joint.name;
_osc.Add(o);
}
//public
//a model trained with these constraints
//NNModel InferenceModel;
public string[] getNames()
{
string[] temp = new string[Values.Length];
for (int i = 0; i < Values.Length; i++)
{
temp[i] = (Values[i].name);
}
return temp;
}
}