public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(gameObject.transform.rotation.z);
sensor.AddObservation(gameObject.transform.rotation.x);
sensor.AddObservation((ball.transform.position - gameObject.transform.position));
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(m_Kart.LocalSpeed());
// Add an observation for direction of the agent to the next checkpoint.
var next = (m_CheckpointIndex + 1) % Colliders.Length;
var nextCollider = Colliders[next];
if (nextCollider == null)
{
return;
}
var direction = (nextCollider.transform.position - m_Kart.transform.position).normalized;
sensor.AddObservation(Vector3.Dot(m_Kart.Rigidbody.velocity.normalized, direction));
if (ShowRaycasts)
{
Debug.DrawLine(AgentSensorTransform.position, nextCollider.transform.position, Color.magenta);
}
m_LastAccumulatedReward = 0.0f;
m_EndEpisode = false;
for (var i = 0; i < Sensors.Length; i++)
{
var current = Sensors[i];
var xform = current.Transform;
var hit = Physics.Raycast(AgentSensorTransform.position, xform.forward, out var hitInfo,
current.RayDistance, Mask, QueryTriggerInteraction.Ignore);
if (ShowRaycasts)
{
Debug.DrawRay(AgentSensorTransform.position, xform.forward * current.RayDistance, Color.green);
Debug.DrawRay(AgentSensorTransform.position, xform.forward * current.HitValidationDistance,
Color.red);
if (hit && hitInfo.distance < current.HitValidationDistance)
{
Debug.DrawRay(hitInfo.point, Vector3.up * 3.0f, Color.blue);
}
}
if (hit)
{
Debug.Log("Name:" + name + "hit distance " + i.ToString() + ":" + hitInfo.distance);
if (hitInfo.distance < current.HitValidationDistance)
{
m_LastAccumulatedReward += HitPenalty;
m_EndEpisode = true;
// Debug.Log("Hit Penalty:" + m_LastAccumulatedReward.ToString());
}
}
sensor.AddObservation(hit ? hitInfo.distance : current.RayDistance);
}
sensor.AddObservation(m_Acceleration);
// 2022-03-22 YY Add Check if a machine reaches the goal (Point B)
if ((point_b.transform.position.x - GOAL_SIZE <= transform.position.x &&
transform.position.x <= point_b.transform.position.x + GOAL_SIZE)
&&
(point_b.transform.position.z - GOAL_SIZE <= transform.position.z &&
transform.position.z <= point_b.transform.position.z + GOAL_SIZE))
{
Debug.Log("GOAL");
m_LastAccumulatedReward += GOAL_REWARD;
// m_EndEpisode = true;
transform.position = initialPoint;
}
}
public void LogVectorObs(string obsName, Vector3 obsVector, Vector3 min, Vector3 max, VectorSensor sensor)
{
if (!variances.ContainsKey(obsName))
{
variances.Add(obsName, new WelfordVariance());
}
variances[obsName].UpdateVariance(new Quaternion(obsVector.x, obsVector.y, obsVector.z, 0));
var normalizedObs = new Vector3(((obsVector.x - min.x) / (max.x - min.x)),
((obsVector.y - min.y) / (max.y - min.y)),
((obsVector.z - min.z) / (max.z - min.z)));
sensor.AddObservation(normalizedObs);
if (Application.isEditor)
{
obsDisplayText += string.Format("\n{0:0.00} {1} \n{2:0.00} \n{3:0.00}", obsVector.x, obsName, obsVector.y, obsVector.z);
obsDisplayText += string.Format("\n{0:0.00} {1} \n{2:0.00} \n{3:0.00}", normalizedObs.x, obsName + " normalized", normalizedObs.y, normalizedObs.z);
}
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(transform.localPosition);
sensor.AddObservation(transform.localRotation);
sensor.AddObservation(targetTransform.localPosition);
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddOneHotObservation(m_Position, 20);
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(m_Rigidbody.velocity);
}
public override void CollectObservations(VectorSensor sensor)
{
obsDisplayText = "";
LogVectorObs("position", planet.transform.rotation * this.transform.localPosition, new Vector3(-0.5f, 0, -0.5f), new Vector3(0.5f, 0.6f, 0.5f), sensor);
LogVectorObs("Planet angular velocity", planet.angularVelocity, new Vector3(-3, -3, -3), new Vector3(3, 3, 3), sensor);
LogVectorObs("Self Tangential Velocity", planet.GetPointVelocity(this.transform.position), new Vector3(-3, -3, -3), new Vector3(3, 3, 3), sensor);
LogVectorObs("lightning target position", new Vector3(0, 0, 0), new Vector3(-0.5f, 0, -0.5f), new Vector3(0.5f, 0.6f, 0.5f), sensor);
LogVectorObs("Can Consume", canConsume, sensor);
LogVectorObs("Consuming", consuming, sensor);
LogVectorObs("Grounded", false, sensor);
LogVectorObs("Sitting", false, sensor);
LogVectorObs("Can Push", false, sensor);
LogVectorObs("Pushing", false, sensor);
if (canConsume)
{
LogVectorObs("Consume Timer", 1, sensor);
}
else
{
LogVectorObs("Consume Timer", (Time.fixedTime - consumeTime) / 10, sensor);
}
int agentnum = 0;
pushTarget = null;
foreach (var agent in agents)
{
if (Vector3.Distance(agent.transform.position, this.transform.position) < 2f)
{
pushTarget = agent.GetComponent <Conscientious>();
}
LogVectorObs("position", planet.transform.rotation * agent.transform.localPosition, new Vector3(-0.5f, 0, -0.5f), new Vector3(0.5f, 0.6f, 0.5f), sensor);
LogVectorObs("Other Agent's Tangential Velocity", planet.GetPointVelocity(agent.transform.position), new Vector3(-3, -3, -3), new Vector3(3, 3, 3), sensor);
agentnum++;
}
for (int i = agentnum; i < 5; i++)
{
LogVectorObs("position", new Vector3(0, 0, 0), new Vector3(-0.5f, 0, -0.5f), new Vector3(0.5f, 0.6f, 0.5f), sensor);
LogVectorObs("Other Agent's Tangential Velocity", new Vector3(0, 0, 0), new Vector3(-3, -3, -3), new Vector3(3, 3, 3), sensor);
}
int weightNum = 0;
foreach (var weight in weights)
{
LogVectorObs("Weight position", planet.transform.rotation * weight.transform.localPosition, new Vector3(-0.5f, 0, -0.5f), new Vector3(0.5f, 0.6f, 0.5f), sensor);
LogVectorObs("Weight Tangential Velocity", planet.GetPointVelocity(weight.transform.position), new Vector3(-3, -3, -3), new Vector3(3, 3, 3), sensor);
foreach (var consumePoint in weight.consumePoints)
{
//LogVectorObs("Consume Point position", planet.transform.rotation * consumePoint.transform.localPosition, new Vector3(-0.5f, 0, -0.5f), new Vector3(0.5f, 0.6f, 0.5f), sensor);
LogVectorObs("Can Consume at Point", consumePoint.CanConsume, sensor);
}
weightNum++;
}
for (int i = weightNum; i < 5; i++)
{
LogVectorObs("Weight position", new Vector3(0, 0, 0), new Vector3(-0.5f, 0, -0.5f), new Vector3(0.5f, 0.6f, 0.5f), sensor);
LogVectorObs("Weight Tangential Velocity", new Vector3(0, 0, 0), new Vector3(-3, -3, -3), new Vector3(3, 3, 3), sensor);
for (int j = 0; j < 3; i++)
{
//LogVectorObs("Consume Point position", new Vector3(0, 0, 0), new Vector3(-0.5f, 0, -0.5f), new Vector3(0.5f, 0.6f, 0.5f), sensor);
LogVectorObs("Can Consume at Point", true, sensor);
}
}
if (priorConsumePoint)
{
LogVectorObs("Prior Consume Point position", planet.transform.rotation * priorConsumePoint.transform.localPosition, new Vector3(-0.5f, 0, -0.5f), new Vector3(0.5f, 0.6f, 0.5f), sensor);
}
else
{
LogVectorObs("Consume Point position", new Vector3(0, 0, 0), new Vector3(-0.5f, 0, -0.5f), new Vector3(0.5f, 0.6f, 0.5f), sensor);
}
obsSize = sensor.GetObservationShape().Length;
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(this.transform.localPosition);
sensor.AddObservation(target.transform.localPosition);
sensor.AddObservation(danger ? 1f: 0f);
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(car.position);
sensor.AddObservation(m_Ball.position);
sensor.AddObservation(m_Rigidbody.position);
sensor.AddObservation(goal1.position);
sensor.AddObservation(goal2.position);
sensor.AddObservation(CurriuculumRewardZone.position);
sensor.AddObservation(CurriuculumRewardZone02.position);
sensor.AddObservation(CurriuculumRewardZone03.position);
sensor.AddObservation(CurriuculumRewardZone1.position);
sensor.AddObservation(CurriuculumRewardZone12.position);
sensor.AddObservation(CurriuculumRewardZone13.position);
sensor.AddObservation(CurriuculumRewardZone2.position);
sensor.AddObservation(CurriuculumRewardZone22.position);
sensor.AddObservation(CurriuculumRewardZone23.position);
sensor.AddObservation(CurriculumNegativeRewardZone.position);
//distance to reward zones
sensor.AddObservation(Vector3.Distance(CurriuculumRewardZone.transform.position, transform.position));
sensor.AddObservation(Vector3.Distance(CurriuculumRewardZone02.transform.position, transform.position));
sensor.AddObservation(Vector3.Distance(CurriuculumRewardZone03.transform.position, transform.position));
sensor.AddObservation(Vector3.Distance(CurriuculumRewardZone1.transform.position, transform.position));
sensor.AddObservation(Vector3.Distance(CurriuculumRewardZone12.transform.position, transform.position));
sensor.AddObservation(Vector3.Distance(CurriuculumRewardZone13.transform.position, transform.position));
sensor.AddObservation(Vector3.Distance(CurriuculumRewardZone2.transform.position, transform.position));
sensor.AddObservation(Vector3.Distance(CurriuculumRewardZone22.transform.position, transform.position));
sensor.AddObservation(Vector3.Distance(CurriuculumRewardZone23.transform.position, transform.position));
//distance to neg zone
sensor.AddObservation(Vector3.Distance(CurriculumNegativeRewardZone.transform.position, transform.position));
//direction to reward Zones
sensor.AddObservation((CurriuculumRewardZone.transform.position - transform.position).normalized);
sensor.AddObservation((CurriuculumRewardZone02.transform.position - transform.position).normalized);
sensor.AddObservation((CurriuculumRewardZone03.transform.position - transform.position).normalized);
sensor.AddObservation((CurriuculumRewardZone1.transform.position - transform.position).normalized);
sensor.AddObservation((CurriuculumRewardZone12.transform.position - transform.position).normalized);
sensor.AddObservation((CurriuculumRewardZone13.transform.position - transform.position).normalized);
sensor.AddObservation((CurriuculumRewardZone2.transform.position - transform.position).normalized);
sensor.AddObservation((CurriuculumRewardZone22.transform.position - transform.position).normalized);
sensor.AddObservation((CurriuculumRewardZone23.transform.position - transform.position).normalized);
//direction to neg zone
sensor.AddObservation((CurriculumNegativeRewardZone.transform.position - transform.position).normalized);
//distance to opponent
sensor.AddObservation(Vector3.Distance(car.transform.position, transform.position));
//direction to ball
sensor.AddObservation((car.transform.position - transform.position).normalized);
//distance to ball
sensor.AddObservation(Vector3.Distance(m_Ball.transform.position, transform.position));
//direction to ball
sensor.AddObservation((m_Ball.transform.position - transform.position).normalized);
//distance from ball to goal1
sensor.AddObservation(Vector3.Distance(m_Ball.transform.position, goal1.transform.position));
//distance from ball to goal2
sensor.AddObservation(Vector3.Distance(m_Ball.transform.position, goal2.transform.position));
//distance to Goal1
sensor.AddObservation(Vector3.Distance(goal1.transform.position, transform.position));
//direction to Goal1
sensor.AddObservation((goal1.transform.position - transform.position).normalized);
//distance to Goal2
sensor.AddObservation(Vector3.Distance(goal2.transform.position, transform.position));
//direction to Goal2
sensor.AddObservation((goal2.transform.position - transform.position).normalized);
}
public override void CollectObservations(VectorSensor sensor)
{
if (testingFood.Length != food.Count)
{
testingFood = new bool[food.Count];
for (var _f = 0; _f < testingFood.Length; _f++)
{
testingFood[_f] = true;
}
}
float closest = Mathf.Infinity;
Transform enemySelect = null;
RaycastHit hit;
foreach (Transform p in e.allies)
{
float d = Vector3.Distance(transform.position, p.position);
if (d < inSight)
{
if (Physics.Raycast(transform.position, (p.position - transform.position), out hit, inSight))
{
if (hit.transform == p)
{
if (d < closest)
{
enemySelect = p;
closest = d;
}
}
}
}
}
// 3
if (enemySelect == null)
{
sensor.AddObservation(new float[3]);
}
else
{
sensor.AddObservation(enemySelect);
}
// 4
sensor.AddObservation(transform.rotation);
closest = Mathf.Infinity;
enemySelect = null;
for (var f = 0; f < food.Count; f++)
{
float d = Vector3.Distance(transform.position, food[f].position);
if (d < inSight && testingFood[f])
{
if (Physics.Raycast(transform.position, (food[f].position - transform.position), out hit, inSight))
{
if (hit.transform == food[f])
{
if (d < closest)
{
enemySelect = food[f];
closest = d;
}
}
}
}
}
// 3
if (enemySelect == null)
{
sensor.AddObservation(new float[3]);
}
else
{
sensor.AddObservation(enemySelect);
}
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(ShotAvaliable);
sensor.AddObservation(isAiming);
}
public override void CollectObservations(VectorSensor sensor)
{
_lookedCoin = null;
var rotAngle = transform.rotation.eulerAngles.y;
sensor.AddObservation(rotAngle / 360f);
sensor.AddObservation(_speed);
sensor.AddObservation(_rotSpeed);
sensor.AddObservation(CanFire);
var nearCoin = Spawner.GetNearlyCoin(transform.position);
if (nearCoin != null)
{
//var coinAngle = Vector3.SignedAngle(transform.position, nearCoin.transform.position, Vector3.up);
//sensor.AddObservation(coinAngle / 360f);
var p = (transform.position - nearCoin.transform.position) / _rayDistance;
sensor.AddObservation(p.x);
sensor.AddObservation(p.z);
}
else
{
sensor.AddObservation(1f);
sensor.AddObservation(1f);
}
for (int i = 0; i < Rays.Length; i++)
{
/*if(i > 0)
* {
* sensor.AddObservation(0.5f);
* continue;
* }*/
var d = _rayDistance;
Color rc = Color.white;
var baseDir = Rays[i].normalized;
var dir = Quaternion.LookRotation(baseDir) * transform.forward;
var r = new Ray(transform.position + RayOffset, dir);
if (Physics.Raycast(r, out var hitInfo, _rayDistance) && hitInfo.transform != null)
{
var idx = Targets.IndexOf(hitInfo.transform.tag);
var dist = hitInfo.distance / _rayDistance;
sensor.AddObservation(dist);
d = hitInfo.distance;
if (i == 0)
{
if (hitInfo.transform.CompareTag("Coin"))
{
_lookedCoin = hitInfo.transform.GetComponentInParent <CoinAgent>();
_lookedCoinDist = dist;
_lookedCoinTimer += Time.fixedDeltaTime;
rc = Color.red;
}
else
{
_lookedCoinTimer = 0f;
}
}
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(gameObject.transform.rotation.z);
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(this.transform.position);
sensor.AddObservation(this.transform.rotation);
sensor.AddObservation(Target);
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(rb.velocity / speed);
sensor.AddObservation((transform.position - puck.position) / 15f);
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(rBody.velocity.x);
sensor.AddObservation(rBody.velocity.z);
}
public override void CollectObservations(VectorSensor sensor)
{
//This Method is used to collect Vector Observations of the agnet for the step
sensor.AddObservation(transform.position.x);
}
public override void CollectObservations(VectorSensor sensor)
{
_isPrepared = false;
// Agent position
var position = transform.localPosition;
sensor.AddObservation(position.x);
sensor.AddObservation(position.z);
// Agent velocity
var selfVelocity = _rBody.velocity;
sensor.AddObservation(selfVelocity.x);
sensor.AddObservation(selfVelocity.z);
// Time left for preparation
if (StepCount > _config.preparingPhaseLength)
{
sensor.AddObservation(0.0f);
}
else
{
sensor.AddObservation(_config.preparingPhaseLength - StepCount);
}
foreach (var obj in _viewField.collectVisibleObjects().Where(obj =>
obj.CompareTag(hiderTag) || obj.CompareTag(seekerTag) || obj.CompareTag(cubeTag) || obj.CompareTag(rampTag)))
{
if (team == Team.Seeker && obj.CompareTag(hiderTag))
{
_seenHolder.isAnyHiderSeen = true;
Debug.DrawLine(transform.position, obj.transform.position, Color.red);
}
float[] observations = new float[8];
Rigidbody objectRigidBody = obj.GetComponent <Rigidbody>();
// Other object position
var localPosition = obj.transform.localPosition;
observations[0] = localPosition.x / 10.0f;
observations[1] = localPosition.z / 10.0f;
// Other object velocity
var velocity = objectRigidBody.velocity;
observations[2] = velocity.x / 100.0f;
observations[3] = velocity.z / 100.0f;
// Other object team
if (obj.CompareTag(hiderTag))
{
observations[4] = 1.0f;
}
else if (obj.CompareTag(seekerTag))
{
observations[5] = 1.0f;
}
else if (obj.CompareTag(cubeTag))
{
observations[6] = 1.0f;
}
else
{
observations[7] = 1.0f;
}
_bufferSensor.AppendObservation(observations);
}
}
/// <summary>
/// This is an ML-agents framework method called when the agent observes its environment.
/// These observations are passed to the model as inputs.
/// They make up the agent's STATE (S) at the current step, or time (t).
/// The model will use them to decide action to perform.
///
/// NOTE: Aside from these manually created observations, we are also using
/// some others built-in to ML-agents, such as Ray Perception Sensor,
/// and stacking previous observations
/// </summary>
/// <param name="sensor">part of ML Agents API</param>
public override void CollectObservations(VectorSensor sensor)
{
if (!target)
{
// if no target, we're in a bad state, so just pass data with all 0
sensor.AddObservation(0f);
sensor.AddObservation(0f);
sensor.AddObservation(0f);
sensor.AddObservation(0f);
sensor.AddObservation(0f);
sensor.AddObservation(0f);
return;
}
// Observations used by SimpleTankAgent (you can use whatever you want for your own agents)
// 1. Relative angle to enemy, where 0 is dead-on, -1 is negative 180, +1 is positive 180
// 2. Distance to opponent, normalized
// 3. Relative angle the enemy is pointing, where 0 is dead-on, -1 is negative 180, +1 is positive 180
// 4. Our current Health, normalized from 0 to 1
// 5. Enemy current Health, normalized from 0 to 1
// 6. If gun is cooling down, true/false
/* 1 */
// calc relative angle between forward vector and vector from target to self, rotating about Y axis
float relativeAngle = Vector3.SignedAngle(transform.forward,
(target.transform.position - transform.position),
Vector3.up);
float relativeAngleObs = Mathf.Clamp(relativeAngle / 180f, -1f, 1f);
sensor.AddObservation(relativeAngleObs);
// we're adding a reward penalty here for when we're facing away from enemy,
// hoping agent learns to generally face enemy to move toward them or fire at them
if (relativeAngleObs < -0.5f || relativeAngleObs > 0.5f)
{
AddReward(-0.001f);
}
/* 2 */
// calc distance
float distance = Vector3.Distance(target.transform.position, transform.position);
float normalizedDistance = distance / 70f; // map hyponteneuse is roughly 70, use for normalizing
float distanceObs = Mathf.Clamp(normalizedDistance, 0f, 1.0f);
sensor.AddObservation(distanceObs);
/* 3 */
// calc relative angle of opponent the same way
float enemyRelativeAngle = Vector3.SignedAngle(target.transform.forward,
(transform.position - target.transform.position),
Vector3.up);
float enemyRelativeAngleObs = Mathf.Clamp(enemyRelativeAngle / 180f, -1f, 1f);
sensor.AddObservation(enemyRelativeAngleObs);
/* 4 */
// our own health, normalized from 0-1
if (health)
{
sensor.AddObservation(health.NormalizedHealth);
}
else
{
sensor.AddObservation(0f);
}
/* 5 */
// target's health, normalized from 0-1
if (targetHealth)
{
sensor.AddObservation(targetHealth.NormalizedHealth);
}
else
{
sensor.AddObservation(0f);
}
/* 6 */
// observe whether our gun is cooling down and can't fire
// this might not be useful, but agent might learn difference between weak/strong shots,
// and it might want to fire faster/slower depending on situation
if (shooting)
{
sensor.AddObservation(shooting.cooldown);
}
else
{
sensor.AddObservation(0f);
}
AddReward(-0.0001f); // tiny negative reward over time to incentivize agent to hurry up
// do some debug outputting here
if (textOutput)
{
textOutput.output = "<b>Agent" + playerNumber.ToString() + "</b>\n";
textOutput.output += "<b>Relative Angle: </b>" + relativeAngleObs.ToString() + "\n";
textOutput.output += "<b>Distance: </b>" + distanceObs.ToString() + "\n";
textOutput.output += "<b>Enemy Relative Heading: </b>" + enemyRelativeAngleObs.ToString() + "\n";
textOutput.output += "<b>Health: </b>" + health.NormalizedHealth.ToString() + "\n";
textOutput.output += "<b>Enemy Health: </b>" + targetHealth.NormalizedHealth.ToString() + "\n";
textOutput.output += "<b>Cannon Cooldown: </b>" + shooting.cooldown.ToString() + "\n";
}
Unity.MLAgents.Monitor.Log(gameObject.name, GetCumulativeReward());
}
/// <summary>
/// Collect vecotr observations from the environment
/// </summary>
/// <param name="sensor">The vector sensor</param>
public override void CollectObservations(VectorSensor sensor)
{ // 여기서 수집한 observation vector는 다음 action값을 수집할 때 다음 input값으로 선택된다.
//Debug.Log(" UserExist " + mUserExist);
// Debug.Log("In CollectObservations ");
sensor.AddObservation(mUserExist);//1
if (humanHandAvatar != null && humanHandAvatar.activeSelf == true)
{
Vector3 toHand = humanHandAvatar.transform.position - this.gameObject.transform.position;
Vector3 targetDir = (toHand).normalized;
float dot = Vector3.Dot(transform.forward, targetDir);
//내적을 이용한 각 계산하기
// thetha = cos^-1( a dot b / |a||b|)
float AngleBetweenDegree = Mathf.Acos(dot) * Mathf.Rad2Deg;
//Debug.Log("1 : "+ AngleBetweenDegree + " "+ map(AngleBetweenDegree,0,180,-1,1));
float angle = 1 + (-1 + 1) * ((AngleBetweenDegree - 0) / (180 - 0));
if (float.IsNaN(angle))
{
sensor.AddObservation(new float[1]); //1
}
else
{
sensor.AddObservation(angle);
}
sensor.AddObservation(this.gameObject.transform.localRotation.normalized); //4
// pointing to nearest flower 3
sensor.AddObservation(toHand.normalized); // 3
// dot product observation - beak tip in front of flower?
// +1 -> infront, -1 -> behind 1
sensor.AddObservation(toHand.magnitude / FlowerArea.AreaDiameter);//1
}
else
{
sensor.AddObservation(new float[9]);
}
if (nearestFlower != null)
{
// Observe the local rotation 4
sensor.AddObservation(this.gameObject.transform.localRotation.normalized);
Vector3 toFlower = nearestFlower.FlowerCenterVector - beakTip.position;
Vector3 targetDir = (toFlower).normalized;
float dot = Vector3.Dot(transform.forward, targetDir);
//내적을 이용한 각 계산하기
// thetha = cos^-1( a dot b / |a||b|)
float AngleBetweenDegree = Mathf.Acos(dot) * Mathf.Rad2Deg;
// pointing to nearest flower 3
sensor.AddObservation(toFlower.normalized);
//// dot product observation - beak tip in front of flower?
//// +1 -> infront, -1 -> behind 1
//sensor.AddObservation(
// Vector3.Dot(toFlower.normalized, -nearestFlower.FlowerUpVector.normalized));
//// beak tip point to flower 1
//sensor.AddObservation(
// Vector3.Dot(beakTip.forward.normalized, -nearestFlower.FlowerUpVector.normalized));
float angle = 1 + (-1 + 1) * ((AngleBetweenDegree - 0) / (180 - 0));
if (float.IsNaN(angle))
{
sensor.AddObservation(new float[1]); //1
}
else
{
sensor.AddObservation(angle);
}
// relative distance from beek tip to flower 1
sensor.AddObservation(toFlower.magnitude / FlowerArea.AreaDiameter);//1
// 10 total observations
}
else
{
sensor.AddObservation(new float[9]);
}
}// End public override void CollectObservations(VectorSensor sensor)
public override void CollectObservations(VectorSensor sensor)
{
}
public override void CollectObservations(VectorSensor sensor)
{
ManagedUpdate();
base.CollectObservations(sensor);
}
public override void CollectObservations(VectorSensor sensor)
{
//if (VisionOnly)
//{
/*
* // No observations, just the camera as input
*
* // Basic feature set (32+6=38 floats)
*
* // Ball coordinates
* AddVectorObs(NormalizePositionToPlayArea(tm.BallsGo[0].transform.position));
*
* // Ball velocity
* AddVectorObs(NormalizeVelocity(tm.BallsGo[0].GetComponent<Rigidbody>().velocity * 10.0f));
*
* //Debug.Log( NormalizeVelocity(tm.BallsGo[0].GetComponent<Rigidbody>().velocity * 10.0f));
*
* // Current player rods
* // x -> direction of play
* // y -> vertical
* // z -> direction of rods
* foreach (GameObject rod in rods)
* {
* // Position
* AddVectorObs(NormalizePositionToPlayArea(rod.GetComponent<Rigidbody>().transform.position).z * 3.0f);
* //if( player == 0 && rod == rods[0])
* // Debug.Log(NormalizePositionToPlayArea(rod.GetComponent<Rigidbody>().transform.position));
* AddVectorObs(NormalizeVelocity(rod.GetComponent<Rigidbody>().velocity).z * 5.0f);
*
*
* // Rod Angle
* float angle = Vector3.SignedAngle(rod.transform.up, new Vector3(0.0f, 1.0f, 0.0f), rod.transform.forward);
* AddVectorObs(NormalizeAngle(angle));
* //if (player == 0 && rod == rods[0])
* // Debug.Log( NormalizeAngle(angle) );
*
* AddVectorObs(NormalizeAngularVelocity(rod.GetComponent<Rigidbody>().angularVelocity, 5.0f).z);
* //if (player == 0 && rod == rods[0])
* // Debug.Log(NormalizeAngularVelocity(rod.GetComponent<Rigidbody>().angularVelocity, 5.0f).z);
* }
*
* // Opponent player rods
* foreach (GameObject rod in opponent.rods)
* {
* // Position
* AddVectorObs(NormalizePositionToPlayArea(rod.GetComponent<Rigidbody>().transform.position).z * 3.0f);
* AddVectorObs(NormalizeVelocity(rod.GetComponent<Rigidbody>().velocity).z * 5.0f);
*
* // Rod Angle
* float angle = Vector3.SignedAngle(rod.transform.up, new Vector3(0.0f, 1.0f, 0.0f), rod.transform.forward);
* AddVectorObs(NormalizeAngle(angle));
* AddVectorObs(NormalizeAngularVelocity(rod.GetComponent<Rigidbody>().angularVelocity, 5.0f).z);
* }
*
* // Nearest ball position with respect to each current player physical rod players
* foreach (GameObject player in players)
* {
* Vector2 RelPosition2d_min = Vector2.positiveInfinity;
*
* foreach (GameObject ball in tm.Balls.Keys)
* {
* Vector3 RelPosition = ball.transform.position - player.transform.position;
* Vector2 RelPosition2d = new Vector2(
* RelPosition.x / play_area.size.x,
* RelPosition.z / play_area.size.z
* );
*
* if (RelPosition2d.magnitude < RelPosition2d_min.magnitude)
* RelPosition2d_min = RelPosition2d;
* }
*
* // Add the player position to ball location vector
* AddVectorObs(NormalizeLogistic(RelPosition2d_min * 10.0f)); // 10x resolution scaling so it gets detailed when the ball is close to each player on each axis
* }
*/
//}
//else
//{
// Features:
// 2d map of where the ball(s) are
// 2d map of where your player are
// 2d map of where opponent players are
// float[8] position of each rod
// float[8] angular velocity of each rod
// float[8] velocity of each rod
// To form the 2d maps, this outputs an array of Vector2 for each object. The python code is expected to build this into the map.
// Build the 2d map of where the ball is
//}
/*
* else
* {
* // Add both player rod positions, angles, speeds, and ball position as features
*
* // Ball coordinates
* //AddVectorObs(NormalizePositionToPlayArea(tm.ball.transform.position));
* //Debug.Log(NormalizePositionToPlayArea(tm.ball.transform.position));
*
* // Ball velocity
* //AddVectorObs(NormalizeVelocity(tm.ball.GetComponent<Rigidbody>().velocity * 10.0f));
* //Debug.Log( NormalizeVelocity(tm.ball.GetComponent<Rigidbody>().velocity * 10.0f));
*
* // Current player rods
* // x -> direction of play
* // y -> vertical
* // z -> direction of rods
* foreach (GameObject rod in rods)
* {
* // Position
* AddVectorObs(NormalizePositionToPlayArea(rod.GetComponent<Rigidbody>().transform.position).z * 3.0f);
* //if( player == 0 && rod == rods[0])
* // Debug.Log(NormalizePositionToPlayArea(rod.GetComponent<Rigidbody>().transform.position));
* AddVectorObs(NormalizeVelocity(rod.GetComponent<Rigidbody>().velocity).z * 5.0f);
*
*
* // Rod Angle
* float angle = Vector3.SignedAngle(rod.transform.up, new Vector3(0.0f, 1.0f, 0.0f), rod.transform.forward);
* AddVectorObs(NormalizeAngle(angle));
* //if (player == 0 && rod == rods[0])
* // Debug.Log( NormalizeAngle(angle) );
*
* AddVectorObs(NormalizeAngularVelocity(rod.GetComponent<Rigidbody>().angularVelocity, 5.0f).z);
* //if (player == 0 && rod == rods[0])
* // Debug.Log(NormalizeAngularVelocity(rod.GetComponent<Rigidbody>().angularVelocity, 5.0f).z);
* }
*
* // Opponent player rods
* foreach (GameObject rod in opponent.rods)
* {
* // Position
* AddVectorObs(NormalizePositionToPlayArea(rod.GetComponent<Rigidbody>().transform.position).z * 3.0f);
* AddVectorObs(NormalizeVelocity(rod.GetComponent<Rigidbody>().velocity).z * 5.0f);
*
* // Rod Angle
* float angle = Vector3.SignedAngle(rod.transform.up, new Vector3(0.0f, 1.0f, 0.0f), rod.transform.forward);
* AddVectorObs(NormalizeAngle(angle));
* AddVectorObs(NormalizeAngularVelocity(rod.GetComponent<Rigidbody>().angularVelocity, 5.0f).z);
* }
*
* // Nearest ball position with respect to each current player physical rod players
* foreach (GameObject player in players)
* {
* Vector2 RelPosition2d_min = Vector2.positiveInfinity;
*
* foreach(GameObject ball in tm.Balls.Keys)
* {
* Vector3 RelPosition = ball.transform.position - player.transform.position;
* Vector2 RelPosition2d = new Vector2(
* RelPosition.x / play_area.size.x,
* RelPosition.z / play_area.size.z
* );
*
* if (RelPosition2d.magnitude < RelPosition2d_min.magnitude)
* RelPosition2d_min = RelPosition2d;
* }
*
* // Add the player position to ball location vector
* AddVectorObs(NormalizeLogistic(RelPosition2d_min * 10.0f)); // 10x resolution scaling so it gets detailed when the ball is close to each player on each axis
* }
*
* // Total:
* // 3*3 + 4 * 4 + 4 * 4 = 41 float observations
* }
*/
}
public override void CollectObservations(VectorSensor sensor)
{
float x, y, z, min_z;
// Adding the z-depth of the object that is closest to the camera, if any is present.
// min_z = 99.0f;
// // target_in_camera_coords = agent_camera.WorldToViewportPoint(this.Target.position);
// // if(is_on_camera(target_in_camera_coords)){ // Inside X and Y
// // min_z = target_in_camera_coords.z;
// // }
// z = -1.0f;
// y = -1.0f;
// x = -1.0f;
// target_in_camera_coords = agent_camera.WorldToViewportPoint(this.Obstacle.position);
// if(is_on_camera(target_in_camera_coords)){ // Inside X and Y
// if(target_in_camera_coords.z < min_z){
// min_z = target_in_camera_coords.z;
// x = target_in_camera_coords.x;
// y = target_in_camera_coords.y;
// }
// }
// // target_in_camera_coords = agent_camera.WorldToViewportPoint(ac.Base.position);
// // if(is_on_camera(target_in_camera_coords)){ // Inside X and Y
// // if(target_in_camera_coords.z < min_z){
// // min_z = target_in_camera_coords.z;
// // x = target_in_camera_coords.x;
// // y = target_in_camera_coords.y;
// // }
// // }
// // for(int i = 0; i < 5; i++){
// // target_in_camera_coords = agent_camera.WorldToViewportPoint(ac.GetJointPos(i, true));
// // if(is_on_camera(target_in_camera_coords)){ // Inside X and Y
// // if(target_in_camera_coords.z < min_z){
// // min_z = target_in_camera_coords.z;
// // x = target_in_camera_coords.x;
// // y = target_in_camera_coords.y;
// // }
// // }
// // }
// if(min_z != 99.0f)
// z = min_z;
// else{
// z = 10.0f;
// y = 0.0f;
// x = 0.0f;
// }
sensor.AddObservation(Obstacle.localPosition.x);
sensor.AddObservation(Obstacle.localPosition.y - 1);
sensor.AddObservation(Obstacle.localPosition.z);
// Debug.Log("X: " + x + ", Y: " + y + ", Z:" + z);
// sensor.AddObservation(x);
// sensor.AddObservation(y);
// sensor.AddObservation(z);
// Goal info (either spawn sphere or target)
// sensor.AddObservation(TargetSpawnSphere.localPosition.x);
// sensor.AddObservation(TargetSpawnSphere.localPosition.y);
// sensor.AddObservation(TargetSpawnSphere.localPosition.z);
sensor.AddObservation(Target.localPosition.x);
sensor.AddObservation(Target.localPosition.y - 1);
sensor.AddObservation(Target.localPosition.z);
// Planner info
// Debug.Log(transform.localPosition);
sensor.AddObservation(transform.localPosition.x);
sensor.AddObservation(transform.localPosition.y - 1);
sensor.AddObservation(transform.localPosition.z);
sensor.AddObservation(transform.localRotation);
// Obstacle info (remove if using vision)
// sensor.AddObservation(Obstacle.localPosition);
// NO ARM TEST
if (this.ac != null)
{
// Arm info:
sensor.AddObservation(this.ac.JointAngles[0] / 180.0f);
sensor.AddObservation(this.ac.JointAngles[1] / 180.0f);
sensor.AddObservation(this.ac.JointAngles[3] / 180.0f);
sensor.AddObservation(this.ac.JointAngles[4] / 180.0f);
sensor.AddObservation(this.ac.JointAngles[5] / 180.0f);
sensor.AddObservation(this.ac.JointAngles[6] / 180.0f);
// sensor.AddObservation(ac.GetJointPos(3).x);
// sensor.AddObservation(ac.GetJointPos(3).y-1);
// sensor.AddObservation(ac.GetJointPos(3).z);
// sensor.AddObservation(ac.GetJointPos(5).x);
// sensor.AddObservation(ac.GetJointPos(5).y-1);
// sensor.AddObservation(ac.GetJointPos(5).z);
sensor.AddObservation(ac.GetJointPos(6).x);
sensor.AddObservation(ac.GetJointPos(6).y - 1);
sensor.AddObservation(ac.GetJointPos(6).z);
sensor.AddObservation(ac.GetJointRot(6, true));
}
}
protected override void AddState(VectorSensor _sensor)
{
// Add State
_sensor.AddObservation(m_Controller.State.Head);
_sensor.AddObservation(m_Controller.State.Food);
}
public override void CollectObservations(VectorSensor sensor)
{
collectObservationsCalls += 1;
collectObservationsCallsSinceLastReset += 1;
sensor.AddObservation(0f);
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(transform.position);
sensor.AddObservation(transform.rotation);
sensor.AddObservation(lightOn);
}
public override void CollectObservations(VectorSensor sensor)
{
collectObservationsCalls += 1;
collectObservationsCallsForEpisode += 1;
sensor.AddObservation(collectObservationsCallsForEpisode);
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(timer);
sensor.AddObservation(currentHealth);
}
public override void CollectObservations(VectorSensor sensor)
{
// Camera sensor specified with GUI
}