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Add old walker (#4212)
Add old walker (#4212)
* old walker * update walker to master * revert walker to release 3 * fix prefab * fix obs size * rename behavior * camera follow/develop/bisim-review
GitHub
4 年前
当前提交
6526ac1d
共有 50 个文件被更改，包括 12437 次插入 和 64 次删除
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58Project/Assets/ML-Agents/Examples/Walker/Prefabs/DynamicPlatformWalker.prefab
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176Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerWithTargetPair.prefab
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97Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerDynamic.unity
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6Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
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8Project/Assets/ML-Agents/Examples/OldWalker.meta
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8Project/Assets/ML-Agents/Examples/OldWalker/Demos.meta
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1001Project/Assets/ML-Agents/Examples/OldWalker/Demos/ExpertWalker.demo
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10Project/Assets/ML-Agents/Examples/OldWalker/Demos/ExpertWalker.demo.meta
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1001Project/Assets/ML-Agents/Examples/OldWalker/Demos/ExpertWalkerDyna.demo
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10Project/Assets/ML-Agents/Examples/OldWalker/Demos/ExpertWalkerDyna.demo.meta
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1001Project/Assets/ML-Agents/Examples/OldWalker/Demos/ExpertWalkerStat.demo
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10Project/Assets/ML-Agents/Examples/OldWalker/Demos/ExpertWalkerStat.demo.meta
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8Project/Assets/ML-Agents/Examples/OldWalker/Materials.meta
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80Project/Assets/ML-Agents/Examples/OldWalker/Materials/WalkerCourt.mat
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8Project/Assets/ML-Agents/Examples/OldWalker/Materials/WalkerCourt.mat.meta
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8Project/Assets/ML-Agents/Examples/OldWalker/Meshes.meta
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1001Project/Assets/ML-Agents/Examples/OldWalker/Meshes/WalkerCourt.fbx
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115Project/Assets/ML-Agents/Examples/OldWalker/Meshes/WalkerCourt.fbx.meta
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8Project/Assets/ML-Agents/Examples/OldWalker/Prefabs.meta
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718Project/Assets/ML-Agents/Examples/OldWalker/Prefabs/OldDynamicPlatformWalker.prefab
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7Project/Assets/ML-Agents/Examples/OldWalker/Prefabs/OldDynamicPlatformWalker.prefab.meta
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378Project/Assets/ML-Agents/Examples/OldWalker/Prefabs/OldWalkerPair.prefab
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7Project/Assets/ML-Agents/Examples/OldWalker/Prefabs/OldWalkerPair.prefab.meta
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1001Project/Assets/ML-Agents/Examples/OldWalker/Prefabs/OldWalkerRagdoll.prefab
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7Project/Assets/ML-Agents/Examples/OldWalker/Prefabs/OldWalkerRagdoll.prefab.meta
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485Project/Assets/ML-Agents/Examples/OldWalker/Prefabs/OldWalkerWithTargetPair.prefab
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7Project/Assets/ML-Agents/Examples/OldWalker/Prefabs/OldWalkerWithTargetPair.prefab.meta
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8Project/Assets/ML-Agents/Examples/OldWalker/Scenes.meta
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1001Project/Assets/ML-Agents/Examples/OldWalker/Scenes/OldWalkerDynamic.unity
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7Project/Assets/ML-Agents/Examples/OldWalker/Scenes/OldWalkerDynamic.unity.meta
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1001Project/Assets/ML-Agents/Examples/OldWalker/Scenes/OldWalkerStatic.unity
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7Project/Assets/ML-Agents/Examples/OldWalker/Scenes/OldWalkerStatic.unity.meta
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8Project/Assets/ML-Agents/Examples/OldWalker/Scripts.meta
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190Project/Assets/ML-Agents/Examples/OldWalker/Scripts/OldWalkerAgent.cs
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11Project/Assets/ML-Agents/Examples/OldWalker/Scripts/OldWalkerAgent.cs.meta
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8Project/Assets/ML-Agents/Examples/OldWalker/TFModels.meta
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1001Project/Assets/ML-Agents/Examples/OldWalker/TFModels/Walker.nn
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11Project/Assets/ML-Agents/Examples/OldWalker/TFModels/Walker.nn.meta
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1001Project/Assets/ML-Agents/Examples/OldWalker/TFModels/WalkerDynamic.nn
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11Project/Assets/ML-Agents/Examples/OldWalker/TFModels/WalkerDynamic.nn.meta
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1001Project/Assets/ML-Agents/Examples/OldWalker/TFModels/WalkerStatic.nn
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11Project/Assets/ML-Agents/Examples/OldWalker/TFModels/WalkerStatic.nn.meta
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Project/Assets/ML-Agents/Examples/OldWalker/Demos/ExpertWalker.demo
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Project/Assets/ML-Agents/Examples/OldWalker/Demos/ExpertWalkerDyna.demo
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Project/Assets/ML-Agents/Examples/OldWalker/Demos/ExpertWalkerStat.demo
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1001
Project/Assets/ML-Agents/Examples/OldWalker/Scenes/OldWalkerDynamic.unity
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1001
Project/Assets/ML-Agents/Examples/OldWalker/Scenes/OldWalkerStatic.unity
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文件差异内容过多而无法显示
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|
|||
using UnityEngine; |
|||
using Unity.MLAgents; |
|||
using Unity.MLAgentsExamples; |
|||
using Unity.MLAgents.Sensors; |
|||
|
|||
public class OldWalkerAgent : Agent |
|||
{ |
|||
[Header("Specific to Walker")] |
|||
[Header("Target To Walk Towards")] |
|||
[Space(10)] |
|||
public Transform target; |
|||
|
|||
Vector3 m_DirToTarget; |
|||
public Transform hips; |
|||
public Transform chest; |
|||
public Transform spine; |
|||
public Transform head; |
|||
public Transform thighL; |
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public Transform shinL; |
|||
public Transform footL; |
|||
public Transform thighR; |
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public Transform shinR; |
|||
public Transform footR; |
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public Transform armL; |
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public Transform forearmL; |
|||
public Transform handL; |
|||
public Transform armR; |
|||
public Transform forearmR; |
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public Transform handR; |
|||
JointDriveController m_JdController; |
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|
|||
Rigidbody m_HipsRb; |
|||
Rigidbody m_ChestRb; |
|||
Rigidbody m_SpineRb; |
|||
|
|||
EnvironmentParameters m_ResetParams; |
|||
|
|||
public override void Initialize() |
|||
{ |
|||
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) |
|||
{ |
|||
var rb = bp.rb; |
|||
sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Is this bp touching the ground
|
|||
sensor.AddObservation(rb.velocity); |
|||
sensor.AddObservation(rb.angularVelocity); |
|||
var localPosRelToHips = hips.InverseTransformPoint(rb.position); |
|||
sensor.AddObservation(localPosRelToHips); |
|||
|
|||
if (bp.rb.transform != hips && bp.rb.transform != handL && bp.rb.transform != handR && |
|||
bp.rb.transform != footL && bp.rb.transform != footR && bp.rb.transform != head) |
|||
{ |
|||
sensor.AddObservation(bp.currentXNormalizedRot); |
|||
sensor.AddObservation(bp.currentYNormalizedRot); |
|||
sensor.AddObservation(bp.currentZNormalizedRot); |
|||
sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit); |
|||
} |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Loop over body parts to add them to observation.
|
|||
/// </summary>
|
|||
public override void CollectObservations(VectorSensor sensor) |
|||
{ |
|||
m_JdController.GetCurrentJointForces(); |
|||
|
|||
sensor.AddObservation(m_DirToTarget.normalized); |
|||
sensor.AddObservation(m_JdController.bodyPartsDict[hips].rb.position); |
|||
sensor.AddObservation(hips.forward); |
|||
sensor.AddObservation(hips.up); |
|||
|
|||
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 FixedUpdate() |
|||
{ |
|||
// 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.
|
|||
// d. Discourage head movement.
|
|||
m_DirToTarget = target.position - m_JdController.bodyPartsDict[hips].rb.position; |
|||
AddReward( |
|||
+0.03f * Vector3.Dot(m_DirToTarget.normalized, m_JdController.bodyPartsDict[hips].rb.velocity) |
|||
+ 0.01f * Vector3.Dot(m_DirToTarget.normalized, hips.forward) |
|||
+ 0.02f * (head.position.y - hips.position.y) |
|||
- 0.01f * Vector3.Distance(m_JdController.bodyPartsDict[head].rb.velocity, |
|||
m_JdController.bodyPartsDict[hips].rb.velocity) |
|||
); |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Loop over body parts and reset them to initial conditions.
|
|||
/// </summary>
|
|||
public override void OnEpisodeBegin() |
|||
{ |
|||
if (m_DirToTarget != Vector3.zero) |
|||
{ |
|||
transform.rotation = Quaternion.LookRotation(m_DirToTarget); |
|||
} |
|||
|
|||
foreach (var bodyPart in m_JdController.bodyPartsDict.Values) |
|||
{ |
|||
bodyPart.Reset(bodyPart); |
|||
} |
|||
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(); |
|||
} |
|||
} |
|||
|
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1001
Project/Assets/ML-Agents/Examples/OldWalker/TFModels/Walker.nn
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1001
Project/Assets/ML-Agents/Examples/OldWalker/TFModels/WalkerDynamic.nn
文件差异内容过多而无法显示
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1001
Project/Assets/ML-Agents/Examples/OldWalker/TFModels/WalkerStatic.nn
文件差异内容过多而无法显示
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