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added the drone and the spider environment

/tag-0.2.0
vincentpierre 7 年前
当前提交
7bcbe871
共有 48 个文件被更改,包括 5201 次插入0 次删除
  1. 9
      unity-environment/Assets/ML-Agents/Examples/Drone.meta
  2. 9
      unity-environment/Assets/ML-Agents/Examples/Spider.meta
  3. 1001
      unity-environment/Assets/ML-Agents/Examples/Drone/Drone.unity
  4. 8
      unity-environment/Assets/ML-Agents/Examples/Drone/Drone.unity.meta
  5. 9
      unity-environment/Assets/ML-Agents/Examples/Drone/Resources.meta
  6. 1001
      unity-environment/Assets/ML-Agents/Examples/Drone/Resources/DroneAndTarget.prefab
  7. 9
      unity-environment/Assets/ML-Agents/Examples/Drone/Resources/DroneAndTarget.prefab.meta
  8. 9
      unity-environment/Assets/ML-Agents/Examples/Drone/Scripts.meta
  9. 18
      unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/DroneAcademy.cs
  10. 12
      unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/DroneAcademy.cs.meta
  11. 161
      unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/DroneAgent.cs
  12. 12
      unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/DroneAgent.cs.meta
  13. 23
      unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/DroneEngine.cs
  14. 12
      unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/DroneEngine.cs.meta
  15. 36
      unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/RandomDecision.cs
  16. 12
      unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/RandomDecision.cs.meta
  17. 9
      unity-environment/Assets/ML-Agents/Examples/Drone/TFModels.meta
  18. 157
      unity-environment/Assets/ML-Agents/Examples/Drone/TFModels/drone.bytes
  19. 8
      unity-environment/Assets/ML-Agents/Examples/Drone/TFModels/drone.bytes.meta
  20. 9
      unity-environment/Assets/ML-Agents/Examples/Spider/Resources.meta
  21. 76
      unity-environment/Assets/ML-Agents/Examples/Spider/Resources/Checker.mat
  22. 9
      unity-environment/Assets/ML-Agents/Examples/Spider/Resources/Checker.mat.meta
  23. 1001
      unity-environment/Assets/ML-Agents/Examples/Spider/Resources/Spider.prefab
  24. 9
      unity-environment/Assets/ML-Agents/Examples/Spider/Resources/Spider.prefab.meta
  25. 9
      unity-environment/Assets/ML-Agents/Examples/Spider/Scripts.meta
  26. 19
      unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/CameraFollow.cs
  27. 12
      unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/CameraFollow.cs.meta
  28. 19
      unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderAcademy.cs
  29. 12
      unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderAcademy.cs.meta
  30. 249
      unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderAgentConfigurable.cs
  31. 12
      unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderAgentConfigurable.cs.meta
  32. 19
      unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderBodyContact.cs
  33. 12
      unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderBodyContact.cs.meta
  34. 21
      unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderLegContact.cs
  35. 12
      unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderLegContact.cs.meta
  36. 9
      unity-environment/Assets/ML-Agents/Examples/Spider/TFModels.meta
  37. 253
      unity-environment/Assets/ML-Agents/Examples/Spider/TFModels/spider.bytes
  38. 8
      unity-environment/Assets/ML-Agents/Examples/Spider/TFModels/spider.bytes.meta
  39. 908
      unity-environment/Assets/ML-Agents/Examples/Spider/spider.unity
  40. 8
      unity-environment/Assets/ML-Agents/Examples/Spider/spider.unity.meta

9
unity-environment/Assets/ML-Agents/Examples/Drone.meta


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9
unity-environment/Assets/ML-Agents/Examples/Spider.meta


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1001
unity-environment/Assets/ML-Agents/Examples/Drone/Drone.unity
文件差异内容过多而无法显示
查看文件

8
unity-environment/Assets/ML-Agents/Examples/Drone/Drone.unity.meta


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9
unity-environment/Assets/ML-Agents/Examples/Drone/Resources.meta


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1001
unity-environment/Assets/ML-Agents/Examples/Drone/Resources/DroneAndTarget.prefab
文件差异内容过多而无法显示
查看文件

9
unity-environment/Assets/ML-Agents/Examples/Drone/Resources/DroneAndTarget.prefab.meta


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9
unity-environment/Assets/ML-Agents/Examples/Drone/Scripts.meta


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18
unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/DroneAcademy.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class DroneAcademy : Academy {
public override void AcademyReset()
{
}
public override void AcademyStep()
{
}
}

12
unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/DroneAcademy.cs.meta


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161
unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/DroneAgent.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class DroneAgent : Agent {
[Header("Specific to Drone")]
Transform body;
Rigidbody rb;
public Transform target;
public DroneEngine[] engines;
public float maxPower = 30;
public DroneAcademy aca;
float[] pastValues;
Dictionary<GameObject, Vector3> transformsPosition;
Dictionary<GameObject, Quaternion> transformsRotation;
public override void InitializeAgent()
{
body = gameObject.transform.Find("Body");
rb = body.gameObject.GetComponent<Rigidbody>();
pastValues = new float[6];
transformsPosition = new Dictionary<GameObject, Vector3> ();
transformsRotation = new Dictionary<GameObject, Quaternion> ();
Transform[] allChildren = GetComponentsInChildren<Transform>();
foreach (Transform child in allChildren) {
transformsPosition [child.gameObject] = child.position;
transformsRotation [child.gameObject] = child.rotation;
}
foreach (DroneEngine e in engines)
{
e.maxPower = maxPower;
}
}
public override List<float> CollectState()
{
List<float> state = new List<float>();
state.Add(body.position.x - target.position.x);
state.Add(body.position.y - target.position.y);
state.Add(body.position.z - target.position.z);
// state.Add(body.rotation.x);
// state.Add(body.rotation.y);
// state.Add(body.rotation.z);
// state.Add(body.rotation.w);
Vector3 rot = body.rotation.eulerAngles;
state.Add((rot.x+180)%360-180f);
state.Add((rot.y+180)%360-180f);
state.Add((rot.z+180)%360-180f);
state.Add(body.forward.x);
state.Add(body.forward.y);
state.Add(body.forward.z);
state.Add(body.right.x);
state.Add(body.right.y);
state.Add(body.right.z);
state.Add(rb.velocity.x);
state.Add(rb.velocity.y);
state.Add(rb.velocity.z);
Vector3 angularVel = rb.angularVelocity;
angularVel.x = ((angularVel.x + 180) % 360 - 180f);
angularVel.y = ((angularVel.y + 180) % 360 - 180f);
angularVel.z = ((angularVel.z + 180) % 360 - 180f);
state.Add(angularVel.x);
state.Add(angularVel.y);
state.Add(angularVel.z);
state.Add((rb.velocity.x - pastValues[0]) / Time.fixedDeltaTime);
pastValues[0] = rb.velocity.x;
state.Add((rb.velocity.y - pastValues[1]) / Time.fixedDeltaTime);
pastValues[1] = rb.velocity.y;
state.Add((rb.velocity.z - pastValues[2]) / Time.fixedDeltaTime);
pastValues[2] = rb.velocity.z;
state.Add((angularVel.x - pastValues[3]) / Time.fixedDeltaTime);
pastValues[3] = angularVel.x;
state.Add((angularVel.y - pastValues[4]) / Time.fixedDeltaTime);
pastValues[4] = angularVel.y;
state.Add((angularVel.z - pastValues[5]) / Time.fixedDeltaTime);
pastValues[5] = angularVel.z;
// state.Add(target.position.x - body.position.x);
// state.Add(target.position.y - body.position.y);
// state.Add(target.position.z - body.position.z);
return state;
}
public override void AgentStep(float[] act)
{
Monitor.Log("Action", act, MonitorType.bar, body);
for(int i = 0; i<4 ; i++)
{
act[i] = Mathf.Max(-1f, Mathf.Min(act[i], 1f));
}
for(int i = 0; i<4 ; i++)
{
engines[i].powerMultiplier = act[i];
}
if ((target.position - body.position).magnitude > 100f)
{
done = true;
reward = -1f;
}
else if ((target.position - body.position).magnitude < aca.resetParameters["targetSize"])
{
// done = true;
reward = 1f;
}
else
{
// reward = Mathf.Exp(-(target.position - body.position).magnitude / 10f);
float thrustPenalty = act[0]*act[0] + act[1]*act[1] + act[2]*act[2] +act[3]*act[3];
reward = (0f
// + (100f - (target.position - body.position).magnitude) / 100f
+Mathf.Exp(-(target.position - body.position).magnitude / 10f) / 2f
// + Mathf.Max(-1f, Mathf.Min(Vector3.Dot(rb.velocity, (target.position - body.position).normalized)/100f, 1f))
// - Mathf.Max(rb.velocity.magnitude - 2f, 0f)
// -0.01f * thrustPenalty
// +0.01f* Vector3.Dot(body.up, new Vector3(0,1,0))
);
}
Monitor.Log(gameObject.transform.parent.gameObject.name, reward, MonitorType.slider);
Monitor.Log("Reward", reward, MonitorType.slider, body);
}
public override void AgentReset()
{
Transform[] allChildren = GetComponentsInChildren<Transform>();
foreach (Transform child in allChildren) {
if ((child.gameObject.name.Contains("Drone"))
)
{
continue;
}
child.position = transformsPosition [child.gameObject];
child.rotation = transformsRotation [child.gameObject];
child.gameObject.GetComponent<Rigidbody> ().velocity = default(Vector3);
child.gameObject.GetComponent<Rigidbody> ().angularVelocity = default(Vector3);
}
target.position = new Vector3(Random.value * 2 - 1, Random.value * 2 - 1, Random.value * 2 - 1) * 20;
target.localScale = new Vector3(1, 1, 1) * 2 * aca.resetParameters["targetSize"];
}
public override void AgentOnDone()
{
}
}

12
unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/DroneAgent.cs.meta


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23
unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/DroneEngine.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class DroneEngine : MonoBehaviour {
public float maxPower;
[HideInInspector]
public float powerMultiplier;
Rigidbody rb;
Transform tr;
void Start(){
rb = gameObject.GetComponent<Rigidbody>();
tr = gameObject.transform;
}
void FixedUpdate(){
powerMultiplier = Mathf.Max(-1f, Mathf.Min(powerMultiplier, 1f));
rb.AddForce(tr.up * maxPower * powerMultiplier);
}
}

12
unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/DroneEngine.cs.meta


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36
unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/RandomDecision.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class RandomDecision : MonoBehaviour, Decision {
public float[] Decide(List<float> state, List<Camera> observation, float reward, bool done, float[] memory)
{
if (gameObject.GetComponent<Brain>().brainParameters.actionSpaceType == StateType.continuous)
{
int actionSize = gameObject.GetComponent<Brain>().brainParameters.actionSize;
float[] result = new float[actionSize];
for (int i = 0; i < actionSize; i++)
{
result[i] = Random.value * 2 - 1;
}
return result;
}
else
{
int actionSize = gameObject.GetComponent<Brain>().brainParameters.actionSize;
float[] result = new float[1];
result[0] = (float)Random.Range(0, actionSize);
return result;
}
}
public float[] MakeMemory(List<float> state, List<Camera> observation, float reward, bool done, float[] memory)
{
return new float[0];
}
}

12
unity-environment/Assets/ML-Agents/Examples/Drone/Scripts/RandomDecision.cs.meta


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unity-environment/Assets/ML-Agents/Examples/Drone/TFModels.meta


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unity-environment/Assets/ML-Agents/Examples/Drone/TFModels/drone.bytes


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unity-environment/Assets/ML-Agents/Examples/Spider/Resources/Spider.prefab
文件差异内容过多而无法显示
查看文件

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unity-environment/Assets/ML-Agents/Examples/Spider/Resources/Spider.prefab.meta


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unity-environment/Assets/ML-Agents/Examples/Spider/Scripts.meta


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unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/CameraFollow.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class CameraFollow : MonoBehaviour {
public Transform target;
Vector3 offset;
// Use this for initialization
void Start () {
offset = gameObject.transform.position - target.position;
}
// Update is called once per frame
void Update () {
gameObject.transform.position = target.position + offset;
}
}

12
unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/CameraFollow.cs.meta


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19
unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderAcademy.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class SpiderAcademy : Academy
{
public override void AcademyReset()
{
}
public override void AcademyStep()
{
}
}

12
unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderAcademy.cs.meta


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249
unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderAgentConfigurable.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class SpiderAgentConfigurable: Agent {
public float strength;
float x_position;
[HideInInspector]
public bool[] leg_touching;
[HideInInspector]
public bool fell;
Vector3 past_velocity;
Transform body;
public Transform[] limbs;
//
Dictionary<GameObject, Vector3> transformsPosition;
Dictionary<GameObject, Quaternion> transformsRotation;
public override void InitializeAgent ()
{
body = transform.Find ("Sphere");
transformsPosition = new Dictionary<GameObject, Vector3> ();
transformsRotation = new Dictionary<GameObject, Quaternion> ();
Transform[] allChildren = GetComponentsInChildren<Transform>();
foreach (Transform child in allChildren) {
transformsPosition [child.gameObject] = child.position;
transformsRotation [child.gameObject] = child.rotation;
}
leg_touching = new bool[4];
}
public override List<float> CollectState()
{
List<float> state = new List<float>();
state.Add (body.transform.rotation.eulerAngles.x);
state.Add (body.transform.rotation.eulerAngles.y);
state.Add (body.transform.rotation.eulerAngles.z);
state.Add (body.gameObject.GetComponent<Rigidbody> ().velocity.x);
state.Add (body.gameObject.GetComponent<Rigidbody> ().velocity.y);
state.Add (body.gameObject.GetComponent<Rigidbody> ().velocity.z);
state.Add ((body.gameObject.GetComponent<Rigidbody> ().velocity.x - past_velocity.x) / Time.fixedDeltaTime);
state.Add ((body.gameObject.GetComponent<Rigidbody> ().velocity.y - past_velocity.y) / Time.fixedDeltaTime);
state.Add ((body.gameObject.GetComponent<Rigidbody> ().velocity.z - past_velocity.z) / Time.fixedDeltaTime);
past_velocity = body.gameObject.GetComponent<Rigidbody> ().velocity;
foreach (Transform t in limbs) {
state.Add (t.localPosition.x);
state.Add (t.localPosition.y);
state.Add (t.localPosition.z);
state.Add (t.localRotation.x);
state.Add (t.localRotation.y);
state.Add (t.localRotation.z);
state.Add (t.localRotation.w);
Rigidbody rb = t.gameObject.GetComponent < Rigidbody > ();
state.Add (rb.velocity.x);
state.Add (rb.velocity.y);
state.Add (rb.velocity.z);
state.Add (rb.angularVelocity.x);
state.Add (rb.angularVelocity.y);
state.Add (rb.angularVelocity.z);
}
for (int index = 0; index < 4; index++)
{
if (leg_touching[index])
{
state.Add(1.0f);
}
else
{
state.Add(0.0f);
}
leg_touching[index] = false;
}
// Monitor.Log ("State", state, MonitorType.hist, body.gameObject.transform);
return state;
}
public override void AgentStep(float[] act)
{
for (int k = 0; k < act.Length; k++)
{
act[k] = Mathf.Max(Mathf.Min(act[k], 1), -1);
}
limbs[0].gameObject.GetComponent<Rigidbody> ().AddTorque (-limbs[0].transform.right * strength * act[0]);
limbs[1].gameObject.GetComponent<Rigidbody> ().AddTorque (-limbs[1].transform.right * strength * act[1]);
limbs[2].gameObject.GetComponent<Rigidbody> ().AddTorque (-limbs[2].transform.right * strength * act[2]);
limbs[3].gameObject.GetComponent<Rigidbody> ().AddTorque (-limbs[3].transform.right * strength * act[3]);
limbs[0].gameObject.GetComponent<Rigidbody> ().AddTorque (-body.transform.up * strength * act[4]);
limbs[1].gameObject.GetComponent<Rigidbody> ().AddTorque (-body.transform.up * strength * act[5]);
limbs[2].gameObject.GetComponent<Rigidbody> ().AddTorque (-body.transform.up * strength * act[6]);
limbs[3].gameObject.GetComponent<Rigidbody> ().AddTorque (-body.transform.up * strength * act[7]);
limbs[4].gameObject.GetComponent<Rigidbody> ().AddTorque (-limbs[4].transform.right * strength * act[8]);
limbs[5].gameObject.GetComponent<Rigidbody> ().AddTorque (-limbs[5].transform.right * strength * act[9]);
limbs[6].gameObject.GetComponent<Rigidbody> ().AddTorque (-limbs[6].transform.right * strength * act[10]);
limbs[7].gameObject.GetComponent<Rigidbody> ().AddTorque (-limbs[7].transform.right * strength * act[11]);
// leg0.gameObject.GetComponent<Rigidbody> ().AddTorque (-leg0.transform.right * strength * act[0]);
//// shoulder0.gameObject.GetComponent<Rigidbody> ().AddTorque (leg0.transform.right * strength * act[0]);
// leg1.gameObject.GetComponent<Rigidbody> ().AddTorque (-leg1.transform.right * strength * act[1]);
//// shoulder1.gameObject.GetComponent<Rigidbody> ().AddTorque (leg1.transform.right * strength * act[1]);
// leg2.gameObject.GetComponent<Rigidbody> ().AddTorque (-leg2.transform.right * strength * act[2]);
//// shoulder2.gameObject.GetComponent<Rigidbody> ().AddTorque (leg2.transform.right * strength * act[2]);
// leg3.gameObject.GetComponent<Rigidbody> ().AddTorque (-leg3.transform.right * strength * act[3]);
//// shoulder3.gameObject.GetComponent<Rigidbody> ().AddTorque (leg3.transform.right * strength * act[3]);
// foreleg0.gameObject.GetComponent<Rigidbody> ().AddTorque (-foreleg0.transform.right * strength * act[4]);
//// leg0.gameObject.GetComponent<Rigidbody> ().AddTorque (leg0.transform.right * strength * act[4]);
// foreleg1.gameObject.GetComponent<Rigidbody> ().AddTorque (-foreleg1.transform.right * strength * act[5]);
//// leg1.gameObject.GetComponent<Rigidbody> ().AddTorque (foreleg1.transform.right * strength * act[5]);
// foreleg2.gameObject.GetComponent<Rigidbody> ().AddTorque (-foreleg2.transform.right * strength * act[6]);
//// leg2.gameObject.GetComponent<Rigidbody> ().AddTorque (foreleg2.transform.right * strength * act[6]);
// foreleg3.gameObject.GetComponent<Rigidbody> ().AddTorque (-foreleg3.transform.right * strength * act[7]);
//// leg3.gameObject.GetComponent<Rigidbody> ().AddTorque (foreleg3.transform.right * strength * act[7]);
// shoulder0.gameObject.GetComponent<Rigidbody> ().AddTorque (-shoulder0.transform.up * strength * act[8]);
// sphere.gameObject.GetComponent<Rigidbody> ().AddTorque (shoulder0.transform.up * strength * act[8]);
// shoulder1.gameObject.GetComponent<Rigidbody> ().AddTorque (-shoulder1.transform.up * strength * act[9]);
// sphere.gameObject.GetComponent<Rigidbody> ().AddTorque (shoulder1.transform.up * strength * act[9]);
// shoulder2.gameObject.GetComponent<Rigidbody> ().AddTorque (-shoulder2.transform.up * strength * act[10]);
// sphere.gameObject.GetComponent<Rigidbody> ().AddTorque (shoulder2.transform.up * strength * act[10]);
// shoulder3.gameObject.GetComponent<Rigidbody> ().AddTorque (-shoulder3.transform.up * strength * act[11]);
// sphere.gameObject.GetComponent<Rigidbody> ().AddTorque (shoulder3.transform.up * strength * act[11]);
// shoulder0.gameObject.GetComponent<Rigidbody> ().AddTorque (-shoulder0.transform.up * strength * act[8]);
//// body.gameObject.GetComponent<Rigidbody> ().AddTorque (shoulder0.transform.up * strength * act[8]);
// shoulder1.gameObject.GetComponent<Rigidbody> ().AddTorque (-shoulder1.transform.up * strength * act[9]);
//// body.gameObject.GetComponent<Rigidbody> ().AddTorque (shoulder1.transform.up * strength * act[9]);
// shoulder2.gameObject.GetComponent<Rigidbody> ().AddTorque (-shoulder2.transform.up * strength * act[10]);
//// body.gameObject.GetComponent<Rigidbody> ().AddTorque (shoulder2.transform.up * strength * act[10]);
// shoulder3.gameObject.GetComponent<Rigidbody> ().AddTorque (-shoulder3.transform.up * strength * act[11]);
//// body.gameObject.GetComponent<Rigidbody> ().AddTorque (shoulder3.transform.up * strength * act[11]);
// Debug.Log(leg0Limits.max);
// Debug.Log(leg0.limits.max);
// Debug.Log(leg0.angle);
// Debug.Log(leg0.useLimits);
// leg0.limits = leg0Limits;
float torque_penalty = act [0] * act[0] + act [1] * act[1] + act [2] * act[2] + act [3] * act[3]
+ act [4] * act[4]+ act [5]* act[5]+ act [6] * act[6]+ act [7] * act[7]
+ act [8] * act[8]+ act [9]* act[9] + act [10] * act[10] + act [11] * act[11];
if (!done)
{
// reward = sphere.GetComponent<Rigidbody>().velocity.x + (sphere.transform.position.y - 1) * 0.05f - 0f * torque_penalty;
// reward = 0.1f;
reward = (0
- 0.01f * torque_penalty
+ 1.0f * body.GetComponent<Rigidbody> ().velocity.x
// + 0.1f * Vector3.Dot (body.transform.up, new Vector3 (0, 1, 0))
-0.05f * Mathf.Abs(body.transform.position.z - body.transform.parent.transform.position.z)
-0.05f * Mathf.Abs(body.GetComponent<Rigidbody> ().velocity.y)
);
// + Mathf.Min(Mathf.Max(0, sphere.transform.position.y * 0.05f), 1);
}
if (fell)
{
done = true;
reward = -1;
fell = false;
}
Monitor.Log ("Reward", reward, MonitorType.slider, body.gameObject.transform);
// Debug.Log(reward);
Transform[] allChildren = GetComponentsInChildren<Transform>();
foreach (Transform child in allChildren) {
// if (child.gameObject.name.Contains("Spider"))
// {
// continue;
// }
// Debug.Log(child.parent.localScale.x);
// Vector3 scaleTmp = child.transform.localScale;
// scaleTmp.x /= child.parent.localScale.x;
// scaleTmp.y /= child.parent.localScale.y;
// scaleTmp.z /= child.parent.localScale.z;
// child.transform.parent = child.parent;
// Debug.Log(scaleTmp.x);
// child.transform.localScale = scaleTmp;
}
}
public override void AgentReset()
{
Transform[] allChildren = GetComponentsInChildren<Transform>();
foreach (Transform child in allChildren) {
if ((child.gameObject.name.Contains("Spider"))
|| (child.gameObject.name.Contains("parent")))
// || (child.gameObject.name.Contains("Sphere")))
{
continue;
}
child.position = transformsPosition [child.gameObject];
child.rotation = transformsRotation [child.gameObject];
child.gameObject.GetComponent<Rigidbody> ().velocity = default(Vector3);
child.gameObject.GetComponent<Rigidbody> ().angularVelocity = default(Vector3);
}
gameObject.transform.rotation = Quaternion.Euler (new Vector3 (0, Random.value * 90 - 45, 0));
}
public override void AgentOnDone()
{
}
}

12
unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderAgentConfigurable.cs.meta


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19
unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderBodyContact.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class SpiderBodyContact : MonoBehaviour {
SpiderAgentConfigurable agent;
void Start(){
agent = gameObject.transform.parent.gameObject.GetComponent<SpiderAgentConfigurable>();
}
void OnTriggerEnter(Collider other){
if (other.gameObject.name == "Ground")
{
agent.fell = true;
}
}
}

12
unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderBodyContact.cs.meta


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21
unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderLegContact.cs


using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class SpiderLegContact : MonoBehaviour {
public int index;
public SpiderAgentConfigurable agent;
void Start(){
// agent = gameObject.transform.parent.gameObject.GetComponent<SpiderAgent>();
}
void OnCollisionStay(Collision other){
if (other.gameObject.name == "Platform")
{
agent.leg_touching[index] = true;
}
}
}

12
unity-environment/Assets/ML-Agents/Examples/Spider/Scripts/SpiderLegContact.cs.meta


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unity-environment/Assets/ML-Agents/Examples/Spider/spider.unity.meta


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