spawn a target

4 年前 · 1dd1dd81
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--- a/Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicTarget.unity
+++ b/Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicTarget.unity
--- a/Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicVariableSpeed.unity
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--- a/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

 [RequireComponent(typeof(JointDriveController))] // Required to set joint forces
 public class CrawlerAgent : Agent
-{    
+{
    public enum CrawlerAgentBehaviorType
    {
        CrawlerDynamic, CrawlerDynamicVariableSpeed, CrawlerStatic, CrawlerStaticVariableSpeed
    const float m_maxWalkingSpeed = 10; //The max walking speed

    //Should the agent sample a new goal velocity each episode?
-    //If true, walkSpeed will be randomly set between zero and m_maxWalkingSpeed in OnEpisodeBegin() 
+    //If true, walkSpeed will be randomly set between zero and m_maxWalkingSpeed in OnEpisodeBegin()
-    [Header("Target To Walk Towards")] public Transform target; //Target the agent will walk towards during training.
+    [Header("Target To Walk Towards")]
+    public Transform targetPrefab; //Target prefab
+    public Transform target; //Target the agent will walk towards during training.

    [Header("Body Parts")] [Space(10)] public Transform body;
    public Transform leg0Upper;

    public override void Initialize()
    {
-        
+
        m_BehaviorParams = GetComponent<Unity.MLAgents.Policies.BehaviorParameters>();
        switch (typeOfCrawler)
        {
                randomizeWalkSpeedEachEpisode = false;
+                target = Instantiate(targetPrefab, transform.position, Quaternion.identity, transform);
                break;
            }
            case CrawlerAgentBehaviorType.CrawlerDynamicVariableSpeed :
                break;
            }
        }
-        
+
-        
+
        //Setup each body part
        m_JdController.SetupBodyPart(body);
        m_JdController.SetupBodyPart(leg0Upper);
        //ragdoll's avg vel
        var avgVel = GetAvgVelocity();

-        //current ragdoll velocity. normalized 
+        //current ragdoll velocity. normalized
        sensor.AddObservation(Vector3.Distance(velGoal, avgVel));
        //avg body vel relative to cube
        sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(avgVel));
        sensor.AddObservation(Quaternion.FromToRotation(body.forward, cubeForward));
-        
+
        //Add pos of target relative to orientation cube
        sensor.AddObservation(m_OrientationCube.transform.InverseTransformPoint(target.transform.position));

            CollectObservationBodyPart(bodyPart, sensor);
        }
    }
-    
-    
+
+
 //    /// <summary>
 //    /// Loop over body parts to add them to observation.
 //    /// </summary>
 //            CollectObservationBodyPart(bodyPart, sensor);
 //        }
 //    }
-    
-    public override void OnActionReceived(float[] vectorAction)
+
+    public override void OnActionReceived(ActionBuffers actionBuffers)
    {
        // The dictionary with all the body parts in it are in the jdController
        var bpDict = m_JdController.bodyPartsDict;
                ? groundedMaterial
                : unGroundedMaterial;
        }
-        
+
        var cubeForward = m_OrientationCube.transform.forward;

        // Set reward for this step according to mixture of the following elements.
--- a/Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticVariableSpeed.unity
+++ b/Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticVariableSpeed.unity
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