public override void CollectObservations()
{
obs.Clear();
obs.Add(normalize(Cart.transform.localPosition.z, travelLimit, -travelLimit));
obs.Add(normalize(rbCart.velocity.z, maxSpeed, -maxSpeed));
obs.Add(normalize(Ray.DegreeToRadian(poleAngle), Ray.DegreeToRadian(angleLimit), Ray.DegreeToRadian(-angleLimit)));
obs.Add(normalize(rbPole.angularVelocity.x, maxAngularSpeed, -maxAngularSpeed));
AddVectorObs(obs);
}
public override void CollectObservations()
{
if (!this.useVisual) // No Vector Obs if use Visual checked
{
foreach (int co in System.Enum.GetValues(typeof(BallColor.EnumColors)))
{
AddVectorObs((int)Ball.GetColorEnum() == co ? 1.0f : 0.0f);
}
AddVectorObs(normalize(Ray.DegreeToRadian(Sorter.transform.rotation.eulerAngles.y), 2 * Mathf.PI, 0));
AddVectorObs(normalize(Lifter.transform.localPosition.y, Lifter.upperLimit, Lifter.lowerLimit));
}
}
public override void CollectObservations()
{
var res = rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0.4f, 0f);
hitOneHot = string.Join(", ", res[0].onehot) + " | " + res[0].tag;
obs.Clear();
obs.Add(normalize(Palette.transform.position.x, maxPositionValue, minPositionValue));
obs.Add(normalize(Palette.transform.position.z, maxPositionValue, minPositionValue));
obs.Add(normalize(MainBody.transform.position.x, maxPositionValue, minPositionValue));
obs.Add(normalize(MainBody.transform.position.z, maxPositionValue, minPositionValue));
obs.Add(normalize(Ray.DegreeToRadian(MainBody.transform.rotation.eulerAngles.y), 2 * Mathf.PI, 0));
obs.Add(normalize(rbMainBody.velocity.x, maxSpeed, -maxSpeed));
obs.Add(normalize(rbMainBody.velocity.z, maxSpeed, -maxSpeed));
obs.Add(normalize(rbMainBody.angularVelocity.y, maxAngularVelocity, -maxAngularVelocity));
AddVectorObs(obs);
}
public override void InitializeAgent()
{
if (usePlayerBrain)
{
MLAgents.PlayerBrain playerBrain = (MLAgents.PlayerBrain)Resources.Load("_RobotPlayerBrain");
this.brain = playerBrain;
print("Brain loaded");
}
rbMainBody = MainBody.GetComponent <Rigidbody>();
rbPalette = Palette.GetComponent <Rigidbody>();
rayPer = MainBody.GetComponent <Ray3D>();
forkPosition = forkMin;
maxAngularVelocity = Ray.DegreeToRadian(360) * rpm / 60;
rbMainBody.maxAngularVelocity = maxAngularVelocity;
GameObject ground = GameObject.Find("Ground");
var transform = ground.GetComponent <Transform>();
maxPositionValue = transform.lossyScale.x * 10 / 2;
minPositionValue = -maxPositionValue;
}
