not training well. not sure why

4 年前 · 583dd767
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockGridSensorTests.unity
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentGrid.cs
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentGrid.cs
            var localVelocity = transform.InverseTransformDirection(m_AgentRb.velocity);
            sensor.AddObservation(localVelocity.x);
            sensor.AddObservation(localVelocity.z);
+            //            sensor.AddObservation(transform.localRotation);
+            //            sensor.AddObservation(transform.localPosition);
        }
    }


    public void SetBlockProperties()
    {
-        var scale = m_ResetParams.GetWithDefault("block_scale", 2);
+        var scale = m_ResetParams.GetWithDefault("block_scale", 1.5f);
        //Set the scale of the block
        m_BlockRb.transform.localScale = new Vector3(scale, 0.75f, scale);

--- a/com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs
        [Tooltip("Rotate the grid based on the direction the agent is facing")]
        public bool RotateToAgent;

+        public bool TranslateToAgent; //should the grid move with the agent
+                                      //        public bool MapThisAgent = false; //should this agent be mapped
+        public List<Collider> collidersToIgnore;
+
        /// <summary>
        /// Array holding the depth of each channel.
        /// </summary>
        /// </summary>
        private List<byte[]> byteSizesBytesList;

-        private Color DebugDefaultColor = new Color(1f, 1f, 1f, 0.55f);
+        public Color DebugDefaultColor = new Color(1f, 1f, 1f, 0.55f);

        /// <inheritdoc/>
        public override ISensor CreateSensor()
                {
                    if (RotateToAgent)
                    {
-                        cellCenter = transform.TransformPoint(CellPoints[cellIndex]);
-                        foundColliders = Physics.OverlapBox(cellCenter, halfCellScale, transform.rotation, ObserveMask);
+                        //                        cellCenter = transform.TransformPoint(CellPoints[cellIndex]);
+                        cellCenter = rootReference.transform.TransformPoint(CellPoints[cellIndex]);
+                        //                        foundColliders = Physics.OverlapBox(cellCenter, halfCellScale, transform.rotation, ObserveMask);
+                        foundColliders = Physics.OverlapBox(cellCenter, halfCellScale, rootReference.transform.rotation, ObserveMask);
-                        cellCenter = transform.position + CellPoints[cellIndex];
+                        cellCenter = rootReference.transform.position + CellPoints[cellIndex];
+                        //                        cellCenter = transform.position + CellPoints[cellIndex];
                        foundColliders = Physics.OverlapBox(cellCenter, halfCellScale, Quaternion.identity, ObserveMask);
                    }

                currentColliderGo = foundColliders[i].gameObject;

                // Continue if the current collider go is the root reference
-                if (currentColliderGo == rootReference)
+                if (collidersToIgnore.Contains(foundColliders[i]))
+                    //                if (currentColliderGo == rootReference && !MapThisAgent)
+                    //                if (!MapThisAgent)
                    continue;

                closestColliderPoint = foundColliders[i].ClosestPointOnBounds(cellCenter);
            float z = (cell / GridNumSideZ - OffsetGridNumSide) * CellScaleZ - DiffNumSideZX;

            if (shouldTransformPoint)
-                return transform.TransformPoint(new Vector3(x, 0, z));
+                //                return transform.TransformPoint(new Vector3(x, 0, z));
+                return rootReference.transform.TransformPoint(new Vector3(x, 0, z));
            return new Vector3(x, 0, z);
        }

        /// <param name="globalPoint">The 3D point in global space</param>
        public int PointToCell(Vector3 globalPoint)
        {
-            Vector3 point = transform.InverseTransformPoint(globalPoint);
+            //            Vector3 point = transform.InverseTransformPoint(globalPoint);
+            Vector3 point = rootReference.transform.InverseTransformPoint(globalPoint);

            if (point.x < -HalfOfGridX || point.x > HalfOfGridX || point.z < -HalfOfGridZ || point.z > HalfOfGridZ)
                return -1;
                Vector3 offset = new Vector3(0, GizmoYOffset, 0);
                Matrix4x4 oldGizmoMatrix = Gizmos.matrix;
                Matrix4x4 cubeTransform = Gizmos.matrix;
+                //                Matrix4x4 cubeTransform = rootReference.transform.localToWorldMatrix;
-                        cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, transform.rotation, scale);
+                        //                        cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, transform.rotation, scale);
+                        cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, rootReference.transform.rotation, scale);
-                        cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + transform.position + offset, Quaternion.identity, scale);
+                        //                        cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + transform.position + offset, Quaternion.identity, scale);
+                        cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + rootReference.transform.position + offset, Quaternion.identity, scale);
                        //                        cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + offset, Quaternion.identity, scale);
                    }
                    Gizmos.matrix = oldGizmoMatrix * cubeTransform;