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Feature dev action04 removed decision requester #12

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66ffe4b
Removed DecisionRequester() from tests
Feb 16, 2023
24c75b1
Merge branch 'devAction04' of github.com:bryanat/DRL-RNN-LSTM-BOX-SIM…
Feb 16, 2023
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1 change: 1 addition & 0 deletions Assets/ML-Agents/packerhand/Scenes/Test_30.unity
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Original file line number Diff line number Diff line change
Expand Up @@ -1289,6 +1289,7 @@ PrefabInstance:
objectReference: {fileID: 2100000, guid: 1644c0cb0c67e314194579be857f87da, type: 2}
m_RemovedComponents:
- {fileID: 2674329426616174709, guid: 2f2c1469c0f2c8453ab01d6d68f6526f, type: 3}
- {fileID: 6303212369219772044, guid: 2f2c1469c0f2c8453ab01d6d68f6526f, type: 3}
m_RemovedGameObjects: []
m_AddedGameObjects: []
m_AddedComponents:
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4 changes: 1 addition & 3 deletions Assets/ML-Agents/packerhand/Scenes/Test_412.unity
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Original file line number Diff line number Diff line change
Expand Up @@ -572,7 +572,6 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier:
agent: {fileID: 0}
parent_mf: {fileID: 0}
isCollidedGreen: 0
isCollidedBlue: 0
isCollidedRed: 0
Expand Down Expand Up @@ -748,7 +747,6 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier:
agent: {fileID: 0}
parent_mf: {fileID: 0}
isCollidedGreen: 0
isCollidedBlue: 0
isCollidedRed: 0
Expand Down Expand Up @@ -1291,6 +1289,7 @@ PrefabInstance:
objectReference: {fileID: 2100000, guid: 1644c0cb0c67e314194579be857f87da, type: 2}
m_RemovedComponents:
- {fileID: 2674329426616174709, guid: 2f2c1469c0f2c8453ab01d6d68f6526f, type: 3}
- {fileID: 6303212369219772044, guid: 2f2c1469c0f2c8453ab01d6d68f6526f, type: 3}
m_RemovedGameObjects: []
m_AddedGameObjects: []
m_AddedComponents:
Expand Down Expand Up @@ -1447,7 +1446,6 @@ MonoBehaviour:
m_Name:
m_EditorClassIdentifier:
agent: {fileID: 0}
parent_mf: {fileID: 0}
isCollidedGreen: 0
isCollidedBlue: 0
isCollidedRed: 0
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78 changes: 40 additions & 38 deletions Assets/ML-Agents/packerhand/Scripts/PackerHand.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ public class PackerHand : Agent
public Vector3 [] verticesArray; // space: 2n + 1 Vector3 vertices where n = num boxes
[HideInInspector] public int selectedVertexIdx = -1;
[HideInInspector] private List<Box> boxPool; // space: num boxes
[HideInInspector] private List<int> vertexIndices;
[HideInInspector] private List<int> maskedVertexIndices;
[HideInInspector] public List<int> organizedBoxes; // list of organzed box indices
[HideInInspector] public List<Vector3> historicalVerticesLog;
[HideInInspector] public int VertexCount = 0;
Expand All @@ -66,7 +66,7 @@ public class PackerHand : Agent
[HideInInspector] public bool isEpisodeStart;
[HideInInspector] public bool isAfterOriginVertexSelected;
//[HideInInspector] public bool isBlackboxUpdated;
public bool isVertexSelected;
// public bool isVertexSelected;
public bool isBoxSelected;
public bool isRotationSelected;
public bool isPickedup;
Expand Down Expand Up @@ -174,7 +174,7 @@ public override void OnEpisodeBegin()
boxSpawner.SetUpBoxes(m_ResetParams.GetWithDefault("regular_box", 0));

selectedVertex = origin; // refactor to select first vertex
isVertexSelected = true;
// isVertexSelected = true;

//SetResetParameters();

Expand Down Expand Up @@ -214,7 +214,7 @@ public override void CollectObservations(VectorSensor sensor)

// Add array of vertices (selected vertices are 0s)
int i = 0;
vertexIndices = new List<int>();
maskedVertexIndices = new List<int>();
foreach (Vector3 vertex in verticesArray)
{
Vector3 scaled_continuous_vertex = new Vector3(((vertex.x - origin.x)/binscale_x), ((vertex.y - origin.y)/binscale_y), ((vertex.z - origin.z)/binscale_z));
Expand All @@ -227,7 +227,7 @@ public override void CollectObservations(VectorSensor sensor)
if (vertex == Vector3.zero)
{
//Debug.Log($"MASK VERTEX LOOP INDEX:{i}");
vertexIndices.Add(i);
maskedVertexIndices.Add(i);
}
i++;
}
Expand All @@ -251,7 +251,7 @@ public override void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
{
// vertices action mask
if (isAfterOriginVertexSelected) {
foreach (int vertexIdx in vertexIndices)
foreach (int vertexIdx in maskedVertexIndices)
{
//Debug.Log($"MASK VERTEX {vertexIdx}");
actionMask.SetActionEnabled(0, vertexIdx, false);
Expand Down Expand Up @@ -652,7 +652,7 @@ public void SelectVertex(int action_SelectedVertex)
selectedVertex = new Vector3(((unscaled_selectedVertex.x* binscale_x) + origin.x), ((unscaled_selectedVertex.y* binscale_y) + origin.y), ((unscaled_selectedVertex.z* binscale_z) + origin.z));
Debug.Log($"SVX Selected VerteX: {selectedVertex}");

isVertexSelected = true;
// isVertexSelected = true;
//AddReward(1f);
// Debug.Log($"RWD {GetCumulativeReward()} total reward | +1 reward from isVertexSelected: {isVertexSelected}");
}
Expand Down Expand Up @@ -1136,36 +1136,38 @@ public void ReverseSideNames(int id)
}


public void BoxReset(string cause)
{
if (cause == "failedPhysicsCheck")
{
Debug.Log($"SCS BOX {selectedBoxIdx} RESET LOOP, BOX POOL COUNT IS {boxPool.Count}");
// detach box from agent
targetBox.parent = null;
// add back rigidbody and collider
Rigidbody rb = boxPool[selectedBoxIdx].rb;
BoxCollider bc = boxPool[selectedBoxIdx].rb.gameObject.AddComponent<BoxCollider>();
// not be affected by forces or collisions, position and rotation will be controlled directly through script
rb.isKinematic = true;
// reset to starting position
rb.transform.localScale = boxPool[selectedBoxIdx].startingSize;
rb.transform.rotation = boxPool[selectedBoxIdx].startingRot;
rb.transform.position = boxPool[selectedBoxIdx].startingPos;
ReverseSideNames(selectedBoxIdx);
// remove from organized list to be picked again
organizedBoxes.Remove(selectedBoxIdx);
// reset states
StateReset();
// REQUEST DECISION FOR THE NEXT ROUND OF PICKING
GetComponent<Agent>().RequestDecision();
Academy.Instance.EnvironmentStep();
// settting isBlackboxUpdated to true allows another vertex to be selected
//isBlackboxUpdated = true;
// setting isVertexSelected to true keeps the current vertex and allows another box to be selected
// isVertexSelected = true;
}
}
// public void BoxReset(string cause)
// {
// if (cause == "failedPhysicsCheck")
// {
// Debug.Log($"SCS BOX {selectedBoxIdx} RESET LOOP, BOX POOL COUNT IS {boxPool.Count}");
// // detach box from agent
// targetBox.parent = null;
// // add back rigidbody and collider
// Rigidbody rb = boxPool[selectedBoxIdx].rb;
// BoxCollider bc = boxPool[selectedBoxIdx].rb.gameObject.AddComponent<BoxCollider>();
// // not be affected by forces or collisions, position and rotation will be controlled directly through script
// rb.isKinematic = true;
// // reset to starting position
// rb.transform.localScale = boxPool[selectedBoxIdx].startingSize;
// rb.transform.rotation = boxPool[selectedBoxIdx].startingRot;
// rb.transform.position = boxPool[selectedBoxIdx].startingPos;
// ReverseSideNames(selectedBoxIdx);
// // remove from organized list to be picked again
// // to "be picked again" means to be added back to the boxPool??
// organizedBoxes.Remove(selectedBoxIdx);
// // reset states
// StateReset();
// // REQUEST DECISION FOR THE NEXT ROUND OF PICKING
// // Why is the DecisionRequester() still active in the Hand gameObject?
// GetComponent<Agent>().RequestDecision();
// Academy.Instance.EnvironmentStep();
// // settting isBlackboxUpdated to true allows another vertex to be selected
// //isBlackboxUpdated = true;
// // setting isVertexSelected to true keeps the current vertex and allows another box to be selected
// // isVertexSelected = true;
// }
// }


public void AgentReset()
Expand Down Expand Up @@ -1200,7 +1202,7 @@ public void StateReset()
boxPool[selectedBoxIdx].boxRot = default_rotation;
}
//isBlackboxUpdated = false;
isVertexSelected = false;
// isVertexSelected = false;
isBoxSelected = false;
isRotationSelected = false;
isPickedup = false;
Expand Down