File size: 2,928 Bytes
024fc31 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 |
extends AIController3D
class_name LanderAIController
## AIController for the Lander. Handles the action definitions, actions, observations,
## passes the rewards and resets the episode on timeout.
func get_obs() -> Dictionary:
_player = _player as Lander
# Positions and velocities are converted to the player's frame of reference
var player_velocity = _player.get_velocity_in_player_reference() / 50.0
var player_angular_velocity = _player.get_angular_velocity_in_player_reference() / 10.0
var observations : Array = [
n_steps / float(reset_after),
player_velocity.x,
player_velocity.y,
player_velocity.z,
player_angular_velocity.x,
player_angular_velocity.y,
player_angular_velocity.z,
_player._legs_in_contact_with_ground / 4.0
]
observations.append_array(_player.get_orientation_as_array())
# After the first reset, the landing position will be assigned
if _player.times_restarted == 0:
observations.append_array([0.0, 0.0, 0.0, 0.0])
else:
var goal_position: Vector3 = (
_player.get_goal_position_in_player_reference()
)
observations.append_array(
[
goal_position.x,
goal_position.y,
goal_position.z,
_player.get_player_goal_direction_difference()
]
)
observations.append_array(_player.raycast_sensor.get_observation())
return {"obs": observations}
func get_reward() -> float:
return reward
func get_action_space() -> Dictionary:
return {
"back_thruster" : {
"size": 2,
"action_type": "discrete"
},
"forward_thruster" : {
"size": 2,
"action_type": "discrete"
},
"left_thruster" : {
"size": 2,
"action_type": "discrete"
},
"right_thruster" : {
"size": 2,
"action_type": "discrete"
},
"turn_left_thruster" : {
"size": 2,
"action_type": "discrete"
},
"turn_right_thruster" : {
"size": 2,
"action_type": "discrete"
},
"up_thruster" : {
"size": 2,
"action_type": "discrete"
},
}
func _physics_process(delta):
n_steps += 1
if n_steps > reset_after:
needs_reset = true
done = true
reward = _player.episode_ended_unsuccessfully_reward / 10.0
func set_action(action) -> void:
_player.up_thruster.thruster_strength = (
action.up_thruster
) * _player.up_thruster_max_force
_player.forward_thruster.thruster_strength = (
action.forward_thruster
) * _player.navigation_thruster_max_force
_player.back_thruster.thruster_strength = (
action.back_thruster
) * _player.navigation_thruster_max_force
_player.left_thruster.thruster_strength = (
action.left_thruster
) * _player.navigation_thruster_max_force
_player.right_thruster.thruster_strength = (
action.right_thruster
) * _player.navigation_thruster_max_force
_player.turn_left_thruster.thruster_strength = (
action.turn_left_thruster
) * _player.navigation_thruster_max_force
_player.turn_right_thruster.thruster_strength = (
action.turn_right_thruster
) * _player.navigation_thruster_max_force
|