remove multiple walk dir methods because its confusing

4 年前 · 07115ce4
--- a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/OrientationCubeController.cs
+++ b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/OrientationCubeController.cs
    public class OrientationCubeController : MonoBehaviour
    {
        //Public method to allow Agent to set look rotation of this transform
-        //This method will be deprecated in future PR
        public void UpdateOrientation(Transform rootBP, Transform target)
        {
            var dirVector = target.position - transform.position;

            //UPDATE ORIENTATION CUBE POS & ROT
            transform.SetPositionAndRotation(rootBP.position, lookRot);
-        }
-
-        //Public method to allow Agent to set look rotation of this transform
-        public void UpdateOrientation(Vector3 pos, Vector3 dirVector)
-        {
-            dirVector.y = 0; //flatten dir on the y. this will only work on level surfaces
-            var lookRot =
-                dirVector == Vector3.zero
-                    ? Quaternion.identity
-                    : Quaternion.LookRotation(dirVector.normalized); //get our look rot to the target
-
-            //UPDATE ORIENTATION CUBE POS & ROT
-            transform.SetPositionAndRotation(pos, lookRot);
        }
    }
 }
--- a/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Platforms/PlatformWalkerDynamicSingleSpeed.prefab
+++ b/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Platforms/PlatformWalkerDynamicSingleSpeed.prefab
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--- a/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Platforms/PlatformWalkerDynamicVariableSpeed.prefab
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--- a/Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerRagdollStSingleSpeedVariant.prefab
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--- a/Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerDynamic.unity
+++ b/Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerDynamic.unity
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--- a/Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerStaticVariableSpeed.unity
+++ b/Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerStaticVariableSpeed.unity
--- a/Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
 using System;
-using MLAgentsExamples;
 using UnityEngine;
 using Unity.MLAgents;
 using Unity.MLAgentsExamples;

 public class WalkerAgent : Agent
 {
-    [Header("Walk Speed")] [Range(0.1f, 10)] public float targetWalkingSpeed = 10; //The walking speed to try and achieve
+    [Header("Walk Speed")] [Range(0.1f, 10)]
+    public float targetWalkingSpeed = 10; //The walking speed to try and achieve
+
    const float m_maxWalkingSpeed = 10; //The max walking speed

    //Should the agent sample a new goal velocity each episode?

-    //The method the agent will use during training to determine walk direction
-    //If UseWorldDirection is selected, the agent will be rewarded for facing worldDirToWalk during training
-    //If UseTarget is selected, the agent will be rewarded for facing target during training
-    //The purpose of this is to be able to give a target to chase OR a direction to walk. This could be useful when...
-    //...making behaviors for player controllers OR NPC behaviors
-    public enum WalkDirectionMethod
-    {
-        UseWorldDirection,
-        UseTarget
-    }
+    //The direction an agent will walk during training.
+    public Vector3 worldDirToWalk = Vector3.right;
-    [Header("Walk Direction")] public WalkDirectionMethod walkDirectionMethod;
-    //The direction an agent will walk during training. Only used if UseWorldDirection is selected.
-    public Vector3 worldDirToWalk = Vector3.right; 
-    public Vector3 worldPosToWalkTo; //The position the agent will walk towards.
-    public Transform target; //Target the agent will walk towards.
+    [Header("Target To Walk Towards")] public Transform target; //Target the agent will walk towards during training.

    [Header("Body Parts")] public Transform hips;
    public Transform chest;
    //This will be used as a stabilized model space reference point for observations
    //Because ragdolls can move erratically during training, using a stabilized reference transform improves learning
    OrientationCubeController m_OrientationCube;
+
    //The indicator graphic gameobject that points towards the target
    DirectionIndicator m_DirectionIndicator;
    JointDriveController m_JdController;

        UpdateOrientationObjects();

-        //Set the initial position to walk to
-        if (walkDirectionMethod == WalkDirectionMethod.UseWorldDirection)
-        {
-            worldPosToWalkTo = hips.position + (worldDirToWalk * 1000);
-        }
-
        //Set our goal walking speed
        targetWalkingSpeed =
            randomizeWalkSpeedEachEpisode ? Random.Range(0.1f, m_maxWalkingSpeed) : targetWalkingSpeed;
    {
        var cubeForward = m_OrientationCube.transform.forward;

-        //ragdoll's avg vel
+        //velocity we want to match
+        //ragdoll's avg vel
-        
+
-//        sensor.AddObservation(GetMatchingVelocityInverseLerp(cubeForward * targetWalkingSpeed, GetAvgVelocity()));
-
-        //actual vel relative to cube
+        //avg body vel relative to cube
-//        sensor.AddObservation(avgVel);
-//        //current speed goal
-//        sensor.AddObservation(targetWalkingSpeed);
-
-        if (walkDirectionMethod == WalkDirectionMethod.UseTarget)
-        {
-            worldPosToWalkTo = target.transform.position;
-        }
-
-        Vector3 relPos =
-            Vector3.ClampMagnitude(m_OrientationCube.transform.InverseTransformPoint(worldPosToWalkTo), 100);
-        sensor.AddObservation(relPos);
+        sensor.AddObservation(m_OrientationCube.transform.InverseTransformPoint(target.transform.position));

        foreach (var bodyPart in m_JdController.bodyPartsList)
        {
    //Update OrientationCube and DirectionIndicator
    void UpdateOrientationObjects()
    {
-        worldDirToWalk = walkDirectionMethod == WalkDirectionMethod.UseTarget
-            ? target.position - hips.position
-            : worldDirToWalk;
-        m_OrientationCube.UpdateOrientation(hips.position, worldDirToWalk);
-        if(m_DirectionIndicator)
+        worldDirToWalk = target.position - hips.position;
+        m_OrientationCube.UpdateOrientation(hips, target);
+        if (m_DirectionIndicator)
        {
            m_DirectionIndicator.MatchOrientation(m_OrientationCube.transform);
        }
        // Set reward for this step according to mixture of the following elements.
        // a. Match target speed
        //This reward will approach 1 if it matches perfectly and approach zero as it deviates
-//        var matchSpeedReward = GetMatchingVelocityInverseLerp(cubeForward * targetWalkingSpeed, GetAvgVelocity());
-        
+
-                $" cubeForward: {cubeForward}\n"+
-                $" hips.velocity: {m_JdController.bodyPartsDict[hips].rb.velocity}\n"+
+                $" cubeForward: {cubeForward}\n" +
+                $" hips.velocity: {m_JdController.bodyPartsDict[hips].rb.velocity}\n" +
                $" maximumWalkingSpeed: {m_maxWalkingSpeed}"
            );
        }
        {
            throw new ArgumentException(
                "NaN in lookAtTargetReward.\n" +
-                $" cubeForward: {cubeForward}\n"+
+                $" cubeForward: {cubeForward}\n" +
-        
+
-    //...using the average helps prevent this erratic movment
+    //...using the average helps prevent this erratic movement
    Vector3 GetAvgVelocity()
    {
        Vector3 velSum = Vector3.zero;