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Commit aa8d1333 authored by Julian Grothoff's avatar Julian Grothoff
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Added shift functionality

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PTSSim/Assets/ML-Agents/Timers/PTS_timers.json
+ 1
− 1
View file @ aa8d1333
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PTSSim/Assets/Prefabs/PTS.prefab
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View file @ aa8d1333
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type: 3}
propertyPath: m_Name
value: Palette (1)
objectReference: {fileID: 0}
m_RemovedComponents: []
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PrefabInstance: PrefabInstance:
m_ObjectHideFlags: 0 m_ObjectHideFlags: 0
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m_PrefabInstance: {fileID: 3602103055782209745} m_PrefabInstance: {fileID: 3602103055782209745}
m_PrefabAsset: {fileID: 0} m_PrefabAsset: {fileID: 0}
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value: 6
objectReference: {fileID: 0}
- target: {fileID: 8770740007255297387, guid: 1d9169e55f0cc40c88783fd142df404e,
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propertyPath: m_LocalPosition.y
value: 0.25
objectReference: {fileID: 0}
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m_ObjectHideFlags: 0 m_ObjectHideFlags: 0
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type: 3} type: 3}
propertyPath: m_Name propertyPath: m_Name
value: ConveyorCenter value: TransportCenter
objectReference: {fileID: 0} objectReference: {fileID: 0}
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type: 3} type: 3}
...@@ -1338,7 +1551,7 @@ PrefabInstance: ...@@ -1338,7 +1551,7 @@ PrefabInstance:
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propertyPath: m_LocalPosition.z propertyPath: m_LocalPosition.z
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type: 3} type: 3}
... ...
......
PTSSim/Assets/Prefabs/Palette.prefab
+ 4
− 4
View file @ aa8d1333
...@@ -108,9 +108,9 @@ MonoBehaviour: ...@@ -108,9 +108,9 @@ MonoBehaviour:
m_Name: m_Name:
m_EditorClassIdentifier: m_EditorClassIdentifier:
m_BrainParameters: m_BrainParameters:
vectorObservationSize: 21 vectorObservationSize: 41
numStackedVectorObservations: 1 numStackedVectorObservations: 1
vectorActionSize: 03000000 vectorActionSize: 050000000300000003000000
vectorActionDescriptions: [] vectorActionDescriptions: []
vectorActionSpaceType: 0 vectorActionSpaceType: 0
m_Model: {fileID: 0} m_Model: {fileID: 0}
...@@ -135,5 +135,5 @@ MonoBehaviour: ...@@ -135,5 +135,5 @@ MonoBehaviour:
maxStep: 0 maxStep: 0
hasUpgradedFromAgentParameters: 1 hasUpgradedFromAgentParameters: 1
maxStep: 0 maxStep: 0
conveyorPosition: {fileID: 0} conveyor: {fileID: 0}
conveyorTarget: {fileID: 0} target: {fileID: 0}
PTSSim/Assets/Scenes/PTS.unity
+ 280
− 2650
View file @ aa8d1333
This diff is collapsed.
PTSSim/Assets/Scripts/Conveyor.cs
+ 3
− 12
View file @ aa8d1333
...@@ -4,17 +4,8 @@ using UnityEngine; ...@@ -4,17 +4,8 @@ using UnityEngine;
public class Conveyor : MonoBehaviour public class Conveyor : MonoBehaviour
{ {
public bool isOccupied = false; [Tooltip("Control occupation.")]
public Palette occupier;
// Start is called before the first frame update public bool IsOccupied { get => occupier != null; }
void Start()
{
}
// Update is called once per frame
void Update()
{
}
} }
PTSSim/Assets/Scripts/PTS.cs
+ 22
− 16
View file @ aa8d1333
...@@ -2,27 +2,38 @@ ...@@ -2,27 +2,38 @@
using System.Collections.Generic; using System.Collections.Generic;
using UnityEngine; using UnityEngine;
using MLAgents; using MLAgents;
using System.Linq;
public class PTS : MonoBehaviour public class PTS : MonoBehaviour
{ {
public Conveyor[] conveyors; public Conveyor[] conveyors;
public ShiftConveyor[] shiftConveyors;
public Palette[] palettes; public Palette[] palettes;
/*
* Reset is called on episodeBegin from Agent
*/
public void Reset(){ public void Reset(){
foreach (Conveyor conveyor in conveyors) foreach (Conveyor conveyor in conveyors)
{ {
// Reset occupation // Reset occupation
conveyor.isOccupied = false; conveyor.occupier = null;
} }
foreach(Palette palette in palettes) foreach (ShiftConveyor shift in shiftConveyors)
{
// Set shift position
shift.SetRandomPosition();
}
// Get random palette positions
int[] randomPositions = Enumerable.Range(0, conveyors.Length - 1).OrderBy(x => System.Guid.NewGuid()).Take(palettes.Length).ToArray();
for (int i = 0; i < palettes.Length; i++)
{ {
// Place palette at random position // Place palette at random position
int palettePos = Random.Range(0, conveyors.Length); palettes[i].transform.position = conveyors[randomPositions[i]].transform.position + Vector3.up * 0.25f; //TODO move to Palette class
palette.transform.position = conveyors[palettePos].transform.position + Vector3.up * 0.2f;
// Pick random target // Set exit as target for all palettes
int target = Random.Range(0, conveyors.Length); palettes[i].target = conveyors[conveyors.Length-1]; // Hopefully this is the Exit
while(target == palettePos)
target = Random.Range(0, conveyors.Length);
palette.conveyorTarget = conveyors[target];
} }
} }
...@@ -31,12 +42,7 @@ public class PTS : MonoBehaviour ...@@ -31,12 +42,7 @@ public class PTS : MonoBehaviour
{ {
conveyors = GetComponentsInChildren<Conveyor>(); conveyors = GetComponentsInChildren<Conveyor>();
palettes = GetComponentsInChildren<Palette>(); palettes = GetComponentsInChildren<Palette>();
shiftConveyors = GetComponentsInChildren<ShiftConveyor>();
Reset(); Reset();
} }
// Update is called once per frame
void Update()
{
}
} }
PTSSim/Assets/Scripts/Palette.cs
+ 214
− 64
View file @ aa8d1333
...@@ -2,18 +2,37 @@ ...@@ -2,18 +2,37 @@
using System.Collections.Generic; using System.Collections.Generic;
using UnityEngine; using UnityEngine;
using MLAgents; using MLAgents;
using System;
public enum PaletteOpMode {BSTATE, left, right, up, down, turn, heat};
public enum ExecutionState {IDLE, EXECUTE};
enum PaletteOpMode {BSTATE, left, right, up, down, turn, heat};
enum ExecutionState {IDLE, EXECUTE};
public class Palette : Agent public class Palette : Agent
{ {
[Tooltip("Current conveyer object.")]
public Conveyor conveyor;
[Tooltip("Target conveyer object.")]
public Conveyor target;
public ExecutionState EXST { get; private set; }
public PaletteOpMode OPMODE { get; private set; }
private PTS pts; private PTS pts;
public Conveyor conveyorPosition;
public Conveyor conveyorTarget;
private float opModeProgress; private float opModeProgress;
private float targetDistance; private float targetDistance;
private ExecutionState EXST;
private PaletteOpMode OPMODE; private static KeyCode[] AlphaNumber = {
KeyCode.Alpha0,
KeyCode.Alpha1,
KeyCode.Alpha2,
KeyCode.Alpha3,
KeyCode.Alpha4,
KeyCode.Alpha5,
KeyCode.Alpha6,
KeyCode.Alpha7,
KeyCode.Alpha8,
KeyCode.Alpha9,
};
/// <summary> /// <summary>
/// Initial setup, called when the agent is enabled /// Initial setup, called when the agent is enabled
...@@ -30,8 +49,14 @@ public class Palette : Agent ...@@ -30,8 +49,14 @@ public class Palette : Agent
public override void OnEpisodeBegin() public override void OnEpisodeBegin()
{ {
pts.Reset(); pts.Reset();
conveyorPosition = getCurrentConveyor(); conveyor = GetCurrentConveyor();
targetDistance = calculateTargetDistance(); while(conveyor == null) //FIXME: Bad detection of conveyer
{
Debug.LogWarning("Need to reset PTS because of bad conveyer detection of palette.");
pts.Reset();
conveyor = GetCurrentConveyor();
}
targetDistance = TargetDistance;
EXST = ExecutionState.IDLE; EXST = ExecutionState.IDLE;
OPMODE = PaletteOpMode.BSTATE; OPMODE = PaletteOpMode.BSTATE;
...@@ -46,11 +71,19 @@ public class Palette : Agent ...@@ -46,11 +71,19 @@ public class Palette : Agent
/// Behavior Type to "Heuristic Only" in the Behavior Parameters inspector. /// Behavior Type to "Heuristic Only" in the Behavior Parameters inspector.
/// </summary> /// </summary>
/// <returns>A vectorAction array of floats that will be passed into <see cref="AgentAction(float[])"/></returns> /// <returns>A vectorAction array of floats that will be passed into <see cref="AgentAction(float[])"/></returns>
public override float[] Heuristic() public override float[] Heuristic()
{ {
PaletteOpMode opMode = PaletteOpMode.BSTATE; PaletteOpMode opMode = PaletteOpMode.BSTATE;
float[] actions = new float[pts.shiftConveyors.Length+1];
// Reset
if (Input.GetKey(KeyCode.R))
{
EndEpisode();
return actions;
}
// Move pallette
if (Input.GetKey(KeyCode.W)) if (Input.GetKey(KeyCode.W))
{ {
opMode = PaletteOpMode.up; opMode = PaletteOpMode.up;
...@@ -75,23 +108,45 @@ public class Palette : Agent ...@@ -75,23 +108,45 @@ public class Palette : Agent
{ {
opMode = PaletteOpMode.heat; opMode = PaletteOpMode.heat;
} }
actions[0] = (float)opMode;
// Put the actions into an array and return // Move shifts
return new float[] { (float) opMode }; for (int i = 1; i < actions.Length && i < 10; i++)
{
if (Input.GetKey(AlphaNumber[i]))
{
if (Input.GetKey(KeyCode.UpArrow))
actions[i] = 1;
else if (Input.GetKey(KeyCode.DownArrow))
actions[i] = 2;
else
actions[i] = 0;
}
}
return actions;
} }
/// <summary> /// <summary>
/// Perform actions based on a vector of numbers /// Perform actions based on a vector of numbers
/// </summary> /// </summary>
/// <param name="vectorAction">The list of actions to take</param> /// <param name="actions">The list of actions to take</param>
public override void OnActionReceived(float[] actions)
public override void OnActionReceived(float[] vectorAction)
{ {
// Apply a tiny negative reward every step to encourage action // Apply a tiny negative reward every step to encourage action
if (maxStep > 0) AddReward(-1f / maxStep); if (maxStep > 0) AddReward(-1f / maxStep);
// Execute an operation mode // Execute palette action
ExecuteOpMode((PaletteOpMode)vectorAction[0]); ExecuteOpMode((PaletteOpMode)actions[0]);
// Execute shift actions
for (int i = 1; i < actions.Length; i++)
{
if (actions[i] == 1)
ExecuteShift(i - 1, true);
else if (actions[i] == 2)
ExecuteShift(i - 1, false);
}
} }
/// <summary> /// <summary>
...@@ -102,19 +157,19 @@ public class Palette : Agent ...@@ -102,19 +157,19 @@ public class Palette : Agent
//TODO mask possible actions: https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Learning-Environment-Design-Agents.md#masking-discrete-actions //TODO mask possible actions: https://github.com/Unity-Technologies/ml-agents/blob/master/docs/Learning-Environment-Design-Agents.md#masking-discrete-actions
// Occupation states of conveyors // Occupation states of conveyors
foreach(Conveyor conveyor in pts.conveyors) foreach(Conveyor conveyor in pts.conveyors)
sensor.AddObservation(conveyor.isOccupied); {
sensor.AddObservation(conveyor.IsOccupied);
}
// Current position // Current position
sensor.AddOneHotObservation(System.Array.IndexOf(pts.conveyors, conveyorPosition), pts.conveyors.Length); sensor.AddOneHotObservation(System.Array.IndexOf(pts.conveyors, conveyor), pts.conveyors.Length);
// Target position // Target position
sensor.AddOneHotObservation(System.Array.IndexOf(pts.conveyors, conveyorTarget), pts.conveyors.Length); sensor.AddOneHotObservation(System.Array.IndexOf(pts.conveyors, target), pts.conveyors.Length);
// Shift positions
// --> State Space is 3 times active conveyor count foreach (ShiftConveyor shift in pts.shiftConveyors)
}
// Start is called before the first frame update
void Start()
{ {
sensor.AddObservation(shift.Position);
}
// --> State Space is 3 times active conveyor count + count of shift conveyors
} }
// Update is called once per frame // Update is called once per frame
...@@ -129,33 +184,23 @@ public class Palette : Agent ...@@ -129,33 +184,23 @@ public class Palette : Agent
/// <param name="opMode">The operation mode to execute in palette</param> /// <param name="opMode">The operation mode to execute in palette</param>
private void ExecuteOpMode(PaletteOpMode opMode) private void ExecuteOpMode(PaletteOpMode opMode)
{ {
if (opMode == PaletteOpMode.BSTATE)
return;
// Select new OpMode // Select new OpMode
if(opMode != PaletteOpMode.BSTATE && if (OPMODE == PaletteOpMode.BSTATE &&
OPMODE == PaletteOpMode.BSTATE &&
EXST == ExecutionState.IDLE) EXST == ExecutionState.IDLE)
{ {
Debug.Log("Selected operation mode: " + opMode);
OPMODE = opMode; OPMODE = opMode;
EXST = ExecutionState.EXECUTE; EXST = ExecutionState.EXECUTE;
opModeProgress = 0; opModeProgress = 0;
// Reward for selecting an opmode
AddReward(0.1f); AddReward(0.1f);
}
// Simulate opMode execution
if(OPMODE == PaletteOpMode.BSTATE)
return;
else if(OPMODE == PaletteOpMode.right)
{
opModeProgress += Time.deltaTime/2f;
transform.Translate(-Time.deltaTime, 0, 0);
}
else if(OPMODE == PaletteOpMode.left)
{
opModeProgress += Time.deltaTime/2f;
transform.Translate(Time.deltaTime, 0, 0);
}else {
// Not implemented yet
opModeProgress = 1;
} }
SimulateOperationMode();
// Check if opMode simulation is completed // Check if opMode simulation is completed
if (opModeProgress >= 1) if (opModeProgress >= 1)
...@@ -166,53 +211,158 @@ public class Palette : Agent ...@@ -166,53 +211,158 @@ public class Palette : Agent
opModeProgress = 0; opModeProgress = 0;
// Simulate the update of the postion // Simulate the update of the postion
conveyorPosition.isOccupied = false; conveyor.occupier = null;
conveyorPosition = getCurrentConveyor(); conveyor = GetCurrentConveyor();
if(conveyorPosition == null) if(conveyor == null)
{ {
SetReward(-10f); SetReward(-10f);
EndEpisode(); EndEpisode();
return;
} }
//Snap to exact conveyor position
transform.position = conveyor.transform.position + (Vector3.up * 0.25f);
// Check if target is reached // Check if target is reached
if(conveyorPosition == conveyorTarget) if (conveyor == target)
{ {
SetReward(10f); AddReward(10f);
EndEpisode(); EndEpisode();
}else{ }else{
// Add reward if closer to target // Add reward if closer to target
float newTargetDistance = calculateTargetDistance(); float newTargetDistance = TargetDistance;
AddReward((targetDistance - newTargetDistance) > 0 ? -0.01f : 0.01f); AddReward((targetDistance - newTargetDistance) > 0 ? -0.01f : 0.01f);
targetDistance = calculateTargetDistance(); targetDistance = TargetDistance;
} }
} }
// Negative reward for illegal opMode // Negative reward for illegal opMode
if(opModeProgress == -1) else if (opModeProgress == -1)
{ {
AddReward(-0.1f); // Simulate update of states
} OPMODE = PaletteOpMode.BSTATE;
EXST = ExecutionState.IDLE;
opModeProgress = 0;
// Compensate reward and punish for choosing unnecessary operation mode
AddReward(-0.2f);
}
} }
private float calculateTargetDistance(){ private float TargetDistance
return Vector3.Distance(conveyorPosition.transform.position, conveyorTarget.transform.position); {
get
{
if (conveyor != null && target != null)
return Vector3.Distance(conveyor.transform.position, target.transform.position);
return float.MaxValue;
}
} }
private Conveyor getCurrentConveyor() private Conveyor GetCurrentConveyor()
{ {
Collider[] hitColliders = Physics.OverlapSphere(gameObject.transform.position + 0 * Vector3.down, transform.localScale.y / 2f); Collider[] hitColliders = Physics.OverlapSphere(gameObject.transform.position + 0.2f * Vector3.down, transform.localScale.y / 2f);
if(hitColliders.Length < 1) if(hitColliders.Length < 1)
return null; return null;
foreach (Collider collider in hitColliders){ foreach (Collider collider in hitColliders){
if (collider.transform.CompareTag("Conveyor")) if (collider.transform.CompareTag("Conveyor"))
{ {
Debug.Log(name + " positioned on Conveyor: " + collider.name);
Conveyor conveyor = collider.gameObject.GetComponent<Conveyor>(); Conveyor conveyor = collider.gameObject.GetComponent<Conveyor>();
conveyor.isOccupied = true; conveyor.occupier = this;
return conveyor;
}
}
return null;
}
private Conveyor GetNextConveyor(bool directionRight)
{
Collider[] hitColliders = Physics.OverlapSphere(
transform.position + 0.2f * Vector3.down + 2f * (directionRight ? Vector3.left : Vector3.right),
transform.localScale.y / 2f);
if (hitColliders.Length < 1)
return null;
foreach (Collider collider in hitColliders)
{
if (collider.transform.CompareTag("Conveyor"))
{
Conveyor conveyor = collider.gameObject.GetComponent<Conveyor>();
conveyor.occupier = this;
return conveyor; return conveyor;
} }
} }
return null; return null;
} }
private void SimulateOperationMode()
{
// Simulate operation mode
if (OPMODE == PaletteOpMode.BSTATE)
return;
else if (OPMODE == PaletteOpMode.right || OPMODE == PaletteOpMode.left)
{
// Occupy next conveyor first
if(opModeProgress == 0)
{
Conveyor nextConveyor = GetNextConveyor(OPMODE == PaletteOpMode.right);
if (nextConveyor == null || nextConveyor.occupier != this)
{
opModeProgress = -1;
return;
}
nextConveyor.occupier = this;
}
// Move left or right
opModeProgress += Time.deltaTime / 2f;
transform.Translate(OPMODE == PaletteOpMode.right ? -Time.deltaTime : Time.deltaTime, 0, 0);
}
else if (OPMODE == PaletteOpMode.up || OPMODE == PaletteOpMode.down)
{
if (conveyor.TryGetComponent(out ShiftConveyor shift))
{
opModeProgress = shift.Shift(OPMODE == PaletteOpMode.up);
transform.position = new Vector3(
transform.position.x,
transform.position.y,
shift.transform.position.z);
}
else
// Palette is not on a shift conveyor
opModeProgress = -1;
}
else
{
// Not implemented yet or not possible
opModeProgress = -1;
}
}
private void ExecuteShift(int shiftNumber, bool directionUp)
{
Conveyor conveyor = pts.shiftConveyors[shiftNumber].GetComponent<Conveyor>();
if (!conveyor.IsOccupied)
{
StartCoroutine(SimulateShift(conveyor, pts.shiftConveyors[shiftNumber], directionUp));
}
else
{
return;
}
}
private IEnumerator SimulateShift(Conveyor conveyor, ShiftConveyor shift, bool directionUp)
{
// Occupy shift
conveyor.occupier = this;
// Shift up or down
float progress = 0;
while(progress < 1)
{
progress = shift.Shift(directionUp);
if (progress == -1)
break;
yield return null;
}
// Free shift
conveyor.occupier = null;
}
} }
PTSSim/Assets/Scripts/ShiftConveyor.cs
+ 45
− 6
View file @ aa8d1333
...@@ -2,19 +2,58 @@ ...@@ -2,19 +2,58 @@
using System.Collections.Generic; using System.Collections.Generic;
using UnityEngine; using UnityEngine;
// Todo make generic shifter, that can shift (and rotate) to different positions (and roations)
public class ShiftConveyor : MonoBehaviour public class ShiftConveyor : MonoBehaviour
{ {
[Tooltip("Current position (index of possiblePositions starting from 0)")]
private int _position;
public int Position
{
get { return _position; }
set { if(value >= 0 && value < possiblePositions.Count)
transform.localPosition = new Vector3(
transform.localPosition.x,
transform.localPosition.y,
possiblePositions[value]);
_position = value;
}
}
[Tooltip("Speed of the shift movement.")]
public float shiftSpeed = 1f;
[Tooltip("Moves the shift to the exact position, if distance is smaller than value")]
public float snapToTarget = 0.01f;
public int shiftPos = -1; [Tooltip("Z value for each possible shift position (have to be ordered by size).")]
// Todo order on set accessor
public List<float> possiblePositions;
// Start is called before the first frame update
void Start() public float Shift(bool directionUp)
{
// Check if direction is possible
if (Position == -1
|| (directionUp && Position == 0)
|| (!directionUp && Position == possiblePositions.Count - 1))
{ {
return -1;
}
// Move into direction
transform.Translate(0, 0, Time.deltaTime * shiftSpeed * (directionUp? -1 : 1));
// Check distance to target
int targetPosition = Position + (directionUp ? -1 : 1);
float distance = System.Math.Abs(transform.localPosition.z - possiblePositions[targetPosition]);
if (distance <= snapToTarget)
{
Position = targetPosition;
return 1;
}
return 1 - (distance / (System.Math.Abs(possiblePositions[targetPosition] - possiblePositions[Position])));
} }
// Update is called once per frame public void SetRandomPosition()
void Update()
{ {
Position = Random.Range(0, possiblePositions.Count);
} }
} }
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