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updated walker dynamic demo file. cleanup

/hh-develop-ragdoll-testing
HH 5 年前
当前提交
2d2844bd
共有 24 个文件被更改，包括 2051 次插入 和 2162 次删除
  1. 3
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/JointDriveController.cs
  2. 29
      Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerRagdoll.prefab
  3. 7
      Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerWithTargetPair.prefab
  4. 2
      Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerStatic.unity
  5. 42
      config/ppo/Walker.yaml
  6. 42
      config/trainer_config.yaml
  7. 1001
      Project/Assets/ExpertWalkerDyn.demo
  8. 10
      Project/Assets/ExpertWalkerDyn.demo.meta
  9. 1001
      Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalkerDyn.demo
  10. 10
      Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalkerDyn.demo.meta
  11. 11
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AvgCenterOfMass.cs.meta
  12. 28
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/RagdollHelpers.cs
  13. 3
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/RagdollHelpers.cs.meta
  14. 297
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AvgCenterOfMass.cs
  15. 36
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/MeshSkewFix.cs
  16. 11
      Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/MeshSkewFix.cs.meta
  17. 1001
      Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo
  18. 10
      Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo.meta
  19. 7
      Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerPairDynamic.prefab.meta
  20. 358
      Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerPairDynamic.prefab
  21. 12
      Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgentDynamic.cs.meta
  22. 284
      Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgentDynamic.cs
  23. 8
      Project/Assets/Puppo.meta

3
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/JointDriveController.cs
查看文件


startingPos = t.position,
startingRot = t.rotation
};
bp.rb.maxAngularVelocity = 30;
// bp.rb.maxAngularVelocity = 100;
bp.rb.maxAngularVelocity = 50;
// Add & setup the ground contact script
bp.groundContact = t.GetComponent<GroundContact>();

29
Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerRagdoll.prefab
查看文件


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m_Name: WalkerRagdoll
m_TagString: Untagged

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avgCOMWorldSpace: {x: -499.97733, y: 2.196562, z: -250.00104}
avgCOMColor: {r: 0, g: 1, b: 0, a: 1}
bodyPartCOMColor: {r: 0.3820755, g: 0.8758695, b: 1, a: 1}
totalMass: 94
showBPPosRelToBody: 0
useTransformPoint: 0
useTransformVector: 0
useTransformDir: 0
showRBPos: 0
showRelPosVectorOnly: 0
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GameObject:
m_ObjectHideFlags: 0

7
Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerWithTargetPair.prefab
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m_Component:
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m_Layer: 0
m_Name: WalkerPair
m_Name: WalkerWithTargetPair
m_TagString: Untagged
m_Icon: {fileID: 0}
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type: 3}
propertyPath: m_Name
value: WalkerRagdoll
objectReference: {fileID: 0}
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type: 3}
propertyPath: m_BehaviorName
value: WalkerStatic
objectReference: {fileID: 0}
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type: 3}

2
Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerStatic.unity
查看文件


- component: {fileID: 1409355323}
- component: {fileID: 1409355321}
m_Layer: 0
m_Name: WalkerSettings
m_Name: WalkerStaticSettings
m_TagString: Untagged
m_Icon: {fileID: 0}
m_NavMeshLayer: 0

42
config/ppo/Walker.yaml
查看文件


behaviors:
Walker:
trainer_type: ppo
hyperparameters:
batch_size: 2048
buffer_size: 20480
learning_rate: 0.0003
beta: 0.005
epsilon: 0.2
lambd: 0.95
num_epoch: 3
learning_rate_schedule: linear
network_settings:
normalize: true
hidden_units: 512
num_layers: 3
vis_encode_type: simple
trainer: ppo
batch_size: 2048
beta: 0.005
buffer_size: 20480
epsilon: 0.2
hidden_units: 512
lambd: 0.95
learning_rate: 0.0003
learning_rate_schedule: linear
max_steps: 2e7
memory_size: 128
normalize: true
num_epoch: 3
num_layers: 3
time_horizon: 1000
sequence_length: 64
summary_freq: 30000
use_recurrent: false
vis_encode_type: simple
gamma: 0.995
output_path: default
keep_checkpoints: 5
max_steps: 20000000
time_horizon: 1000
summary_freq: 30000
threaded: true
gamma: 0.995

42
config/trainer_config.yaml
查看文件


strength: 1.0
gamma: 0.995
CrawlerBalanced:
normalize: true
num_epoch: 3
time_horizon: 1000
batch_size: 2024
buffer_size: 20240
# max_steps: 3.5e6
max_steps: 1e8
summary_freq: 30000
num_layers: 3
hidden_units: 512
reward_signals:
extrinsic:
strength: 1.0
gamma: 0.995
WormDynamic:
normalize: true
num_epoch: 3

strength: 1.0
gamma: 0.995
# WalkerDynamic:
# normalize: true
# num_epoch: 8
# time_horizon: 1000
# batch_size: 2048
# buffer_size: 20480
# # time_horizon: 128
# # batch_size: 512 #2048
# # buffer_size: 4096 #20480
# max_steps: 7.5e6
# summary_freq: 30000
# num_layers: 3
# hidden_units: 128
# beta: 1.0e-2
# learning_rate: 1.0e-3
# reward_signals:
# extrinsic:
# strength: 1.0
# gamma: 0.995
# curiosity:
# strength: 0.02
# gamma: 0.99
# encoding_size: 256
WalkerDynamic:
normalize: true
num_epoch: 3

strength: 1.0
gamma: 0.995
Walker:
WalkerStatic:
normalize: true
num_epoch: 3
time_horizon: 1000

1001
Project/Assets/ExpertWalkerDyn.demo
文件差异内容过多而无法显示
查看文件

10
Project/Assets/ExpertWalkerDyn.demo.meta
查看文件


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script: {fileID: 11500000, guid: 7bd65ce151aaa4a41a45312543c56be1, type: 3}

1001
Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalkerDyn.demo
文件差异内容过多而无法显示
查看文件

10
Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalkerDyn.demo.meta
查看文件


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11
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AvgCenterOfMass.cs.meta
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28
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/RagdollHelpers.cs
查看文件


using UnityEngine;
namespace MLAgentsExamples
{
/// <summary>
/// This class contains logic for common ragdoll operations & helper methods.
/// </summary>
public static class RagdollHelpers
{
/// <summary>
//Get Joint Rotation Relative to the Connected Rigidbody
//We want to collect this info because it is the actual rotation, not the "target rotation"
//..because when the joint is weak, the target rotation will be much different than the actual rotation
/// </summary>
public static Quaternion GetJointRotation(ConfigurableJoint joint)
{
Quaternion rotDiff = Quaternion.Inverse(joint.connectedBody.transform.rotation) * joint.transform.rotation;
return(rotDiff);
// return(Quaternion.FromToRotation(joint.axis, joint.connectedBody.transform.rotation.eulerAngles));
}
public static Quaternion GetRotationDelta(Quaternion r1, Quaternion r2)
{
Quaternion rotDiff = Quaternion.Inverse(r1) * r2;
return(rotDiff);
}
}
}

3
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/RagdollHelpers.cs.meta
查看文件


fileFormatVersion: 2
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timeCreated: 1588782867

297
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AvgCenterOfMass.cs
查看文件


using System.Collections.Generic;
using UnityEngine;
/// <summary>
/// Used for visualizing the average center of mass of a ragdoll
/// </summary>
[DisallowMultipleComponent]
[ExecuteInEditMode]
public class AvgCenterOfMass : MonoBehaviour
{
/// <summary>
/// Enable to show a green spehere at the current center of mass.
/// </summary>
[Tooltip("Enable to show a green spehere at the current center of mass.")]
public bool showCOMGizmos = true;
public Vector3 avgCOMWorldSpace;
public Color avgCOMColor = Color.green;
public Color bodyPartCOMColor = Color.yellow;
List<Rigidbody> rbList = new List<Rigidbody>();
public float totalMass;
[Tooltip("Visualize Relative Pos")]
public bool showBPPosRelToBody;
public bool useTransformPoint = true;
public bool useTransformVector;
public bool useTransformDir;
public bool showRBPos;
public bool showRelPosVectorOnly;
public bool showInverseTransformPointUnscaledRelToBody;
public bool showInverseTransformPointRelToBody;
public bool showInverseTransformVectorRelToBody;
public bool showInverseTransformDirRelToBody;
public Transform body_T;
void OnEnable()
{
SetUpRigidbodies();
}
void SetUpRigidbodies()
{
rbList.Clear();
totalMass = 0;
foreach(var item in GetComponentsInChildren<Rigidbody>())
{
rbList.Add(item);
totalMass += item.mass;
}
}
// void FixedUpdate()
// {
// if(Application.isPlaying)
// {
// avgCOMWorldSpace = Vector3.zero;
// foreach(var item in rbList)
// {
// if (item)
// {
// avgCOMWorldSpace += item.worldCenterOfMass;
// }
// }
// //DRAW AVG GIZMOS
// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
// }
// }
void FixedUpdate()
{
if(Application.isPlaying)
{
// avgCOMWorldSpace = Vector3.zero;
// foreach(var item in rbList)
// {
// if (item)
// {
// avgCOMWorldSpace += item.worldCenterOfMass;
// }
// }
// //DRAW AVG GIZMOS
// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
Vector3 CoM = Vector3.zero;
float c = 0f;
foreach(var item in rbList)
{
CoM += item.worldCenterOfMass * item.mass;
c += item.mass;
}
avgCOMWorldSpace = CoM/c;
// CoM /= c;
if (showBPPosRelToBody)
{
var pos = body_T.position;
Matrix4x4 bodyMatrix = body_T.localToWorldMatrix;
// get position from the last column
var bodyPos = new Vector3(bodyMatrix[0,3], bodyMatrix[1,3], bodyMatrix[2,3]);
Debug.DrawRay(bodyPos, Vector3.up, Color.yellow,Time.fixedDeltaTime);
foreach (var rb in rbList)
{
if (showRBPos)
{
Debug.DrawRay(rb.position, Vector3.up, Color.green,Time.fixedDeltaTime);
}
if (rb.transform != body_T)
{
if (showRelPosVectorOnly)
{
var relPosVector = rb.position - body_T.position;
// Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
Debug.DrawRay(body_T.position + relPosVector, Vector3.up, Color.red,Time.fixedDeltaTime);
// Vector3 currentLocalPosRelToMatrix = bodyMatrix.inverse.MultiplyPoint(rb.position);
Vector3 currentLocalPosRelToMatrix = bodyMatrix.inverse.MultiplyVector(rb.position - bodyPos);
Debug.DrawRay(body_T.position + currentLocalPosRelToMatrix, Vector3.up, Color.green,Time.fixedDeltaTime);
}
if (showInverseTransformPointUnscaledRelToBody)
{
// Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
// Debug.DrawRay(body_T.position + body_T.InverseTransformPointUnscaled(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
Debug.DrawRay(body_T.position + body_T.InverseTransformPointUnscaled(rb.transform.position), Vector3.up, Color.red,Time.fixedDeltaTime);
}
if (showInverseTransformPointRelToBody)
{
// Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
}
if (showInverseTransformDirRelToBody)
{
Debug.DrawRay(body_T.InverseTransformDirection(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
}
if (showInverseTransformVectorRelToBody)
{
Debug.DrawRay(body_T.position + body_T.InverseTransformVector(rb.position - body_T.position), Vector3.up, Color.red,Time.fixedDeltaTime);
}
// var localPosRelToBody = body.InverseTransformPoint(rb.position);
// Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
// Debug.DrawRay(body_T.position + rb.transform.TransformVector(rb.transform.localPosition), Vector3.up, Color.cyan,Time.fixedDeltaTime);
// Debug.DrawRay(rb.transform.TransformPoint(rb.position), Vector3.up, Color.green,Time.fixedDeltaTime);
// Debug.DrawRay(body_T.position + body_T.InverseTransformVector(rb.transform.position), Vector3.up, Color.red,Time.fixedDeltaTime);
// Debug.DrawRay(body_T.position + body_T.InverseTransformDirection(rb.transform.position), Vector3.up, Color.red,Time.fixedDeltaTime);
// Debug.DrawRay(body_T.position + body_T.TransformPoint(rb.transform.localPosition), Vector3.up, Color.red,Time.fixedDeltaTime);
if (useTransformPoint)
{
}
else if (useTransformVector)
{
}
else if (useTransformDir)
{
}
}
}
}
}
}
private void OnDrawGizmosSelected()
{
if(!Application.isPlaying)
{
if (showCOMGizmos)
{
Vector3 CoM = Vector3.zero;
float c = 0f;
// avgCOMWorldSpace = Vector3.zero;
//SHOW BODY PART GIZMOS
foreach(var item in rbList)
{
// if (item)
// {
Gizmos.color = bodyPartCOMColor;
float drawCOMRadius = item.mass/totalMass;
Gizmos.DrawSphere(item.worldCenterOfMass, drawCOMRadius);
// Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
CoM += item.worldCenterOfMass * item.mass;
c += item.mass;
// avgCOMWorldSpace += item.worldCenterOfMass;
// }
}
//DRAW AVG GIZMOS
avgCOMWorldSpace = CoM/c;
// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
float avgCOMRadius = 0.1f; //radius of gizmo
Gizmos.color = avgCOMColor;
Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMRadius);
}
}
else
{
if (showCOMGizmos)
{
// avgCOMWorldSpace = Vector3.zero;
//SHOW BODY PART GIZMOS
foreach(var item in rbList)
{
// if (item)
// {
Gizmos.color = bodyPartCOMColor;
float drawCOMRadius = item.mass/totalMass;
Gizmos.DrawSphere(item.worldCenterOfMass, drawCOMRadius);
// Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
// avgCOMWorldSpace += item.worldCenterOfMass;
// }
}
//DRAW AVG GIZMOS
// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
float avgCOMGizmoRadius = 0.1f; //radius of gizmo
Gizmos.color = avgCOMColor;
Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMGizmoRadius);
}
}
}
// {
// if(!Application.isPlaying)
// {
// if (showCOMGizmos)
// {
// avgCOMWorldSpace = Vector3.zero;
// //SHOW BODY PART GIZMOS
// foreach(var item in rbList)
// {
// if (item)
// {
// Gizmos.color = bodyPartCOMColor;
// float drawCOMRadius = item.mass/totalMass;
// Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
// avgCOMWorldSpace += item.worldCenterOfMass;
// }
// }
// //DRAW AVG GIZMOS
// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
// float avgCOMRadius = 0.1f; //radius of gizmo
// Gizmos.color = avgCOMColor;
// Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMRadius);
// }
// }
// else
// {
// if (showCOMGizmos)
// {
// // avgCOMWorldSpace = Vector3.zero;
// //SHOW BODY PART GIZMOS
// foreach(var item in rbList)
// {
// if (item)
// {
// Gizmos.color = bodyPartCOMColor;
// float drawCOMRadius = item.mass/totalMass;
// Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
// // avgCOMWorldSpace += item.worldCenterOfMass;
// }
// }
// //DRAW AVG GIZMOS
// // avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
// float avgCOMGizmoRadius = 0.1f; //radius of gizmo
// Gizmos.color = avgCOMColor;
// Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMGizmoRadius);
// }
// }
// }
}

36
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/MeshSkewFix.cs
查看文件


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
[ExecuteAlways]
public class MeshSkewFix : MonoBehaviour
{
public bool fix;
public GameObject rootGameObject;
// Start is called before the first frame update
void Start()
{
}
// Update is called once per frame
void Update()
{
if (fix)
{
fix = false;
foreach (var t in GetComponentsInChildren<Transform>())
{
var joint = t.GetComponent<ConfigurableJoint>();
if (joint)
{
var meshFilter = t.GetComponent<MeshFilter>();
var meshRend = t.GetComponent<MeshFilter>();
}
}
}
}
}

11
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/MeshSkewFix.cs.meta
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1001
Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo
文件差异内容过多而无法显示
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10
Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo.meta
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7
Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerPairDynamic.prefab.meta
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358
Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerPairDynamic.prefab
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Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgentDynamic.cs.meta
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284
Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgentDynamic.cs
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using MLAgentsExamples;
using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgentsExamples;
using Unity.MLAgents.Sensors;
using UnityEditor;
using BodyPart = Unity.MLAgentsExamples.BodyPart;
public class WalkerAgentDynamic : Agent
{
[Header("Walking Speed")]
[Space(10)]
[Header("Specific to Walker")]
public float maximumWalkingSpeed = 999; //The max walk velocity magnitude an agent will be rewarded for
Vector3 m_WalkDir;
Quaternion m_WalkDirLookRot;
[Space(10)]
[Header("Orientation Cube")]
[Space(10)]
//This will be used as a stable observation platform for the ragdoll to use.
GameObject m_OrientationCube;
public Transform directionIndicator;
[Header("Target To Walk Towards")]
[Space(10)]
public float targetSpawnRadius;
public Transform target;
public Transform ground;
public bool detectTargets;
public bool targetIsStatic;
public bool respawnTargetWhenTouched;
[Header("Body Parts")]
[Space(10)]
public Transform hips;
public Transform chest;
public Transform spine;
public Transform head;
public Transform thighL;
public Transform shinL;
public Transform footL;
public Transform thighR;
public Transform shinR;
public Transform footR;
public Transform armL;
public Transform forearmL;
public Transform handL;
public Transform armR;
public Transform forearmR;
public Transform handR;
JointDriveController m_JdController;
Rigidbody m_HipsRb;
Rigidbody m_ChestRb;
Rigidbody m_SpineRb;
EnvironmentParameters m_ResetParams;
public override void Initialize()
{
//Spawn an orientation cube
Vector3 oCubePos = hips.position;
oCubePos.y = -.45f;
m_OrientationCube = Instantiate(Resources.Load<GameObject>("OrientationCube"), oCubePos, Quaternion.identity);
m_OrientationCube.transform.SetParent(transform);
UpdateOrientationCube();
m_JdController = GetComponent<JointDriveController>();
m_JdController.SetupBodyPart(hips);
m_JdController.SetupBodyPart(chest);
m_JdController.SetupBodyPart(spine);
m_JdController.SetupBodyPart(head);
m_JdController.SetupBodyPart(thighL);
m_JdController.SetupBodyPart(shinL);
m_JdController.SetupBodyPart(footL);
m_JdController.SetupBodyPart(thighR);
m_JdController.SetupBodyPart(shinR);
m_JdController.SetupBodyPart(footR);
m_JdController.SetupBodyPart(armL);
m_JdController.SetupBodyPart(forearmL);
m_JdController.SetupBodyPart(handL);
m_JdController.SetupBodyPart(armR);
m_JdController.SetupBodyPart(forearmR);
m_JdController.SetupBodyPart(handR);
m_HipsRb = hips.GetComponent<Rigidbody>();
m_ChestRb = chest.GetComponent<Rigidbody>();
m_SpineRb = spine.GetComponent<Rigidbody>();
m_ResetParams = Academy.Instance.EnvironmentParameters;
SetResetParameters();
}
/// <summary>
/// Add relevant information on each body part to observations.
/// </summary>
public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
{
//GROUND CHECK
sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Is this bp touching the ground
//Get velocities in the context of our orientation cube's space
//Note: You can get these velocities in world space as well but it may not train as well.
sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.velocity));
sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.angularVelocity));
//Get position relative to hips in the context of our orientation cube's space
sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.position - hips.position)); //best
if (bp.rb.transform != hips && bp.rb.transform != handL && bp.rb.transform != handR)
{
sensor.AddObservation(bp.rb.transform.localRotation);
sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
}
}
/// <summary>
/// Loop over body parts to add them to observation.
/// </summary>
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(Quaternion.FromToRotation(hips.forward, m_OrientationCube.transform.forward));
sensor.AddObservation(Quaternion.FromToRotation(head.forward, m_OrientationCube.transform.forward));
foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
{
CollectObservationBodyPart(bodyPart, sensor);
}
}
public override void OnActionReceived(float[] vectorAction)
{
var bpDict = m_JdController.bodyPartsDict;
var i = -1;
bpDict[chest].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
bpDict[spine].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
bpDict[thighL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
bpDict[thighR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
bpDict[shinL].SetJointTargetRotation(vectorAction[++i], 0, 0);
bpDict[shinR].SetJointTargetRotation(vectorAction[++i], 0, 0);
bpDict[footR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
bpDict[footL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
bpDict[armL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
bpDict[armR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
bpDict[forearmL].SetJointTargetRotation(vectorAction[++i], 0, 0);
bpDict[forearmR].SetJointTargetRotation(vectorAction[++i], 0, 0);
bpDict[head].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
//update joint strength settings
bpDict[chest].SetJointStrength(vectorAction[++i]);
bpDict[spine].SetJointStrength(vectorAction[++i]);
bpDict[head].SetJointStrength(vectorAction[++i]);
bpDict[thighL].SetJointStrength(vectorAction[++i]);
bpDict[shinL].SetJointStrength(vectorAction[++i]);
bpDict[footL].SetJointStrength(vectorAction[++i]);
bpDict[thighR].SetJointStrength(vectorAction[++i]);
bpDict[shinR].SetJointStrength(vectorAction[++i]);
bpDict[footR].SetJointStrength(vectorAction[++i]);
bpDict[armL].SetJointStrength(vectorAction[++i]);
bpDict[forearmL].SetJointStrength(vectorAction[++i]);
bpDict[armR].SetJointStrength(vectorAction[++i]);
bpDict[forearmR].SetJointStrength(vectorAction[++i]);
}
void UpdateOrientationCube()
{
//FACING DIR
m_WalkDir = target.position - m_OrientationCube.transform.position;
m_WalkDir.y = 0; //flatten dir on the y
m_WalkDirLookRot = Quaternion.LookRotation(m_WalkDir); //get our look rot to the target
//UPDATE ORIENTATION CUBE POS & ROT
m_OrientationCube.transform.position = hips.position;
m_OrientationCube.transform.rotation = m_WalkDirLookRot;
directionIndicator.position = new Vector3(hips.position.x, directionIndicator.position.y, hips.position.z);
directionIndicator.rotation = m_WalkDirLookRot;
}
void FixedUpdate()
{
if (detectTargets)
{
foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
{
if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget)
{
TouchedTarget();
}
}
}
UpdateOrientationCube();
// Set reward for this step according to mixture of the following elements.
// a. Velocity alignment with goal direction.
// b. Rotation alignment with goal direction.
// c. Encourage head height.
AddReward(
+0.02f * Vector3.Dot(m_OrientationCube.transform.forward,
Vector3.ClampMagnitude(m_JdController.bodyPartsDict[hips].rb.velocity, maximumWalkingSpeed))
+ 0.01f * Vector3.Dot(m_OrientationCube.transform.forward, head.forward)
+ 0.005f * (head.position.y - footL.position.y)
+ 0.005f * (head.position.y - footR.position.y)
);
}
/// <summary>
/// Agent touched the target
/// </summary>
public void TouchedTarget()
{
AddReward(1f);
if (respawnTargetWhenTouched)
{
GetRandomTargetPos();
}
}
/// <summary>
/// Moves target to a random position within specified radius.
/// </summary>
public void GetRandomTargetPos()
{
var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
newTargetPos.y = 5;
target.position = newTargetPos + ground.position;
}
/// <summary>
/// Loop over body parts and reset them to initial conditions.
/// </summary>
public override void OnEpisodeBegin()
{
foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
{
bodyPart.Reset(bodyPart);
}
//Random start rotation
transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
UpdateOrientationCube();
if (detectTargets && !targetIsStatic)
{
GetRandomTargetPos();
}
SetResetParameters();
}
public void SetTorsoMass()
{
m_ChestRb.mass = m_ResetParams.GetWithDefault("chest_mass", 8);
m_SpineRb.mass = m_ResetParams.GetWithDefault("spine_mass", 10);
m_HipsRb.mass = m_ResetParams.GetWithDefault("hip_mass", 15);
}
public void SetResetParameters()
{
SetTorsoMass();
}
private void OnDrawGizmosSelected()
{
if (Application.isPlaying)
{
Gizmos.color = Color.green;
Gizmos.matrix = m_OrientationCube.transform.localToWorldMatrix;
Gizmos.DrawWireCube(Vector3.zero, m_OrientationCube.transform.localScale);
Gizmos.DrawRay(Vector3.zero, Vector3.forward);
}
}
}

8
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