public override void CollectObservations()
{
var res = rayPer.Perceive(rayDistance, rayAngles, detectableObjects, 0.4f, 0f);
hitOneHot = string.Join(", ", res[0].onehot) + " | " + res[0].tag;
obs.Clear();
obs.Add(normalize(Palette.transform.position.x, maxPositionValue, minPositionValue));
obs.Add(normalize(Palette.transform.position.z, maxPositionValue, minPositionValue));
obs.Add(normalize(MainBody.transform.position.x, maxPositionValue, minPositionValue));
obs.Add(normalize(MainBody.transform.position.z, maxPositionValue, minPositionValue));
obs.Add(normalize(Ray.DegreeToRadian(MainBody.transform.rotation.eulerAngles.y), 2 * Mathf.PI, 0));
obs.Add(normalize(rbMainBody.velocity.x, maxSpeed, -maxSpeed));
obs.Add(normalize(rbMainBody.velocity.z, maxSpeed, -maxSpeed));
obs.Add(normalize(rbMainBody.angularVelocity.y, maxAngularVelocity, -maxAngularVelocity));
AddVectorObs(obs);
}