public int Write(WriteAdapter adapter)
{
// First, call the wrapped sensor's write method. Make sure to use our own adapter, not the passed one.
var wrappedShape = m_WrappedSensor.GetObservationShape();
m_LocalAdapter.SetTarget(m_StackedObservations[m_CurrentIndex], wrappedShape, 0);
m_WrappedSensor.Write(m_LocalAdapter);
// Now write the saved observations (oldest first)
var numWritten = 0;
for (var i = 0; i < m_NumStackedObservations; i++)
{
var obsIndex = (m_CurrentIndex + 1 + i) % m_NumStackedObservations;
adapter.AddRange(m_StackedObservations[obsIndex], numWritten);
numWritten += m_UnstackedObservationSize;
}
return(numWritten);
}
public void TestFloat2DSensorWrite()
{
var sensor = new Float2DSensor(3, 4, "floatsensor");
for (var h = 0; h < 4; h++)
{
for (var w = 0; w < 3; w++)
{
sensor.floatData[h, w] = 3 * h + w;
}
}
var output = new float[12];
var writer = new WriteAdapter();
writer.SetTarget(output, sensor.GetObservationShape(), 0);
sensor.Write(writer);
for (var i = 0; i < 9; i++)
{
Assert.AreEqual(i, output[i]);
}
}
public void TestRayZeroLength()
{
// Place the cube touching the origin
var cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
cube.transform.position = new Vector3(0, 0, .5f);
cube.tag = k_CubeTag;
Physics.SyncTransforms();
var obj = new GameObject("agent");
var perception = obj.AddComponent <RayPerceptionSensorComponent3D>();
perception.raysPerDirection = 0;
perception.rayLength = 0.0f;
perception.sphereCastRadius = .5f;
perception.detectableTags = new List <string>();
perception.detectableTags.Add(k_CubeTag);
{
// Set the layer mask to either the default, or one that ignores the close cube's layer
var sensor = perception.CreateSensor();
var expectedObs = (2 * perception.raysPerDirection + 1) * (perception.detectableTags.Count + 2);
Assert.AreEqual(sensor.GetObservationShape()[0], expectedObs);
var outputBuffer = new float[expectedObs];
WriteAdapter writer = new WriteAdapter();
writer.SetTarget(outputBuffer, sensor.GetObservationShape(), 0);
var numWritten = sensor.Write(writer);
Assert.AreEqual(numWritten, expectedObs);
// hit fraction is arbitrary but should be finite in [0,1]
Assert.GreaterOrEqual(outputBuffer[2], 0.0f);
Assert.LessOrEqual(outputBuffer[2], 1.0f);
}
}
public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable <AgentInfoSensorsPair> infos)
{
TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);
var agentIndex = 0;
foreach (var infoSensorPair in infos)
{
var sensor = infoSensorPair.sensors[m_SensorIndex];
if (infoSensorPair.agentInfo.done)
{
// If the agent is done, we might have a stale reference to the sensors
// e.g. a dependent object might have been disposed.
// To avoid this, just fill observation with zeroes instead of calling sensor.Write.
TensorUtils.FillTensorBatch(tensorProxy, agentIndex, 0.0f);
}
else
{
m_WriteAdapter.SetTarget(tensorProxy, agentIndex, 0);
sensor.Write(m_WriteAdapter);
}
agentIndex++;
}
}
public void Generate(TensorProxy tensorProxy, int batchSize, IEnumerable <AgentInfoSensorsPair> infos)
{
TensorUtils.ResizeTensor(tensorProxy, batchSize, m_Allocator);
var vecObsSizeT = tensorProxy.shape[tensorProxy.shape.Length - 1];
var agentIndex = 0;
foreach (var info in infos)
{
if (info.agentInfo.done)
{
// If the agent is done, we might have a stale reference to the sensors
// e.g. a dependent object might have been disposed.
// To avoid this, just fill observation with zeroes instead of calling sensor.Write.
TensorUtils.FillTensorBatch(tensorProxy, agentIndex, 0.0f);
}
else
{
var tensorOffset = 0;
// Write each sensor consecutively to the tensor
foreach (var sensorIndex in m_SensorIndices)
{
var sensor = info.sensors[sensorIndex];
m_WriteAdapter.SetTarget(tensorProxy, agentIndex, tensorOffset);
var numWritten = sensor.Write(m_WriteAdapter);
tensorOffset += numWritten;
}
Debug.AssertFormat(
tensorOffset == vecObsSizeT,
"mismatch between vector observation size ({0}) and number of observations written ({1})",
vecObsSizeT, tensorOffset
);
}
agentIndex++;
}
}
public void TestRaycasts()
{
SetupScene();
var obj = new GameObject("agent");
var perception = obj.AddComponent <RayPerceptionSensorComponent3D>();
perception.raysPerDirection = 1;
perception.maxRayDegrees = 45;
perception.rayLength = 20;
perception.detectableTags = new List <string>();
perception.detectableTags.Add(k_CubeTag);
perception.detectableTags.Add(k_SphereTag);
var radii = new[] { 0f, .5f };
foreach (var castRadius in radii)
{
perception.sphereCastRadius = castRadius;
var sensor = perception.CreateSensor();
var expectedObs = (2 * perception.raysPerDirection + 1) * (perception.detectableTags.Count + 2);
Assert.AreEqual(sensor.GetObservationShape()[0], expectedObs);
var outputBuffer = new float[expectedObs];
WriteAdapter writer = new WriteAdapter();
writer.SetTarget(outputBuffer, sensor.GetObservationShape(), 0);
var numWritten = sensor.Write(writer);
Assert.AreEqual(numWritten, expectedObs);
// Expected hits:
// ray 0 should hit the cube at roughly halfway
// ray 1 should hit a sphere but no tag
// ray 2 should hit a sphere with the k_SphereTag tag
// The hit fraction should be the same for rays 1 and
//
Assert.AreEqual(1.0f, outputBuffer[0]); // hit cube
Assert.AreEqual(0.0f, outputBuffer[1]); // missed sphere
Assert.AreEqual(0.0f, outputBuffer[2]); // missed unknown tag
// Hit is at z=9.0 in world space, ray length is 20
Assert.That(
outputBuffer[3], Is.EqualTo((9.5f - castRadius) / perception.rayLength).Within(.0005f)
);
// Spheres are at 5,0,5 and 5,0,-5, so 5*sqrt(2) units from origin
// Minus 1.0 for the sphere radius to get the length of the hit.
var expectedHitLengthWorldSpace = 5.0f * Mathf.Sqrt(2.0f) - 0.5f - castRadius;
Assert.AreEqual(0.0f, outputBuffer[4]); // missed cube
Assert.AreEqual(0.0f, outputBuffer[5]); // missed sphere
Assert.AreEqual(0.0f, outputBuffer[6]); // hit unknown tag -> all 0
Assert.That(
outputBuffer[7], Is.EqualTo(expectedHitLengthWorldSpace / perception.rayLength).Within(.0005f)
);
Assert.AreEqual(0.0f, outputBuffer[8]); // missed cube
Assert.AreEqual(1.0f, outputBuffer[9]); // hit sphere
Assert.AreEqual(0.0f, outputBuffer[10]); // missed unknown tag
Assert.That(
outputBuffer[11], Is.EqualTo(expectedHitLengthWorldSpace / perception.rayLength).Within(.0005f)
);
}
}
public void TestRayFilter()
{
var cube = GameObject.CreatePrimitive(PrimitiveType.Cube);
cube.transform.position = new Vector3(0, 0, 10);
cube.tag = k_CubeTag;
cube.name = "cubeFar";
var cubeFiltered = GameObject.CreatePrimitive(PrimitiveType.Cube);
cubeFiltered.transform.position = new Vector3(0, 0, 5);
cubeFiltered.tag = k_CubeTag;
cubeFiltered.name = "cubeNear";
cubeFiltered.layer = 7;
Physics.SyncTransforms();
var obj = new GameObject("agent");
var perception = obj.AddComponent <RayPerceptionSensorComponent3D>();
perception.raysPerDirection = 0;
perception.rayLength = 20;
perception.detectableTags = new List <string>();
var filterCubeLayers = new[] { false, true };
foreach (var filterCubeLayer in filterCubeLayers)
{
// Set the layer mask to either the default, or one that ignores the close cube's layer
var layerMask = Physics.DefaultRaycastLayers;
if (filterCubeLayer)
{
layerMask &= ~(1 << cubeFiltered.layer);
}
perception.rayLayerMask = layerMask;
var sensor = perception.CreateSensor();
var expectedObs = (2 * perception.raysPerDirection + 1) * (perception.detectableTags.Count + 2);
Assert.AreEqual(sensor.GetObservationShape()[0], expectedObs);
var outputBuffer = new float[expectedObs];
WriteAdapter writer = new WriteAdapter();
writer.SetTarget(outputBuffer, sensor.GetObservationShape(), 0);
var numWritten = sensor.Write(writer);
Assert.AreEqual(numWritten, expectedObs);
if (filterCubeLayer)
{
// Hit the far cube because close was filtered.
Assert.That(outputBuffer[outputBuffer.Length - 1],
Is.EqualTo((9.5f - perception.sphereCastRadius) / perception.rayLength).Within(.0005f)
);
}
else
{
// Hit the close cube because not filtered.
Assert.That(outputBuffer[outputBuffer.Length - 1],
Is.EqualTo((4.5f - perception.sphereCastRadius) / perception.rayLength).Within(.0005f)
);
}
}
}