private void OnTriggerEnter(Collider other)
{
if (other.gameObject.CompareTag("Target"))
{
// if (!robotArmAgent.HasTarget()) {
// robotArmAgent.SetTarget(other.transform);
// }
if (area.IsTrainingArea())
{
if (academy.resetParameters["staycount"] == 0f)
{
AddReward(5f);
AddReward(-1f * Mathf.Abs(wheelVehicle.Speed));
Debug.Log("SUCCESS");
ResultLogger.AddSuccess();
ResultLogger.LogRatio();
Done();
}
else
{
AddReward(1f);
}
}
if (OnTargetEnter != null)
{
OnTargetEnter.Invoke(other.transform);
}
}
}
private void SetupEvents()
{
// called when the target object stays in the container
container.OnGoalStay = () => {
if (brain != NoTargetBrain)
{
// check if not holding object anymore
if (!robotArm.IsHoldingObject())
{
AddReward(4f);
Debug.Log("Drop Success with: " + GetCumulativeReward());
// for debugging (counts successes)
ResultLogger.AddSuccess();
ResultLogger.LogRatio();
// invoke callback for success
if (OnTargetDroppedSuccessfully != null)
{
OnTargetDroppedSuccessfully.Invoke(target);
}
container.OnGoalStay = null;
target = null;
if (DoneOnDrop)
{
Done();
}
}
}
};
}
private void OnTriggerStay(Collider other)
{
if (other.gameObject.CompareTag("Target"))
{
// just test stay if training
if (area.IsTrainingArea())
{
if (academy.resetParameters["staycount"] != 0f)
{
staycounter++;
if (staycounter > academy.resetParameters["staycount"])
{
staycounter = -5000;
AddReward(5f);
AddReward(-1f * Mathf.Abs(wheelVehicle.Speed));
Debug.Log("SUCCESS");
ResultLogger.AddSuccess();
ResultLogger.LogRatio();
Done();
}
}
}
}
}