add zomb scene

3 年前 · 5c5539af
--- a/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
        CrawlerDynamic,
        CrawlerDynamicVariableSpeed,
        CrawlerStatic,
-        CrawlerStaticVariableSpeed
+        CrawlerStaticVariableSpeed,
+        CrawlerDynamicVariableSpeedCustomTarget
    }

    [Tooltip(
    //The direction an agent will walk during training.
    [Header("Target To Walk Towards")] public Transform dynamicTargetPrefab; //Target prefab to use in Dynamic envs
    public Transform staticTargetPrefab; //Target prefab to use in Static envs
-    private Transform m_Target; //Target the agent will walk towards during training.
+    public Transform m_Target; //Target the agent will walk towards during training.

    [Header("Body Parts")] [Space(10)] public Transform body;
    public Transform leg0Upper;
        var behaviorParams = GetComponent<Unity.MLAgents.Policies.BehaviorParameters>();
        switch (typeOfCrawler)
        {
+            case CrawlerAgentBehaviorType.CrawlerDynamicVariableSpeedCustomTarget:
+                {
+                    behaviorParams.BehaviorName = "CrawlerDynamicVariableSpeed"; //set behavior name
+                    if (crawlerDyVSModel)
+                        behaviorParams.Model = crawlerDyVSModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = true; //randomize m_TargetWalkingSpeed during training
+                    break;
+                }
            case CrawlerAgentBehaviorType.CrawlerDynamic:
                {
                    behaviorParams.BehaviorName = "CrawlerDynamic"; //set behavior name
--- a/Project/ProjectSettings/TagManager.asset
+++ b/Project/ProjectSettings/TagManager.asset
  - purpleGoal
  - blockLarge
  - blockSmall
+  - zombie
  layers:
  - Default
  - TransparentFX
--- a/config/ppo/PushBlock.yaml
+++ b/config/ppo/PushBlock.yaml
        gamma: 0.99
        strength: 1.0
    keep_checkpoints: 5
-    max_steps: 5000000 #2000000
+    max_steps: 6000000 #2000000
    time_horizon: 64
    summary_freq: 60000
    threaded: true
--- a/ml-agents/mlagents/trainers/torch/networks.py
+++ b/ml-agents/mlagents/trainers/torch/networks.py
        )
        self.stream_names = stream_names
        self.critic = CentralizedValueNetwork(
-            stream_names, observation_shapes, network_settings, num_agents=2
+            stream_names, observation_shapes, network_settings, num_agents=3
        )

    @property
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/ZombiePushBlockCollabArea.prefab
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/ZombiePushBlockCollabArea.prefab
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/ZombiePushBlockCollabArea.prefab.meta
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scenes/ZombiePushBlock.unity
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scenes/ZombiePushBlock.unity
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scenes/ZombiePushBlock.unity.meta
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scenes/ZombiePushBlock.unity.meta
+fileFormatVersion: 2
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockEnvController.cs
+++ b/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockEnvController.cs
+using System.Collections;
+using System.Collections.Generic;
+using Unity.MLAgents;
+using UnityEngine;
+
+public class ZombiePushBlockEnvController : MonoBehaviour
+{
+    [System.Serializable]
+    public class AgentInfo
+    {
+        public PushAgentCollab Agent;
+        [HideInInspector]
+        public Vector3 StartingPos;
+        [HideInInspector]
+        public Quaternion StartingRot;
+        [HideInInspector]
+        public Rigidbody Rb;
+
+    }
+
+    [System.Serializable]
+    public class ZombieInfo
+    {
+        public CrawlerAgent Agent;
+        [HideInInspector]
+        public Vector3 StartingPos;
+        [HideInInspector]
+        public Quaternion StartingRot;
+        [HideInInspector]
+        public Rigidbody Rb;
+    }
+
+    [System.Serializable]
+    public class BlockInfo
+    {
+        public Transform T;
+        [HideInInspector]
+        public Vector3 StartingPos;
+        [HideInInspector]
+        public Quaternion StartingRot;
+        [HideInInspector]
+        public Rigidbody Rb;
+    }
+
+    /// <summary>
+    /// Max Academy steps before this platform resets
+    /// </summary>
+    /// <returns></returns>
+    [Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
+    private int m_ResetTimer;
+
+    /// <summary>
+    /// The area bounds.
+    /// </summary>
+    [HideInInspector]
+    public Bounds areaBounds;
+    /// <summary>
+    /// The ground. The bounds are used to spawn the elements.
+    /// </summary>
+    public GameObject ground;
+
+    public GameObject area;
+
+    Material m_GroundMaterial; //cached on Awake()
+
+    /// <summary>
+    /// We will be changing the ground material based on success/failue
+    /// </summary>
+    Renderer m_GroundRenderer;
+
+    public List<AgentInfo> AgentsList = new List<AgentInfo>();
+    public List<ZombieInfo> ZombiesList = new List<ZombieInfo>();
+    public List<BlockInfo> BlocksList = new List<BlockInfo>();
+
+    public bool UseRandomAgentRotation = true;
+    public bool UseRandomAgentPosition = true;
+    public bool UseRandomBlockRotation = true;
+    public bool UseRandomBlockPosition = true;
+    PushBlockSettings m_PushBlockSettings;
+
+    private int m_NumberOfRemainingBlocks;
+
+    void Start()
+    {
+
+        // Get the ground's bounds
+        areaBounds = ground.GetComponent<Collider>().bounds;
+        // Get the ground renderer so we can change the material when a goal is scored
+        m_GroundRenderer = ground.GetComponent<Renderer>();
+        // Starting material
+        m_GroundMaterial = m_GroundRenderer.material;
+        m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
+        foreach (var item in BlocksList)
+        {
+            item.StartingPos = item.T.transform.position;
+            item.StartingRot = item.T.transform.rotation;
+            item.Rb = item.T.GetComponent<Rigidbody>();
+        }
+        foreach (var item in AgentsList)
+        {
+            item.StartingPos = item.Agent.transform.position;
+            item.StartingRot = item.Agent.transform.rotation;
+            item.Rb = item.Agent.GetComponent<Rigidbody>();
+        }
+        foreach (var item in ZombiesList)
+        {
+            item.StartingPos = item.Agent.transform.position;
+            item.StartingRot = item.Agent.transform.rotation;
+        }
+
+        ResetScene();
+
+    }
+
+    // Update is called once per frame
+    void FixedUpdate()
+    {
+        m_ResetTimer += 1;
+        if (m_ResetTimer > MaxEnvironmentSteps)
+        {
+            ResetScene();
+        }
+    }
+
+    /// <summary>
+    /// Use the ground's bounds to pick a random spawn position.
+    /// </summary>
+    public Vector3 GetRandomSpawnPos()
+    {
+        var foundNewSpawnLocation = false;
+        var randomSpawnPos = Vector3.zero;
+        while (foundNewSpawnLocation == false)
+        {
+            var randomPosX = Random.Range(-areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier,
+                areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier);
+
+            var randomPosZ = Random.Range(-areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier,
+                areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier);
+            randomSpawnPos = ground.transform.position + new Vector3(randomPosX, 1f, randomPosZ);
+            if (Physics.CheckBox(randomSpawnPos, new Vector3(2.5f, 0.01f, 2.5f)) == false)
+            {
+                foundNewSpawnLocation = true;
+            }
+        }
+        return randomSpawnPos;
+    }
+
+    /// <summary>
+    /// Resets the block position and velocities.
+    /// </summary>
+    void ResetBlock(BlockInfo block)
+    {
+        // Get a random position for the block.
+        block.T.position = GetRandomSpawnPos();
+
+        // Reset block velocity back to zero.
+        block.Rb.velocity = Vector3.zero;
+
+        // Reset block angularVelocity back to zero.
+        block.Rb.angularVelocity = Vector3.zero;
+    }
+
+
+    /// <summary>
+    /// Swap ground material, wait time seconds, then swap back to the regular material.
+    /// </summary>
+    IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
+    {
+        m_GroundRenderer.material = mat;
+        yield return new WaitForSeconds(time); // Wait for 2 sec
+        m_GroundRenderer.material = m_GroundMaterial;
+    }
+
+    /// <summary>
+    /// Called when the agent moves the block into the goal.
+    /// </summary>
+    public void ScoredAGoal(Collider col, float score)
+    {
+        // //Decrement the counter
+        // m_NumberOfRemainingBlocks--;
+        //
+        // //Are we done?
+        // bool done = m_NumberOfRemainingBlocks == 0;
+        //
+        // //Disable the block
+        // col.gameObject.SetActive(false);
+
+        //Give Agent Rewards
+        foreach (var item in AgentsList)
+        {
+            item.Agent.AddReward(score);
+        }
+
+        // Swap ground material for a bit to indicate we scored.
+        StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
+
+        // if (done)
+        // {
+        //Reset assets
+        ResetScene();
+        // }
+    }
+
+    public void ZombieTouchedBlock()
+    {
+        //Give Agent Rewards
+        foreach (var item in AgentsList)
+        {
+            item.Agent.AddReward(-1);
+        }
+        // Swap ground material for a bit to indicate we scored.
+        StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.failMaterial, 0.5f));
+        ResetScene();
+
+    }
+
+    Quaternion GetRandomRot()
+    {
+        return Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
+    }
+
+    void ResetScene()
+    {
+        m_ResetTimer = 0;
+
+        //Random platform rot
+        var rotation = Random.Range(0, 4);
+        var rotationAngle = rotation * 90f;
+        area.transform.Rotate(new Vector3(0f, rotationAngle, 0f));
+
+        //End Episode
+        foreach (var item in AgentsList)
+        {
+            if (!item.Agent)
+            {
+                return;
+            }
+            item.Agent.EndEpisode();
+        }
+        //End Episode
+        foreach (var item in ZombiesList)
+        {
+            if (!item.Agent)
+            {
+                return;
+            }
+            item.Agent.EndEpisode();
+        }
+        //Reset Agents
+        foreach (var item in AgentsList)
+        {
+            var pos = UseRandomAgentPosition ? GetRandomSpawnPos() : item.StartingPos;
+            var rot = UseRandomAgentRotation ? GetRandomRot() : item.StartingRot;
+
+            item.Agent.transform.SetPositionAndRotation(pos, rot);
+            item.Rb.velocity = Vector3.zero;
+            item.Rb.angularVelocity = Vector3.zero;
+        }
+
+        //Reset Blocks
+        foreach (var item in BlocksList)
+        {
+            var pos = UseRandomBlockPosition ? GetRandomSpawnPos() : item.StartingPos;
+            var rot = UseRandomBlockRotation ? GetRandomRot() : item.StartingRot;
+
+            item.T.transform.SetPositionAndRotation(pos, rot);
+            item.Rb.velocity = Vector3.zero;
+            item.Rb.angularVelocity = Vector3.zero;
+            item.T.gameObject.SetActive(true);
+        }
+
+        //Reset counter
+        m_NumberOfRemainingBlocks = BlocksList.Count;
+        // m_NumberOfRemainingBlocks = 2;
+    }
+}
--- a/Project/Assets/ML-Agents/Examples/PushBlock/Scripts/ZombiePushBlockEnvController.cs.meta
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--- a/Project/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockZomb.onnx
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