// Update is called once per frame
void Update()
{
if (frameCount < trainingImages + valImages)
{
if (frameCount % 1 == 0)
{
RandomAwake(comboxes_p1, comboxes_p2);
RandomMovePosition(comboxes_p1, comboxes_p2, x_offset);
synth.OnSceneChange();
Debug.Log($"FrameCount: {frameCount}");
}
frameCount++;
if (save)
{
if (frameCount < trainingImages)
{
string filename = $"image_{(frameCount+0).ToString().PadLeft(5, '0')}";
synth.Save(filename, 1280, 720, "captures1/train", 2);
}
else if (frameCount < trainingImages + valImages)
{
int valFrameCount = frameCount - trainingImages;
string filename = $"image_{(valFrameCount+0).ToString().PadLeft(5, '0')}";
synth.Save(filename, 1280, 720, "captures1/val", 2);
}
}
}
}
private Vector3[] transformCADObject()
{
// position
float newX, newY, newZ;
newX = UnityEngine.Random.Range(-5.0f, 5.0f);
newY = UnityEngine.Random.Range(0.0f, -5.0f);
newZ = UnityEngine.Random.Range(0.0f, 5.0f);
Vector3 newPosition = new Vector3(newX, newY, newZ);
// Rotation
var newRot = Quaternion.Euler(0, UnityEngine.Random.Range(-180, 180), 0);
//Debug.Log($"initPos {initPos}");
cadObj.transform.position = initPos - newPosition;
cadObj.transform.rotation = newRot * initRot;
Vector3[] transformedObjPoints = new Vector3[kpLen];
int i = 0;
foreach (var p3D in objPts)
{
//Vector3 obj = newRot * (new Vector3(p3D.X, p3D.Y, p3D.Z) - cadObj.transform.position) + cadObj.transform.position;
Vector3 obj = new Vector3(p3D.X, p3D.Y, p3D.Z);
// Apply same rotation to points as object
obj = newRot * obj;
// Apply same transaltion to points as object
obj = obj + initPos - newPosition;
//Debug.Log($"obj after {obj}");
transformedObjPoints[i] = obj;
i++;
}
Debug.Log($"PoBJECT TRANSFORME ");
synth.OnSceneChange();
return(transformedObjPoints);
}
/******************
* Custom methods *
******************/
void GenerateRandomShapes()
{
// Destroy existing objects before creating new ones
pool.ReclaimAll();
int objectsThisTime = Random.Range(minObjects, maxObjects);
// Create objects with random properties
for (int i = 0; i < objectsThisTime; i++)
{
// Pick a random prefab
int prefabIndex = Random.Range(0, prefabs.Length);
// Set position
float newX, newY, newZ;
newX = Random.Range(-10.0f, 10.0f);
newY = Random.Range(2.0f, 10.0f);
newZ = Random.Range(-10.0f, 10.0f);
Vector3 newPos = new Vector3(newX, newY, newZ);
// Set rotation
Quaternion newRot = Random.rotation;
// Set color
float newR, newG, newB;
newR = Random.Range(0.0f, 1.0f);
newG = Random.Range(0.0f, 1.0f);
newB = Random.Range(0.0f, 1.0f);
Color newColor = new Color(newR, newG, newB);
// Set scale
float s = Random.Range(0.5f, 4.0f);
Vector3 newScale = new Vector3(s, s, s);
// Place the prefab in the scene with its new properties
Shape shape = pool.Get((ShapeLabel)prefabIndex);
GameObject newObj = shape.obj;
newObj.transform.position = newPos;
newObj.transform.localScale = newScale;
newObj.transform.localScale = newScale;
newObj.GetComponent <Renderer>().material.color = newColor;
}
// Redraw the image for each hidden camera
synth.OnSceneChange(useGrayScale);
}
// Update is called once per frame
void Update()
{
if (frameCount < HowManyImages)
{
moveCamera();
rotateLight();
string filename = $"{frameCount.ToString().PadLeft(10, '0')}";
synth.Save(filename, ImgSizeX, ImgSizeY, "syntheticData");
synth.OnSceneChange();
frameCount++;
slider.value = (float)frameCount / (float)HowManyImages;
}
else
{
EditorApplication.isPlaying = false;
}
}
void GenerateRandom()
{
pool.ReclaimAll();
int objectsThisTime = Random.Range(minObjects, maxObjects);
for (int i = 0; i < objectsThisTime; i++)
{
// pick out a prefab
int prefabIndx = Random.Range(0, prefabs.Length);
GameObject prefab = prefabs[prefabIndx];
// Pick a random position
float newX, newY, newZ;
newX = Random.Range(13.0f, -13.0f);
newY = Random.Range(2.0f, 10.0f);
newZ = Random.Range(13.0f, -13.0f);
var newPos = new Vector3(newX, newY, newY);
// Random Rotation
var newRot = Random.rotation;
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
newObj.transform.rotation = newRot;
// Scale
float sx = Random.Range(0.5f, 4.0f);
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
float newR, newG, newB;
newR = Random.Range(0.0f, 1.0f);
newG = Random.Range(0.0f, 1.0f);
newB = Random.Range(0.0f, 1.0f);
var newColor = new Color(newR, newG, newB);
newObj.GetComponent <Renderer>().material.color = newColor;
}
synth.OnSceneChange(grayscale);
}
void GenerateRandom()
{
pool.ReclaimAll();
int objectsThisTime = Random.Range(minObjects, maxObjects);
for (int i = 0; i < objectsThisTime; i++)
{
//Выбираем случайный префаб
int prefabIndx = Random.Range(0, prefabs.Length);
GameObject prefab = prefabs[prefabIndx];
//Позиция для префаба
float newX, newY, newZ;
newX = Random.Range(-10.0f, 10.0f);
newY = Random.Range(2.0f, 10.0f);
newZ = Random.Range(-10.0f, 10.0f);
Vector3 newPos = new Vector3(newX, newY, newZ);
var newRot = Random.rotation;
var shape = pool.Get((ShapeLabel)prefabIndx);
GameObject newObj = shape.obj;
newObj.transform.position = newPos;
newObj.transform.rotation = newRot;
//Размер
float scaleFactor = Random.Range(0.5f, 2.0f);
Vector3 newScale = new Vector3(scaleFactor, scaleFactor, scaleFactor);
newObj.transform.localScale = newScale;
//Цвет
float newR, newG, newB;
newR = Random.Range(0.0f, 1.0f);
newG = Random.Range(0.0f, 1.0f);
newB = Random.Range(0.0f, 1.0f);
var newColor = new Color(newR, newG, newB);
newObj.GetComponent <Renderer>().material.color = newColor;
}
synth.OnSceneChange(grayscale);
}
void GenerateRandom()
{
pool.ReclaimAll();
for (int i = 0; i < maxObjects; i++)
{
int perfabIndx = Random.Range(0, prefabs.Length);
GameObject prefab = prefabs[perfabIndx];
float newX, newY, newZ;
newX = Random.Range(-10.0f, -10.0f);
newY = Random.Range(-2.0f, 10.0f);
newZ = Random.Range(-8.0f, 6.0f);
Vector3 newPos = new Vector3(newX, newY, newZ);
var newRot = Random.rotation;
var shape = pool.Get((ShapeLabel)perfabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
newObj.transform.rotation = newRot;
float xs = Random.Range(0.5f, 4.0f);
Vector3 newScale = new Vector3(xs, xs, xs);
newObj.transform.localScale = newScale;
//color
float newR, newG, newB;
newR = Random.Range(0.0f, 1.0f);
newG = Random.Range(0.0f, 1.0f);
newB = Random.Range(0.0f, 1.0f);
var newColor = new Color(newR, newG, newB);
newObj.GetComponent <Renderer>().material.color = newColor;
}
synth.OnSceneChange();
}
private Vector3[] transformCADObject(string folder, string filename)
{
TextWriter rotFile = new StreamWriter(Path.Combine(folder, filename + "_img-Rot.txt"));
TextWriter transFile = new StreamWriter(Path.Combine(folder, filename + "_img-Trans.txt"));
// position
float newX, newY, newZ;
newX = UnityEngine.Random.Range(-30.0f, 30.0f);
newY = UnityEngine.Random.Range(-5.0f, -10.0f);
newZ = UnityEngine.Random.Range(20.0f, -30.0f);
Vector3 newPosition = new Vector3(newX, newY, newZ);
// Rotation
var newRot = Quaternion.Euler(0, UnityEngine.Random.Range(-180, 180), 0);
//Debug.Log($"initPos {initPos}");
cadObj.transform.position = initPos - newPosition;
cadObj.transform.rotation = newRot * initRot;
var newTrasform = cadObj.transform;
Vector3[] transformedObjPoints = new Vector3[kpLen];
int i = 0;
foreach (var p3D in objPts)
{
//Vector3 obj = newRot * (new Vector3(p3D.X, p3D.Y, p3D.Z) - cadObj.transform.position) + cadObj.transform.position;
Vector3 obj = new Vector3(p3D.X, p3D.Y, p3D.Z);
// Apply same rotation to points as object
obj = newRot * obj;
// Apply same transaltion to points as object
obj = obj + initPos - newPosition;
//Debug.Log($"obj 2 after {obj}");
transformedObjPoints[i] = obj;
i++;
}
//### Code written for calculating rotation and translation,
var objTransform = cadObj.transform;
var r = objTransform.localRotation;
var t = objTransform.localPosition;
var s = objTransform.localScale;
Matrix4x4 m = Matrix4x4.identity;
m.SetTRS(t, r, s);
// CHangin sign of row 0,2,3, as Y-coordinate is inverted in Python and then normalized the values.
rotFile.WriteLine((-m[0, 0] / s.x) + " " + (-m[0, 1] / s.y) + " " + (-m[0, 2] / s.z));
rotFile.WriteLine(m[1, 0] / s.x + " " + m[1, 1] / s.y + " " + m[1, 2] / s.z);
rotFile.WriteLine((-m[2, 0] / s.x) + " " + (-m[2, 1] / s.y) + " " + (-m[2, 2] / s.z));
transFile.WriteLine((-m[0, 3] / s.x) + " " + m[1, 3] / s.y + " " + (-m[2, 3] / s.z));
rotFile.Flush();
transFile.Flush();
//Debug.Log($"PoBJECT TRANSFORME ");
synth.OnSceneChange();
return(transformedObjPoints);
}
void GenerateRandom()
{
pool.ReclaimAll();
int objectsThisTime = 8;
for (int i = 0; i < objectsThisTime; i++)
{
//pick out prefab
int prefabIndx = 0;
if (i == 0 || i == 1)
{
prefabIndx = 0;
}
else if (i == 2 || i == 3)
{
prefabIndx = 1;
}
else if (i == 4 || i == 6) //Careful to include the correct index here, in the Scene Controller prefab2 should be Jawlft and prefab3 should be jaw right
{
prefabIndx = 2;
}
else
{
prefabIndx = 3;
}
GameObject prefab = prefabs[prefabIndx];
if (i == 0)
{
//OBJECT 1 SHAFT RIGHT ARM
/*
* DATA from Python script
* JOINT 4 PSM_1 SHAFT RIGHT ARM Orientation in quaternions WXYZ [ 0.06844 0.458484 -0.60438 0.647945]
* JOINT 4 PSM_1 SHAFT RIGHT ARM Position in mm [14.620537 3.197187 64.227186]
*
*/
//Position
float newX, newY, newZ;
newX = 14.620537f;
newY = 3.197186f;
newZ = 64.227186f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = 0.458484f;
float quatY = -0.60438f;
float quatZ = 0.647945f;
float quatW = 0.06844f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else if (i == 1)
{
//OBJECT 2 SHAFT LEFT ARM
/*
* DATA from Python script
*
* JOINT 4 PSM_2 SHAFT LEFT ARM Orientation in quaternions WXYZ [ 0.647431 -0.618062 -0.015413 -0.44564 ]
* JOINT 4 PSM_2 SHAFT LEFT ARM Position in mm [-29.382017 11.433768 96.028443]
*
*/
//Position
float newX, newY, newZ;
newX = -29.382016f;
newY = 11.433768f;
newZ = 96.028442f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = -0.618062f;
float quatY = -0.015413f;
float quatZ = -0.44564f;
float quatW = 0.647431f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else if (i == 2)
{
//OBJECT 3 LOGO BODY RIGHT ARM
/*
* DATA from Python script
*
* JOINT 5 PSM_1 LOGO BODY RIGHT ARM Orientation in quaternions WXYZ [ 0.85215 -0.171896 0.181329 -0.459795]
* JOINT 5 PSM_1 LOGO BODY RIGHT ARM Position in mm [14.620537 3.197187 64.227186]
*
*/
//Position
float newX, newY, newZ;
newX = 14.620537f;
newY = 3.197187f;
newZ = 64.227186f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = -0.171896f;
float quatY = 0.181329f;
float quatZ = -0.459795f;
float quatW = 0.85215f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else if (i == 3)
{
//OBJECT 4 LOGO BODY LEFT ARM
/*
* DATA from Python script
*
* JOINT 5 PSM_2 LOGO BODY LEFT ARM Orientation in quaternions WXYZ [ 0.873159 0.055205 -0.104977 0.472785]
* JOINT 5 PSM_2 LOGO BODY RIGHT ARM Position in mm [-29.382017 11.433768 96.028443]
*/
//Position
float newX, newY, newZ;
newX = -29.382017f;
newY = 11.433768f;
newZ = 96.028443f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = 0.055205f;
float quatY = -0.104977f;
float quatZ = 0.472785f;
float quatW = 0.873159f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else if (i == 4)
{
//OBJECT 5 LEFT-JAW RIGHT-ARM
/*
* DATA from Python script
*
* OLD - JAWS_TOGETHER
* JOINT 6 PSM_1 JAW RIGHT ARM Orientation in quaternions WXYZ [ 0.207232 0.472756 0.228358 -0.825475]
* JOINT 6 PSM_1 JAW RIGHT ARM Position in mm [ 8.056809 -1.517353 68.410556]
*
* NEW
* JOINT 6 PSM_1 LEFT-JAW RIGHT-ARM Orientation in quaternions WXYZ [ 0.096489 0.507083 0.038358 -0.85562 ]
* JOINT 6 PSM_1 LEFT-JAW RIGHT-ARM Position in mm [ 8.056809 -1.517353 68.410556]
*
*
*
*/
//Position
float newX, newY, newZ;
newX = 8.056809f;
newY = -1.517353f;
newZ = 68.410556f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = 0.507083f;
float quatY = 0.038358f;
float quatZ = -0.85562f;
float quatW = 0.096489f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else if (i == 5)
{
//OBJECT 6 RIGHT-JAW RIGHT-ARM
/*
* DATA from Python script
* OLD - JAWS_TOGETHER
* JOINT 6 PSM_1 JAW RIGHT ARM Orientation in quaternions WXYZ [ 0.207232 0.472756 0.228358 -0.825475]
* JOINT 6 PSM_1 JAW RIGHT ARM Position in mm [ 8.056809 -1.517353 68.410556]
*
* NEW
* JOINT 6 PSM_1 RIGHT-JAW RIGHT-ARM Orientation in quaternions WXYZ [ 0.30752 0.414578 0.406837 -0.753684]
* JOINT 6 PSM_1 RIGHT-JAW RIGHT-ARM Position in mm [ 8.056809 -1.517353 68.410556]
*
*/
//Position
float newX, newY, newZ;
newX = 8.056809f;
newY = -1.517353f;
newZ = 68.410556f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = 0.414578f;
float quatY = 0.406837f;
float quatZ = -0.753684f;
float quatW = 0.30752f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else if (i == 6)
{
//OBJECT 7 LEFT-JAW LEFT-ARM
/*
* DATA from Python script
* OLD - JAWS_TOGETHER
* JOINT 6 PSM_2 JAW LEFT ARM Orientation in quaternions WXYZ [ 0.684541 0.311392 0.642027 -0.149132]
* JOINT 6 PSM_2 JAW LEFT ARM Position in mm [-21.763284 6.4574 96.054437]
*
* NEW
* JOINT 6 PSM_2 LEFT-JAW LEFT-ARM Orientation in quaternions WXYZ [ 0.581031 0.477455 0.581818 -0.309721]
* JOINT 6 PSM_2 LEFT-JAW LEFT-ARM Position in mm [-21.763284 6.4574 96.054437]
*
*/
//Position
float newX, newY, newZ;
newX = -21.763284f;
newY = 6.4574f;
newZ = 96.054437f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = 0.477455f;
float quatY = 0.581818f;
float quatZ = -0.309721f;
float quatW = 0.581031f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
else
{
//OBJECT 8 RIGHT-JAW LEFT-ARM
/*
* DATA from Python script
* OLD - JAWS_TOGETHER
* JOINT 6 PSM_2 JAW LEFT ARM Orientation in quaternions WXYZ [ 0.684541 0.311392 0.642027 -0.149132]
* JOINT 6 PSM_2 JAW LEFT ARM Position in mm [-21.763284 6.4574 96.054437]
*
* NEW_DATA
* JOINT 6 PSM_2 RIGHT-JAW LEFT-ARM Orientation in quaternions WXYZ [0.741704 0.124245 0.658767 0.021553]
* JOINT 6 PSM_2 RIGHT-JAW LEFT-ARM Position in mm [-21.763284 6.4574 96.054437]
*
*/
//Position
float newX, newY, newZ;
newX = -21.763284f;
newY = 6.4574f;
newZ = 96.054437f;
var newPos = new Vector3(newX, newY, newZ);
var shape = pool.Get((ShapeLabel)prefabIndx);
var newObj = shape.obj;
newObj.transform.position = newPos;
//Rotation
float quatX = 0.124245f;
float quatY = 0.658767f;
float quatZ = 0.021553f;
float quatW = 0.741704f;
newObj.transform.rotation = new Quaternion(quatX, quatY, quatZ, quatW);
//Scale
float sx = 100.0f;
Vector3 newScale = new Vector3(sx, sx, sx);
newObj.transform.localScale = newScale;
// Color
/*
* float newR, newG, newB;
* newR = Random.Range(0.0f, 1.0f);
* newG = Random.Range(0.0f, 1.0f);
* newB = Random.Range(0.0f, 1.0f);
*
* var newColor = new Color(newR, newG, newB);
* newObj.GetComponent<Renderer>().material.color = newColor;
*/
}
}
synth.OnSceneChange(grayscale);
}
public override void AgentAction(float[] vectorAction, string textAction)
{
//print ("steps: " + GetStepCount ());
rs_action = false;
if (GetStepCount() < 1)
{
imgSyn.OnSceneChange();
}
if (vectorAction [0] == 0)
{
Menuver(MenuverType.Xplus);
}
else if (vectorAction [0] == 1)
{
Menuver(MenuverType.Xminus);
}
else if (vectorAction [0] == 2)
{
Menuver(MenuverType.Yplus);
}
else if (vectorAction [0] == 3)
{
Menuver(MenuverType.Yminus);
}
else if (vectorAction [0] == 4)
{
Menuver(MenuverType.Zplus);
}
else if (vectorAction[0] == 5 || vectorAction[0] == 6) // 5/6 = up/down resolution
{
Menuver(MenuverType.None);
//rs_action = true;
//RequestDecision ();
}
/*if (vectorAction [0] == 5)
* Menuver (MenuverType.Zminus);*/
distance = Vector3.Distance(transform.position, TargetRb.position);
if (GetStepCount() >= 1)
{
//print ("old" + old_distance + "dis:" + distance);
AddReward(0.1f * (old_distance - distance));
}
AddReward(-0.0002f); //timestep penalty
old_distance = distance;
Monitor.verticalOffset = 300f;
Monitor.Log("Action", vectorAction [0], MonitorType.text);
/*
* else if (!ckp1 && transform.position.magnitude < 2 )
* {
* //AddReward (0.5f);
* ckp1 = true;
* }
* else if (!ckp2 && transform.position.magnitude < 5)
* {
* //AddReward (0.3f);
* ckp2 = true;
* }*/
}
public void RandomInitialize(ServerAction response)
{
bool success = true;
this.excludeObjectIds = response.excludeObjectIds;
Dictionary <SimObjType, HashSet <SimObjType> > receptacleObjects = new Dictionary <SimObjType, HashSet <SimObjType> > ();
HashSet <SimObjType> pickupable = new HashSet <SimObjType> ();
foreach (ReceptacleObjectList rol in response.receptacleObjects)
{
HashSet <SimObjType> objectTypes = new HashSet <SimObjType> ();
SimObjType receptacleType = (SimObjType)Enum.Parse(typeof(SimObjType), rol.receptacleObjectType);
foreach (string itemObjectType in rol.itemObjectTypes)
{
objectTypes.Add((SimObjType)Enum.Parse(typeof(SimObjType), itemObjectType));
pickupable.Add((SimObjType)Enum.Parse(typeof(SimObjType), itemObjectType));
}
receptacleObjects.Add(receptacleType, objectTypes);
}
Debug.Log("random seed:Z " + response.randomSeed);
System.Random rnd = new System.Random(response.randomSeed);
SimObj[] simObjects = GameObject.FindObjectsOfType(typeof(SimObj)) as SimObj[];
// Sorting to ensure that our randomization is deterministic when using a seed
// without sorting, there is no guarantee how the objects will get returned from from FindObjectsOfType
// so the shuffle becomes non-deterministic
Array.Sort(simObjects, delegate(SimObj a, SimObj b) {
return(a.UniqueID.CompareTo(b.UniqueID));
});
int pickupableCount = 0;
for (int i = 0; i < simObjects.Length; i++)
{
SimObj so = simObjects [i];
if (IsPickupable(so))
{
pickupableCount++;
SimUtil.TakeItem(so);
}
if (IsOpenable(so) && response.randomizeOpen)
{
if (rnd.NextDouble() < 0.5)
{
openSimObj(so);
}
else
{
closeSimObj(so);
}
}
}
//shuffle objects
rnd = new System.Random(response.randomSeed);
for (int i = 0; i < simObjects.Length; i++)
{
SimObj so = simObjects [i];
int randomIndex = rnd.Next(i, simObjects.Length);
simObjects [i] = simObjects [randomIndex];
simObjects [randomIndex] = so;
}
rnd = new System.Random(response.randomSeed);
List <SimObj> simObjectsFiltered = new List <SimObj> ();
for (int i = 0; i < simObjects.Length; i++)
{
SimObj so = simObjects [i];
if (IsPickupable(so) && pickupable.Contains(so.Type))
{
double val = rnd.NextDouble();
if (val > response.removeProb)
{
// Keep the item
int numRepeats = 1;
if (response.maxNumRepeats > 1)
{
numRepeats = rnd.Next(1, response.maxNumRepeats);
}
for (int j = 0; j < numRepeats; j++)
{
// Add a copy of the item.
SimObj copy = Instantiate(so);
copy.name += "" + j;
copy.UniqueID = so.UniqueID + "_copy_" + j;
simObjectsFiltered.Add(copy);
}
}
else
{
pickupableCount--;
}
}
else
{
simObjectsFiltered.Add(simObjects [i]);
}
}
simObjects = simObjectsFiltered.ToArray();
int randomTries = 0;
HashSet <SimObjType> seenObjTypes = new HashSet <SimObjType> ();
rnd = new System.Random(response.randomSeed);
while (pickupableCount > 0)
{
if (randomTries > 5)
{
Debug.Log("Pickupable count still at, but couldn't place all objects: " + pickupableCount);
success = false;
break;
}
randomTries++;
int[] randomOrder = new int[simObjects.Length];
for (int rr = simObjects.Length - 1; rr >= 0; rr--)
{
int randomLoc = simObjects.Length - 1 - rnd.Next(0, (simObjects.Length - rr));
randomOrder [rr] = randomOrder [randomLoc];
randomOrder [randomLoc] = rr;
}
for (int ss = 0; ss < simObjects.Length; ss++)
{
int j = randomOrder [ss];
foreach (SimObj so in simObjects)
{
if (so.IsReceptacle && !excludeObject(so))
{
if (response.excludeReceptacleObjectPairs != null &&
Array.Exists(response.excludeReceptacleObjectPairs, e => e.objectId == simObjects [j].UniqueID && e.receptacleObjectId == so.UniqueID))
{
//Debug.Log ("skipping object id receptacle id pair, " + simObjects [j].UniqueID + " " + so.UniqueID);
continue;
}
if (IsPickupable(simObjects [j]) &&
receptacleObjects.ContainsKey(so.Type) &&
receptacleObjects [so.Type].Contains(simObjects [j].Type) &&
(!response.uniquePickupableObjectTypes || !seenObjTypes.Contains(simObjects [j].Type)) &&
SimUtil.AddItemToReceptacle(simObjects [j], so.Receptacle))
{
//Debug.Log ("Put " + simObjects [j].Type + " " + simObjects[j].name + " in " + so.Type);
seenObjTypes.Add(simObjects [j].Type);
pickupableCount--;
break;
}
}
}
}
}
if (response.randomizeObjectAppearance)
{
// Use a random texture for each object individually.
rnd = new System.Random(response.randomSeed);
for (int i = 0; i < simObjects.Length; i++)
{
SimObj so = simObjects [i];
if (so.gameObject.activeSelf)
{
Randomizer randomizer = (so.gameObject.GetComponentInChildren <Randomizer> () as Randomizer);
if (randomizer != null)
{
randomizer.Randomize(rnd.Next(0, 2147483647));
}
}
}
}
if (imageSynthesis != null)
{
imageSynthesis.OnSceneChange();
}
actionFinished(success);
}