How to access RayPerceptionSensor3D data?

Can I access RayPerceptionSensor3D data from Agent class? I want to input it into a neural network implemented on C#.

Thanks!

 

Hi @unity_nBMnid_GOQvclw,
There isn't currently a way to get the data from the RayPerceptionComponent. But you can call Perceive directly and get the data back that way. Let me know if that covers your use case.

 

And the truth is, there is no way to understand RayPerceptionComponent is working or not. There is no state tracking tool.

 

if I call this directly, does it guarantee that the output matches to what RayPerceptionComponent passes to learning?

 

The output is equivalent but not in exactly the same form. You'd need to take the RayPerceptionOutput that Perceive() returns, and call RayOutput.ToFloatArray() for each RayOutput in RayPerceptionOutput.rayOutputs.

 

thank you! But how to fill input for Perceive(RayPerceptionInput input)? Can I take it from GetComponent<RayPerceptionSensorComponent3D>();?

 

Hi. Do you know how to call 'Perceive' and fill the input now? I am facing the same problem. Looking forward to your reply. Thank you.

 

not solved yet. Will try to dive deeper on weekends. In the same time I'd ask you to share solution if you find it earlier))

 

I gave up and tried another way.
In my case, I want to get the distance to the nearest obstacle to set the reward function. I gave up getting it from the RayPerceptionComponent. And use the "Physics.SphereCast" to access the data.

 

Yes, you should be able to use

GetComponent<RayPerceptionSensorComponent3D>();

and then use the

GetRayPerceptionInput()

method.

This is assuming you're using 0.15.1 (or 0.15.0). In 0.14.0, you'd have to use the PerceiveStatic() which is the same basic idea but takes a lot of arguments instead of a single input structure, and doesn't give the outputs in as nice of a format.

 

Thanks for the answer. Currently I implemented my own logic based on RayCast which lets my agent learn better then RayPerceptionSensor. Probably I get back to RayPerceptionSensor when it is more usable and gives more control.