public void ResetEnvironment()
{
if (useRandomEnvironment)
{
// Generate environment
environmentGeneration.GenerateEnvironment();
// If environmentGeneration resets debris, reinitialize the list
if (environmentGeneration.createNewDebris)
{
InitializeDebrisList();
}
}
else // If random generation is disabled
{
// Reset debris positions
foreach (Debris debris in debrisInEnvironment)
{
debris.transform.position = debris.GetStartPosition();
debris.GetComponent <Rigidbody>().velocity = Vector3.zero;
}
// Reset robot position
robot.ResetPosition();
}
// Update DropZone's debris list
dropZone.SetDebrisList(debrisInEnvironment);
if (randomizeDropZonePosition)
{
float xPos = Random.Range(boundsMinimumX, boundsMaximumX);
float zPos = Random.Range(boundsMinimumZ, boundsMaximumZ);
dropZone.transform.position = new Vector3(transform.position.x + xPos, -0.24f, transform.position.z + zPos);
}
// Initialize debrisInZone values
foreach (Debris debris in debrisInEnvironment)
{
currentDebrisInZone.Add(dropZone.IsInZone(debris.transform.position));
}
previousDebrisInZone = currentDebrisInZone;
ResetDebrisInZone();
iterations++;
}
public override void CollectObservations()
{
// Robot position in each environment
AddVectorObs(this.transform.position - environment.transform.position);
// Robot position
Vector3 currentPosition = transform.position - environment.transform.position;
AddVectorObs(currentPosition.x, "robot_position_x");
AddVectorObs(currentPosition.z, "robot_position_z");
// Robot rotation
AddVectorObs(transform.rotation.eulerAngles.y, "robot_rotation");
// Robot velocity
Vector3 localVelocity = rb.transform.InverseTransformDirection(rb.velocity);
AddVectorObs(localVelocity.x, "robot_velocity_x");
AddVectorObs(localVelocity.z, "robot_velocity_z");
// Shovel position
AddVectorObs(shovel.GetShovelPos(), "shovel_position");
// Comment out these observations if using PPO
AddVectorObs(timesWon, "times_won");
AddVectorObs(timeElapsed, "time_elapsed");
// DropZone position and radius
dropZonePosition = transform.InverseTransformPoint(dropZone.transform.position);
AddVectorObs(dropZonePosition.x, "dropzone_position_x");
AddVectorObs(dropZonePosition.z, "dropzone_position_z");
AddVectorObs(dropZone.GetRadius(), "dropzone_radius");
// Distance sensor measurements
float[] distances = sensors.GetMeasuredDistances();
for (int dist = 0; dist < distances.Length; dist++)
{
AddVectorObs(distances[dist], "sensor_measurement_" + (dist + 1));
}
// Debris positions
debrisInfos = vision.UpdateVision();
if (limitedObservations)
{
// Debris Position
debrisPosition = Vector3.zero;
if (debrisInfos != null && debrisInfos.Count > 0 && debrisInfos[0].transform != null)
{
debrisPosition = transform.InverseTransformPoint(debrisInfos[0].transform.position);
}
AddVectorObs(debrisPosition.x, "debris_position_x");
AddVectorObs(debrisPosition.z, "debris_position_z");
}
else
{
for (int debris = 0; debris < debrisInfos.Count; debris++)
{
AddVectorObs(debrisInfos[debris].lastKnownPosition.x, "debris_" + (debris + 1) + "_position_x");
AddVectorObs(debrisInfos[debris].lastKnownPosition.z, "debris_" + (debris + 1) + "_position_z");
}
for (int i = 0; i < DebrisCount - debrisInfos.Count; i++)
{
AddVectorObs(0f, "debris_" + (i + debrisInfos.Count + 1) + "_position_x");
AddVectorObs(0f, "debris_" + (i + debrisInfos.Count + 1) + "_position_z");
}
// Simulation time
AddVectorObs(timeElapsed, "simulation_time");
// Features:
//Check if robot is within dropZone, Returns boolean
bool isInDropZone = dropZone.IsInZone(transform.position);
AddVectorObs(isInDropZone, "robot_in_dropzone");
ObsDistanceToDebris();
ObsDebrisIsInShovel();
ObsAngleToDebris();
ObsDebrisInFront();
ObsFacingDebris();
ObsGettingCloserToDebris();
// Angle to dropzone
float angleToDropZone = Vector3.Angle(dropZonePosition, transform.forward);
if (transform.rotation.eulerAngles.y > 180)
{
angleToDropZone = -angleToDropZone;
}
AddVectorObs(angleToDropZone, "angle_to_dropzone");
ObsDebrisToDropZone();
ObsNextAngleToDebris();
}
#if UNITY_EDITOR
// AUTO GENERATE RobotObservations.py
if (!observationsLogged && !limitedObservations)
{
DirectoryInfo mlAgentsRootDir = new DirectoryInfo(Application.dataPath).Parent.Parent;
string filePath = Path.Combine(mlAgentsRootDir.ToString(), "project/RobotObservations.py");
using (StreamWriter sw = new StreamWriter(filePath))
{
StringBuilder stringBuilder = new StringBuilder();
stringBuilder.AppendLine("# This file was generated by RobotAgent.cs");
stringBuilder.AppendLine("from enum import IntEnum");
stringBuilder.AppendLine("");
stringBuilder.AppendLine("");
stringBuilder.AppendLine("class RobotObservations(IntEnum):");
stringBuilder.AppendLine(" # Accessible by self.obs.'field_name'");
for (int i = 0; i < observationNames.Count; i++)
{
stringBuilder.AppendLine(" " + observationNames[i] + " = " + i);
}
sw.Write(stringBuilder.ToString());
}
}
observationsLogged = true;
#endif
}
