void SetEnvironment()
{
transform.position = m_InitialPosition * (m_ResetParams.GetWithDefault("gridSize", 5f) + 1);
var playersList = new List <int>();
for (var i = 0; i < (int)m_ResetParams.GetWithDefault("numObstacles", 1); i++)
{
playersList.Add(1);
}
for (var i = 0; i < (int)m_ResetParams.GetWithDefault("numGoals", 1f); i++)
{
playersList.Add(0);
}
players = playersList.ToArray();
var gridSize = (int)m_ResetParams.GetWithDefault("gridSize", 5f);
m_Plane.transform.localScale = new Vector3(gridSize / 10.0f, 1f, gridSize / 10.0f);
m_Plane.transform.localPosition = new Vector3((gridSize - 1) / 2f, -0.5f, (gridSize - 1) / 2f);
m_Sn.transform.localScale = new Vector3(1, 1, gridSize + 2);
m_Ss.transform.localScale = new Vector3(1, 1, gridSize + 2);
m_Sn.transform.localPosition = new Vector3((gridSize - 1) / 2f, 0.0f, gridSize);
m_Ss.transform.localPosition = new Vector3((gridSize - 1) / 2f, 0.0f, -1);
m_Se.transform.localScale = new Vector3(1, 1, gridSize + 2);
m_Sw.transform.localScale = new Vector3(1, 1, gridSize + 2);
m_Se.transform.localPosition = new Vector3(gridSize, 0.0f, (gridSize - 1) / 2f);
m_Sw.transform.localPosition = new Vector3(-1, 0.0f, (gridSize - 1) / 2f);
m_AgentCam.orthographicSize = (gridSize) / 2f;
m_AgentCam.transform.localPosition = new Vector3((gridSize - 1) / 2f, gridSize + 1f, (gridSize - 1) / 2f);
}
/// <summary>
/// Configures the agent. Given an integer config, the wall will have
/// different height and a different brain will be assigned to the agent.
/// </summary>
/// <param name="config">Config.
/// If 0 : No wall and noWallBrain.
/// If 1: Small wall and smallWallBrain.
/// Other : Tall wall and BigWallBrain.
/// </param>
void ConfigureAgent(int config)
{
var localScale = wall.transform.localScale;
if (config == 0)
{
localScale = new Vector3(
localScale.x,
m_ResetParams.GetWithDefault("no_wall_height", 0),
localScale.z);
wall.transform.localScale = localScale;
SetModel(m_NoWallBehaviorName, noWallBrain);
}
else if (config == 1)
{
localScale = new Vector3(
localScale.x,
m_ResetParams.GetWithDefault("small_wall_height", 4),
localScale.z);
wall.transform.localScale = localScale;
SetModel(m_SmallWallBehaviorName, smallWallBrain);
}
else
{
var height = m_ResetParams.GetWithDefault("big_wall_height", 8);
localScale = new Vector3(
localScale.x,
height,
localScale.z);
wall.transform.localScale = localScale;
SetModel(m_BigWallBehaviorName, bigWallBrain);
}
}
/// <summary>
/// Configures the agent. Given an integer config, the wall will have
/// different height and a different brain will be assigned to the agent.
/// </summary>
/// <param name="config">Config.
/// If 0 : No wall and noWallBrain.
/// If 1: Small wall and smallWallBrain.
/// Other : Tall wall and BigWallBrain.
/// </param>
void ConfigureAgent(int config)
{
var localScale = wall.transform.localScale;
if (config == 0)
{
localScale = new Vector3(
localScale.x,
m_ResetParams.GetWithDefault("no_wall_height", 0),
localScale.z);
wall.transform.localScale = localScale;
SetModel("SmallWallJump", noWallBrain);
}
else if (config == 1)
{
localScale = new Vector3(
localScale.x,
m_ResetParams.GetWithDefault("small_wall_height", 4),
localScale.z);
wall.transform.localScale = localScale;
SetModel("SmallWallJump", smallWallBrain);
}
else
{
var min = m_ResetParams.GetWithDefault("big_wall_min_height", 8);
var max = m_ResetParams.GetWithDefault("big_wall_max_height", 8);
var height = min + Random.value * (max - min);
localScale = new Vector3(
localScale.x,
height,
localScale.z);
wall.transform.localScale = localScale;
SetModel("BigWallJump", bigWallBrain);
}
}
public void SetResetParameters()
{
m_GoalSize = m_ResetParams.GetWithDefault("goal_size", 5);
m_GoalSpeed = Random.Range(-1f, 1f) * m_ResetParams.GetWithDefault("goal_speed", 1);
m_Deviation = m_ResetParams.GetWithDefault("deviation", 0);
m_DeviationFreq = m_ResetParams.GetWithDefault("deviation_freq", 0);
}
public void setBall()
{
ball_rb.mass = resetParams.GetWithDefault("mass", 5.0f);
var scale = resetParams.GetWithDefault("scale", 2.0f);
ball.transform.localScale = new Vector3(scale, scale, scale);
}
void ResetScene()
{
ballRigidbody.mass = defaultParameters.GetWithDefault("mass", 1f);
var scale = defaultParameters.GetWithDefault("scale", 0.5f);
ball.transform.localScale = new Vector3(scale, scale, scale);
}
public void SetGroundMaterialFriction()
{
var groundCollider = ground.GetComponent <Collider>();
groundCollider.material.dynamicFriction = m_ResetParams.GetWithDefault("dynamic_friction", 0);
groundCollider.material.staticFriction = m_ResetParams.GetWithDefault("static_friction", 0);
}
public void SetRobot()
{
//Set the attributes of the robot by fetching the information from the academy
rb.mass = m_resetParams.GetWithDefault("mass", 1.0f);
var scale = m_resetParams.GetWithDefault("scale", 1.0f);
this.transform.localScale = new Vector3(scale, scale, scale);
}
void EnvironmentReset()
{
this.score = 0f;
Respawn();
this.MovementSpeed = EnvironmentParameters.GetWithDefault("movementSpeed", 1.0f);
this.RotationSpeed = EnvironmentParameters.GetWithDefault("rotationSpeed", 100f);
this.isRandomRespawn = EnvironmentParameters.GetWithDefault("randomRespawnTarget", 0f) == 1f ? true : false;
}
public void SetBall()
{
//Set the attributes of the ball by fetching the information from the academy
m_BallRb.mass = m_ResetParams.GetWithDefault("mass", 1.0f);
var scale = m_ResetParams.GetWithDefault("scale", 1.0f);
ball.transform.localScale = new Vector3(scale, scale, scale);
}
public void SetRacket()
{
angle = m_ResetParams.GetWithDefault("angle", 55);
gameObject.transform.eulerAngles = new Vector3(
gameObject.transform.eulerAngles.x,
gameObject.transform.eulerAngles.y,
m_InvertMult * angle
);
}
public override void OnEpisodeBegin()
{
// Fixed starting pose
transform.position = new Vector3(-120.9f, 10.0f, 792.7f);
transform.rotation = Quaternion.Euler(0.0f, 0.0f, 0.0f);
keySpeed = m_ResetParams.GetWithDefault("key_speed", 10.0f);
camSens = m_ResetParams.GetWithDefault("cam_sens", 0.25f);
}
/// <summary>
/// Initializes the environment and sets values based on what is received
/// from Python
/// </summary>
public override void Initialize()
{
environmentParameters = Academy.Instance.EnvironmentParameters;
stepReward = environmentParameters.GetWithDefault("step_reward", -0.1f);
targetReward = environmentParameters.GetWithDefault("target_reward", 1.0f);
fireReward = environmentParameters.GetWithDefault("fire_reward", -1.0f);
MaxStep = (int)environmentParameters.GetWithDefault("max_steps", 250f);
Time.timeScale = environmentParameters.GetWithDefault("time_scale", 1.0f);
}
public void SetEnvParameters()
{
EnvironmentParameters envParameters = Academy.Instance.EnvironmentParameters;
this.scanReward = envParameters.GetWithDefault("scan_reward", 1.0f);
this.findReward = envParameters.GetWithDefault("find_reward", 1.0f);
this.hitReward = envParameters.GetWithDefault("hit_rewerd", 0.0f);
this.shotRewerd = envParameters.GetWithDefault("shot_reward", 0.0f);
this.stepReward = envParameters.GetWithDefault("step_reward", -0.0002f);
}
void Start()
{
m_Rb = gameObject.GetComponent <Rigidbody>();
m_ResetParams = Academy.Instance.EnvironmentParameters;
var krange = m_ResetParams.GetWithDefault("killRange", 2f);
BoxCollider collider = this.GetComponent(typeof(BoxCollider)) as BoxCollider;
collider.size = new Vector3(krange, 1, krange);
speed = m_ResetParams.GetWithDefault("praySpeed", 800);
}
public void SetResetParameters()
{
exposureRadius = m_ResetParams.GetWithDefault("exposureRadius", pandemicArea.exposureRadius);
GetComponent <SphereCollider>().radius = exposureRadius;
recoverTime = m_ResetParams.GetWithDefault("recoverTime", pandemicArea.recoverTime);
infectionCoeff = m_ResetParams.GetWithDefault("infectionCoeff", pandemicArea.infectionCoeff);
//healthyCount = (int) m_ResetParams.GetWithDefault("healthyCount", pandemicArea.healthyBotCount);
//infectedCount =(int)m_ResetParams.GetWithDefault("infectedCount", pandemicArea.infectedBotCount);
//pandemicArea.healthyBotCount = healthyCount;
//pandemicArea.infectedBotCount = infectedCount;
}
public override void CollectDiscreteActionMasks(DiscreteActionMasker actionMasker)
{
// Mask the necessary actions if selected by the user.
if (maskActions)
{
// Prevents the agent from picking an action that would make it collide with a wall
var positionX = (int)transform.position.x;
var positionZ = (int)transform.position.z;
var maxPosition = (int)m_ResetParams.GetWithDefault("gridSize", 5f) - 1;
if (positionX == 0)
{
actionMasker.SetMask(0, new int[] { k_Left });
}
if (positionX == maxPosition)
{
actionMasker.SetMask(0, new int[] { k_Right });
}
if (positionZ == 0)
{
actionMasker.SetMask(0, new int[] { k_Down });
}
if (positionZ == maxPosition)
{
actionMasker.SetMask(0, new int[] { k_Up });
}
}
}
public void Respawn()
{
m_Rb.velocity = Vector3.zero;
m_Rb.angularVelocity = Vector3.zero;
currentCollisions = new List <HunterAgent>();
gameObject.transform.localPosition = new Vector3((1 - 2 * Random.value) * 1, 0.5f, (1 - 2 * Random.value) * 1);
//Get curriculum update from the academy
var krange = m_ResetParams.GetWithDefault("killRange", 2f);
BoxCollider collider = this.GetComponent(typeof(BoxCollider)) as BoxCollider;
collider.size = new Vector3(krange, 1, krange);
speed = m_ResetParams.GetWithDefault("praySpeed", 800);
}
public override void OnEpisodeBegin()
{
worldArea.ResetArea();
weaponHeld.weaponDamage = (int)m_ResetParams.GetWithDefault("weapon_damage", 10);
weaponHeld.WeaponReset();
health = 100;
}
private void Start()
{
EnvironmentParameters = Academy.Instance.EnvironmentParameters;
EnemyCount = Mathf.FloorToInt(EnvironmentParameters.GetWithDefault("amountZombies", 4f));
SetEnemiesActive();
}
public override void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
{
// Mask the necessary actions if selected by the user.
if (maskActions)
{
// Prevents the agent from picking an action that would make it collide with a wall
var positionX = (int)transform.localPosition.x;
var positionZ = (int)transform.localPosition.z;
var maxPosition = (int)m_ResetParams.GetWithDefault("gridSize", 5f) - 1;
if (positionX == 0)
{
actionMask.SetActionEnabled(0, k_Left, false);
}
if (positionX == maxPosition)
{
actionMask.SetActionEnabled(0, k_Right, false);
}
if (positionZ == 0)
{
actionMask.SetActionEnabled(0, k_Down, false);
}
if (positionZ == maxPosition)
{
actionMask.SetActionEnabled(0, k_Up, false);
}
}
}
public void ResetArea()
{
RemoveFishes();
PlacePenguin();
PlaceBaby();
SpawnFish(4, parameters.GetWithDefault("fish_speed", 0.5f));
}
public void Respawn()
{
CurrentHealth = startingHealth;
speed = EnvironmentParameters.GetWithDefault("zombieSpeed", 1f);
navAgent.speed = speed;
transform.position = new Vector3(StartPosition.x + Random.Range(randomRangeX_Neg, randomRangeX_Pos), StartPosition.y, StartPosition.z + Random.Range(randomRangeZ_Neg, randomRangeZ_Pos));
}
public override void OnEpisodeBegin()
{
m_ResetParams = Academy.Instance.EnvironmentParameters;
rc.height = m_ResetParams.GetWithDefault("init_height", 550);
rc.init_angle_roll = m_ResetParams.GetWithDefault("init_angle_roll", 5);
rc.init_angle_pitch = m_ResetParams.GetWithDefault("init_angle_pitch", 90);
rc.init_xoffset = m_ResetParams.GetWithDefault("init_xoffset", 15);
rc.init_zoffset = m_ResetParams.GetWithDefault("init_zoffset", 90);
rc.init_zspeed = m_ResetParams.GetWithDefault("init_zspeed", 1);
rc.angle_tvc = m_ResetParams.GetWithDefault("angle_tvc", 7);
rc.thrust_engine = m_ResetParams.GetWithDefault("thrust_engine", 5000);
rc.thrust_rcs = m_ResetParams.GetWithDefault("thrust_rcs", 0.2f);
rc.collision_speed = m_ResetParams.GetWithDefault("collision_speed", 5);
episodeFinished = false;
rc.ResetPosition();
}
public void ResetBall()
{
egg.transform.position = ballStartingPos;
ballRb.velocity = Vector3.zero;
ballRb.angularVelocity = Vector3.zero;
var ballScale = m_ResetParams.GetWithDefault("ball_scale", 0.015f);
//ballRb.transform.localScale = new Vector3(ballScale, ballScale, ballScale);
}
void SetResetParameters()
{
if (resetParams != null)
{
moveSpeed = resetParams.GetWithDefault("moveSpeed", moveSpeed);
rotateSpeed = resetParams.GetWithDefault("rotateSpeed", rotateSpeed);
viewAngle = (int)resetParams.GetWithDefault("viewAngle", viewAngle);
viewDistance = resetParams.GetWithDefault("viewDistance", viewDistance);
if (level)
{
level.SetParameters(resetParams);
}
else
{
this.transform.root.GetComponent <LevelManager>().SetParameters(resetParams);
}
}
}
/// <summary>
/// Creates an environment.
/// Sets values for targets
/// </summary>
private void CreateEnvironment()
{
List <int> objs = new List <int>();
// Add a number of Target objects
int numTargets = (int)environmentParameters.GetWithDefault("num_targets", 2);
for (int i = 0; i < numTargets; i++)
{
objs.Add(0); // 0 index in the environmentObjectTypes[]
}
// Add a number of Fire objects
int fireTargets = (int)environmentParameters.GetWithDefault("num_fires", 4);
for (int i = 0; i < fireTargets; i++)
{
objs.Add(1); // 1 index in the environmentObjectTypes[]
}
environmentObjects = objs.ToArray();
}
public override void OnEpisodeBegin()
{
m_MaxNumberOfTiles = (int)m_ResetParams.GetWithDefault("num_tiles", DefaultMaxNumTiles);
m_NumberOfTilesToSpawn = Random.Range(1, m_MaxNumberOfTiles + 1);
SelectTilesToShow();
SetTilePositions();
transform.position = m_StartingPos;
m_AgentRb.velocity = Vector3.zero;
m_AgentRb.angularVelocity = Vector3.zero;
}
protected void SetAIRobotResetParameters()
{
m_RotationSpeed = m_ResetParams.GetWithDefault(
"agent_rotation_speed",
m_AIRobotSettings.agentRotationSpeed);
m_RotationSpeedRandomFactor = m_GameArena.m_AgentSpeedRandomFactor;
// float rotationSpeedRandom = m_ResetParams.GetWithDefault(
// "random_direction",
// m_AIRobotSettings.agentRotationSpeedRandom);
// m_RotationSpeedRandomFactor = Utils.AddRandomFactor(rotationSpeedRandom);
m_AgentSpeed = m_ResetParams.GetWithDefault(
"agent_speed",
m_AIRobotSettings.agentRunSpeed);
m_AgentSpeedRandomFactor = m_GameArena.m_AgentSpeedRandomFactor;
// float agentSpeedRandom = m_ResetParams.GetWithDefault(
// "random_speed",
// m_AIRobotSettings.agentRunSpeedRandom);
// m_AgentSpeedRandomFactor = Utils.AddRandomFactor(agentSpeedRandom);
m_AgentMoveRotMoveSpeed = m_ResetParams.GetWithDefault(
"agent_moverot_move_speed",
m_AIRobotSettings.agentMoveRotMoveSpeed);
m_AgentMoveRotTurnSpeed = m_ResetParams.GetWithDefault(
"agent_moverot_rot_speed",
m_AIRobotSettings.agentMoveRotTurnSpeed);
float observationDistanceRandom = m_ResetParams.GetWithDefault(
"random_obs_dist",
m_AIRobotSettings.observationDistanceRandom);
float observationAngleRandom = m_ResetParams.GetWithDefault(
"random_obs_angle",
m_AIRobotSettings.observationAngleRandom);
var distance = m_ResetParams.GetWithDefault(
"ray_length",
m_AIRobotSettings.rayLength);
if (lowerSensor != null)
{
lowerSensor.UpdateCasting(distance, observationDistanceRandom, observationAngleRandom);
}
if (upperSensor != null)
{
upperSensor.UpdateCasting(distance, observationDistanceRandom, observationAngleRandom);
}
MaxStep = (int)m_ResetParams.GetWithDefault("max_steps", MaxStep);
}
private void Start()
{
StartPosition = transform.position;
CurrentHealth = startingHealth;
EnvironmentParameters = Academy.Instance.EnvironmentParameters;
speed = EnvironmentParameters.GetWithDefault("zombieSpeed", 1f);
navAgent = GetComponent <NavMeshAgent>();
navAgent.speed = speed;
Agent.OnEnvironmentReset += Respawn;
}