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 override void OnEpisodeBegin()
{
m_ResetParams = Academy.Instance.EnvironmentParameters;
/*
* if (m_ResetParams.GetWithDefault("init_height", 50) != rc.height)
* {
* Debug.Log("NOUVELLE LECON, SUR LA HAUTEUR INITIALE. ANCIENNE VALEUR:" + rc.height + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("init_height", 50));
* rc.height = m_ResetParams.GetWithDefault("init_height", 50);
* }
*
* if (m_ResetParams.GetWithDefault("z_init_offset", 4) != rc.z_offset)
* {
* Debug.Log("NOUVELLE LECON, SUR LE XOFFSET INITIAL. ANCIENNE VALEUR:" + rc.z_offset + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("z_init_offset", 4));
* rc.z_offset = m_ResetParams.GetWithDefault("z_init_offset", 4);
* }
*
* if (m_ResetParams.GetWithDefault("pitch_init_angle", 0) != rc.angle)
* {
* Debug.Log("NOUVELLE LECON, SUR LE ANGLE INITIAL. ANCIENNE VALEUR:" + rc.angle + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("pitch_init_angle", 0));
* rc.angle = m_ResetParams.GetWithDefault("pitch_init_angle", 0);
* }
*
* if (m_ResetParams.GetWithDefault("z_init_speed", 0) != rc.z_init_speed)
* {
* Debug.Log("NOUVELLE LECON, SUR LE Z INIT SPEED. ANCIENNE VALEUR:" + rc.z_init_speed + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("z_init_speed", 0));
* rc.z_init_speed = m_ResetParams.GetWithDefault("z_init_speed", 0);
* }
*
* if (m_ResetParams.GetWithDefault("tvc_angle", 5) != rc.TVCangle)
* {
* Debug.Log("NOUVELLE LECON, SUR LE TVCANGLE. ANCIENNE VALEUR:" + rc.TVCangle + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("tvc_angle", 5));
* rc.TVCangle = m_ResetParams.GetWithDefault("tvc_angle", 5);
* }
*
* if (m_ResetParams.GetWithDefault("rcs_thrust", 2.5f) != rc.rcs_thurst)
* {
* Debug.Log("NOUVELLE LECON, SUR LE RCSTHRUST. ANCIENNE VALEUR:" + rc.rcs_thurst + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("rcs_thrust", 2.5f));
* rc.rcs_thurst = m_ResetParams.GetWithDefault("rcs_thrust", 2.5f);
* }
*
* if (m_ResetParams.GetWithDefault("engine_thrust", 5000) != rc.engine_thrust)
* {
* Debug.Log("NOUVELLE LECON, SUR LE RCSTHRUST. ANCIENNE VALEUR:" + rc.engine_thrust + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("engine_thrust", 5000));
* rc.engine_thrust = m_ResetParams.GetWithDefault("engine_thrust", 5000);
* }
*
* if (m_ResetParams.GetWithDefault("landing_speed", 5) != rc.landing_speed)
* {
* Debug.Log("NOUVELLE LECON, SUR LE landing_speed. ANCIENNE VALEUR:" + rc.landing_speed + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("landing_speed", 5));
* rc.landing_speed = m_ResetParams.GetWithDefault("landing_speed", 5);
* }
*/
if (m_ResetParams.GetWithDefault("init_height", 50) != rc.height)
{
Debug.Log("NOUVELLE LECON, SUR LA init_height. ANCIENNE VALEUR:" + rc.height + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("init_height", 50));
rc.height = m_ResetParams.GetWithDefault("init_height", 50);
}
if (m_ResetParams.GetWithDefault("init_angle_roll", 0) != rc.init_angle_roll)
{
Debug.Log("NOUVELLE LECON, SUR LA init_angle_roll. ANCIENNE VALEUR:" + rc.init_angle_roll + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("init_angle_roll", 0));
rc.init_angle_roll = m_ResetParams.GetWithDefault("init_angle_roll", 0);
}
if (m_ResetParams.GetWithDefault("init_angle_pitch", 0) != rc.init_angle_pitch)
{
Debug.Log("NOUVELLE LECON, SUR LA init_angle_pitch. ANCIENNE VALEUR:" + rc.init_angle_pitch + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("init_angle_pitch", 0));
rc.init_angle_pitch = m_ResetParams.GetWithDefault("init_angle_pitch", 0);
}
if (m_ResetParams.GetWithDefault("init_xoffset", 4) != rc.init_xoffset)
{
Debug.Log("NOUVELLE LECON, SUR LA init_xoffset. ANCIENNE VALEUR:" + rc.init_xoffset + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("init_xoffset", 4));
rc.init_xoffset = m_ResetParams.GetWithDefault("init_xoffset", 4);
}
if (m_ResetParams.GetWithDefault("init_zoffset", 4) != rc.init_zoffset)
{
Debug.Log("NOUVELLE LECON, SUR LA init_zoffset. ANCIENNE VALEUR:" + rc.init_zoffset + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("init_zoffset", 4));
rc.init_zoffset = m_ResetParams.GetWithDefault("init_zoffset", 4);
}
if (m_ResetParams.GetWithDefault("init_zspeed", 0) != rc.init_zspeed)
{
Debug.Log("NOUVELLE LECON, SUR LA init_zspeed. ANCIENNE VALEUR:" + rc.init_zspeed + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("init_zspeed", 0));
rc.init_zspeed = m_ResetParams.GetWithDefault("init_zspeed", 0);
}
if (m_ResetParams.GetWithDefault("angle_tvc", 5) != rc.angle_tvc)
{
Debug.Log("NOUVELLE LECON, SUR LA angle_tvc. ANCIENNE VALEUR:" + rc.angle_tvc + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("angle_tvc", 5));
rc.angle_tvc = m_ResetParams.GetWithDefault("angle_tvc", 5);
}
if (m_ResetParams.GetWithDefault("thrust_engine", 4000) != rc.thrust_engine)
{
Debug.Log("NOUVELLE LECON, SUR LA thrust_engine. ANCIENNE VALEUR:" + rc.thrust_engine + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("thrust_engine", 4000));
rc.thrust_engine = m_ResetParams.GetWithDefault("thrust_engine", 4000);
}
if (m_ResetParams.GetWithDefault("thrust_rcs", 2.5f) != rc.thrust_rcs)
{
Debug.Log("NOUVELLE LECON, SUR LA thrust_rcs. ANCIENNE VALEUR:" + rc.thrust_rcs + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("thrust_rcs", 2.5f));
rc.thrust_rcs = m_ResetParams.GetWithDefault("thrust_rcs", 2.5f);
}
if (m_ResetParams.GetWithDefault("collision_speed", 5) != rc.collision_speed)
{
Debug.Log("NOUVELLE LECON, SUR LA collision_speed. ANCIENNE VALEUR:" + rc.collision_speed + ", NOUVELLE VALEUR:" + m_ResetParams.GetWithDefault("collision_speed", 5));
rc.collision_speed = m_ResetParams.GetWithDefault("collision_speed", 5);
}
rc.ResetPosition();
}