RobotAgent¶

abstract class · namespace Hazel

public abstract class RobotAgent

Constructors¶

public RobotAgent(float dt, string motionDataset = "", string policyPath = "")

Field	Description
`protected float[] m_ActionBuffer`
`protected int m_ActionOffset`
`protected int[] m_ActuatorIds`
`protected AnimationComponent? m_AnimationComponent`
`protected RefPoseCalibrator? m_Calibrator`
`protected float[] m_CtrlBuffer`
`protected int m_CtrlOffset`
`public uint m_DatasetAnchorId`
`protected uint m_FreeJointId`
`public bool m_IsCalibrating`
`protected uint[] m_JointQposAdrs`
`protected uint[] m_JointQvelAdrs`
`public MujocoSceneComponent m_MujocoScene`
`public uint m_PelvisBodyId`
`public uint m_PelvisDatasetId`
`public RefPoseExtractor? m_RefPoseExtractor`
`protected uint m_RobotAnchorId`
`protected RobotManager m_RobotManager`
`protected float[] m_StateBuffer`
`protected int m_StateOffset`

public int ActionSize { get; protected set; }

protected virtual List<CalibrationMapping> CalibrationTargets { get; }

public CommandManager CommandManager { get; }

protected abstract List<JointConfig> JointSpec { get; }

public float m_dt { get; }

public int m_ID { get; protected set; }

public string m_MotionDataset { get; }

protected abstract bool m_NeedsCalibration { get; }

protected int m_NumJoints { get; }

public string m_PolicyPath { get; }

public int StateSize { get; protected set; }

protected abstract List<StateConfig> StateSpec { get; }

public void Action()

public void ApplyAdditionalJointOffsets(float[] extraOffsets)

public void BindBatchBuffers(float[] stateBuffer, int stateOffset, float[] actionBuffer, int actionOffset, float[] ctrlBuffer, int ctrlOffset)

protected void CacheJointHandles(List<JointConfig> specs)

public void CaptureInitialPose()

public void ClearBuffers()

public int[] GetActuatorIndices()

public virtual Dictionary<string, (string axis, bool invert)>? GetAxisMapping()

public List<float> GetDefaultJointPos()

public List<string> GetJointNames()

public uint[] GetJointQposAdrs()

public uint[] GetJointQvelAdrs()

public void GetMotionAnchorPoseMj(out Vector3 posMj, out Quaternion quatMj)

Get motion anchor pose in MuJoCo space (for observation). When RefPoseExtractor is null, returns Zero/Identity.

public float[] GetMotionJointPos()

public List<StateConfig> GetStateSpec()

public abstract void OnAction()

public abstract void OnReset()

public abstract void OnSetup()

public abstract void OnState()

public void SetCalibrationOffsets(float[] offsets)

public void SetMujocoScene(MujocoSceneComponent mujocoScene)

public void SetRobotManager(RobotManager robotManager)

public void Setup(RobotManager robotManager, MujocoSceneComponent mujocoScene, int ID, bool isExternalBatch = false)

public void UpdateCalibration()

Source: Hazel/Learn/RobotAgent.cs