Merge branch 'master' of git@ooftooft.net:Racesm.git

# Conflicts:
#	Assets/ML-Agents/Timers/AI training_timers.json

Assets/Demonstrations/BensonV3M.demo.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 5e7d3887e40cc3045b65f0c2cc73823b
+guid: eda9d637f2550584bb2ee47c76a22cc9
 ScriptedImporter:
   internalIDToNameTable: []
   externalObjects: {}

Assets/Imported Assets/EmaceArt/Slavic World Free/URP_Support/URP/URP_Standard.unitypackage.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 58f7e79a87c79824597746e8c1bfe400
+guid: d884527f3e242c144af52b11faf49d2f
 DefaultImporter:
   externalObjects: {}
   userData: 

Assets/Imported Assets/SimpleNaturePack/SimpleNaturePack_2020.3_URP_v1.24.unitypackage.meta

@@ -1,7 +0,0 @@
-fileFormatVersion: 2
-guid: f58d25b9e504a4f41ab4a71cf87c1845
-DefaultImporter:
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/ML-Agents/Timers/AI training_timers.json

@@ -1 +1 @@
-{"count":1,"self":88.402387199999993,"total":98.823598199999992,"children":{"InitializeActuators":{"count":1,"self":0.0009971,"total":0.0009971,"children":null},"InitializeSensors":{"count":1,"self":0.001996,"total":0.001996,"children":null},"AgentSendState":{"count":4679,"self":0.3927429,"total":0.5958427,"children":{"CollectObservations":{"count":4679,"self":0.1237732,"total":0.1237732,"children":null},"WriteActionMask":{"count":4679,"self":0.0166111,"total":0.0166111,"children":null},"RequestDecision":{"count":4679,"self":0.0627155,"total":0.0627155,"children":null}}},"DecideAction":{"count":4679,"self":9.4216711999999987,"total":9.5046618,"children":{"RayPerceptionSensor.Perceive":{"count":9358,"self":0.0829907,"total":0.0829907,"children":null}}},"AgentAct":{"count":4679,"self":0.315722,"total":0.315722,"children":null}},"gauges":{"BensonImitationV3.CumulativeReward":{"count":8,"max":3.900985,"min":-0.572999835,"runningAverage":1.445241,"value":3.85999084,"weightedAverage":1.77992535}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1712925097","unity_version":"2022.3.11f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2022.3.11f1\\Editor\\Unity.exe -projectpath C:\\Users\\Magnus\\Desktop\\Ny unityting\\Racesm -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-Magnus -hubSessionId cf11875e-7c45-4b77-a92f-dc14d8e96b41 -accessToken niNI_cX07NrigS8n9U0wVIj4PPmUMi8ELGwrz7xYRyQ005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"AI Training","end_time_seconds":"1712925196"}}
+{"count":1,"self":309.6612096,"total":311.8317685,"children":{"InitializeActuators":{"count":1,"self":0.0015026999999999998,"total":0.0015026999999999998,"children":null},"InitializeSensors":{"count":1,"self":0.0020054,"total":0.0020054,"children":null},"AgentSendState":{"count":15319,"self":1.2925794,"total":1.8818713,"children":{"CollectObservations":{"count":15319,"self":0.3923006,"total":0.3923006,"children":null},"WriteActionMask":{"count":15319,"self":0.0248735,"total":0.0248735,"children":null},"RequestDecision":{"count":15319,"self":0.085557,"total":0.1400864,"children":{"RayPerceptionSensor.Perceive":{"count":30638,"self":0.0545294,"total":0.0545294,"children":null}}},"RayPerceptionSensor.Perceive":{"count":30636,"self":0.0320314,"total":0.0320314,"children":null}}},"DecideAction":{"count":15319,"self":0.0765185,"total":0.0765185,"children":null},"AgentAct":{"count":15319,"self":0.2076653,"total":0.2076653,"children":{"RayPerceptionSensor.Perceive":{"count":36,"self":0,"total":0,"children":null}}}},"gauges":{"BensonImitationV3.CumulativeReward":{"count":9,"max":24.016304,"min":7.681255,"runningAverage":20.2167473,"value":23.9503059,"weightedAverage":21.3022}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1712925366","unity_version":"2022.3.11f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2022.3.11f1\\Editor\\Unity.exe -projectpath C:\\Users\\noahk\\Documents\\Unity projects\\Racesm -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-noahk -hubSessionId 9ca26982-a0f6-4127-8a14-962f9b9ca2ae -accessToken Uz6Elw7wQ8JPvtO_g14OUcqdUTEXpflxltMduak3nKQ005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"AI training","end_time_seconds":"1712925678"}}

Assets/Scenes/AI Training.unity

@@ -1344,6 +1344,10 @@ PrefabInstance:
       propertyPath: m_LocalPosition.z
       value: -79.35
       objectReference: {fileID: 0}
+    - target: {fileID: 4240903988561362933, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3}
+      propertyPath: maxStepsPerCheckpoint
+      value: 750
+      objectReference: {fileID: 0}
     - target: {fileID: 4240903988561362933, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3}
       propertyPath: checkpoints.Array.size
       value: 16
@@ -1490,11 +1494,11 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 8031066805216850976, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3}
       propertyPath: Record
-      value: 0
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 8031066805216850976, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3}
       propertyPath: DemonstrationName
-      value: BensonV3
+      value: BensonV3M
       objectReference: {fileID: 0}
     - target: {fileID: 8242215082626919376, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3}
       propertyPath: m_Model
@@ -1508,6 +1512,10 @@ PrefabInstance:
       propertyPath: m_BehaviorType
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 8242215082626919376, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3}
+      propertyPath: m_BrainParameters.VectorObservationSize
+      value: 3
+      objectReference: {fileID: 0}
     - target: {fileID: 8262033930960634649, guid: 3664a8beed80ac848a9377d9ee14cb9b, type: 3}
       propertyPath: m_IsActive
       value: 0

Assets/Scripts/AgentController.cs

@@ -83,6 +83,10 @@ public class AgentController : Agent
 
         sensor.AddObservation(checkpointAngle);
 
+        float checkpintDistance = distanceToCheckpoint(currentCheckpoint);
+
+        sensor.AddObservation(checkpintDistance);
+
         // Agent velocity
         var FullVelocityMagnitude = rigidBody.velocity.magnitude; // Velocity including angular velocity