public override void InitializeAcademy()
{
if (RobotAgent.GetComponent <RobotAgent>().usePlayerBrain)
{
MLAgents.PlayerBrain playerBrain = (MLAgents.PlayerBrain)Resources.Load("_RobotPlayerBrain");
GetComponent <Academy>().broadcastHub.Clear();
GetComponent <Academy>().broadcastHub.broadcastingBrains.Add(playerBrain);
}
Monitor.SetActive(true);
this.SetIsInference(_isInference);
}
/// <summary>
/// Draws the UI for continuous control key mapping to actions.
/// </summary>
/// <param name="serializedBrain"> The SerializedObject corresponding to the brain. </param>
/// <param name="brain"> The Brain of which properties are displayed. </param>
private static void DrawContinuousKeyMapping(
SerializedObject serializedBrain, PlayerBrain brain)
{
GUILayout.Label("Edit the continuous inputs for your actions", EditorStyles.boldLabel);
var keyActionsProp = serializedBrain.FindProperty(KeyContinuousPropName);
var axisActionsProp = serializedBrain.FindProperty(AxisContinuousPropName);
EditorGUILayout.PropertyField(keyActionsProp, true);
EditorGUILayout.PropertyField(axisActionsProp, true);
var keyContinuous = brain.keyContinuousPlayerActions;
var axisContinuous = brain.axisContinuousPlayerActions;
var brainParams = brain.brainParameters;
if (keyContinuous == null)
{
keyContinuous = new PlayerBrain.KeyContinuousPlayerAction[0];
}
if (axisContinuous == null)
{
axisContinuous = new PlayerBrain.AxisContinuousPlayerAction[0];
}
foreach (var action in keyContinuous)
{
if (action.index >= brainParams.vectorActionSize[0])
{
EditorGUILayout.HelpBox(
$"Key {action.key.ToString()} is assigned to index " +
$"{action.index.ToString()} but the action size is only of size " +
$"{brainParams.vectorActionSize.ToString()}",
MessageType.Error);
}
}
foreach (var action in axisContinuous)
{
if (action.index >= brainParams.vectorActionSize[0])
{
EditorGUILayout.HelpBox(
$"Axis {action.axis} is assigned to index {action.index.ToString()} " +
$"but the action size is only of size {brainParams.vectorActionSize}",
MessageType.Error);
}
}
GUILayout.Label("You can change axis settings from Edit->Project Settings->Input",
EditorStyles.helpBox);
}
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;
}
