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Add TargetController/OrientationCubeController Components & Bugfix (#4157)
Add TargetController/OrientationCubeController Components & Bugfix (#4157)
* added Target and OCube controllers. updated crawler envs * update walker prefab * add refs to prefab * Update Crawler.prefab * update platform, ragdoll, ocube prefabs * reformat file * reformat files * fix behavior name * add final retrained crawler and walker nn files * collect hip ocube rot in world space * update crawler observations and update prefabs * change to 20M steps * update crwl prefab to 142 observ * update obsvs to 241. add expvel reward * change walkspeed to 3 * add new crawler and walker nn files * adjust rewards * enable other pairs * add RewardManager * cleanup about to do final training * cleanup add nn files for increased facing rew reduced height rew * try no facing rew * add vel only policy, try dy target * inc torq on cube * added dynamic cube nn. gonna try 40M steps * add 40M step test, more cleanup * ch.../MLA-1734-demo-provider
GitHub
4 年前
当前提交
8b913a96
共有 33 个文件被更改，包括 3190 次插入 和 3645 次删除
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65Project/Assets/ML-Agents/Examples/Crawler/Prefabs/Crawler.prefab
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385Project/Assets/ML-Agents/Examples/Crawler/Prefabs/DynamicPlatform.prefab
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286Project/Assets/ML-Agents/Examples/Crawler/Prefabs/FixedPlatform.prefab
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45Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicTarget.unity
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381Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticTarget.unity
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111Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
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1001Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerDynamic.nn
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2Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerDynamic.nn.meta
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1001Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerStatic.nn
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2Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerStatic.nn.meta
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5Project/Assets/ML-Agents/Examples/SharedAssets/Materials/Outline.mat
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5Project/Assets/ML-Agents/Examples/SharedAssets/Materials/UIDefault.mat
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15Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/OrientationCube.prefab
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7Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/JointDriveController.cs
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310Project/Assets/ML-Agents/Examples/Walker/Prefabs/DynamicPlatformWalker.prefab
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153Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerRagdoll.prefab
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277Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerWithTargetPair.prefab
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76Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerDynamic.unity
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60Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerStatic.unity
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137Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
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1001Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic.nn
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2Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic.nn.meta
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1001Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerStatic.nn
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2Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerStatic.nn.meta
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2config/ppo/WalkerDynamic.yaml
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159Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/DynamicTarget.prefab
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7Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/DynamicTarget.prefab.meta
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149Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/StaticTarget.prefab
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7Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/StaticTarget.prefab.meta
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24Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/OrientationCubeController.cs
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11Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/OrientationCubeController.cs.meta
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135Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/TargetController.cs
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11Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/TargetController.cs.meta
1001
Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerDynamic.nn
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1001
Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerStatic.nn
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1001
Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic.nn
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1001
Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerStatic.nn
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using UnityEngine; |
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|
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namespace Unity.MLAgentsExamples |
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{ |
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/// <summary>
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/// Utility class to allow a stable observation platform.
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/// </summary>
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public class OrientationCubeController : MonoBehaviour |
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{ |
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//Update position and Rotation
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public void UpdateOrientation(Transform rootBP, Transform target) |
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{ |
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var dirVector = target.position - transform.position; |
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dirVector.y = 0; //flatten dir on the y. this will only work on level, uneven surfaces
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var lookRot = |
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dirVector == Vector3.zero |
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? Quaternion.identity |
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: Quaternion.LookRotation(dirVector); //get our look rot to the target
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//UPDATE ORIENTATION CUBE POS & ROT
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transform.SetPositionAndRotation(rootBP.position, lookRot); |
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} |
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} |
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} |
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userData: |
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assetBundleName: |
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assetBundleVariant: |
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using UnityEngine; |
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using Random = UnityEngine.Random; |
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using Unity.MLAgents; |
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using UnityEngine.Events; |
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namespace Unity.MLAgentsExamples |
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{ |
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/// <summary>
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/// Utility class to allow target placement and collision detection with an agent
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/// Add this script to the target you want the agent to touch.
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/// Callbacks will be triggered any time the target is touched with a collider tagged as 'tagToDetect'
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/// </summary>
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public class TargetController : MonoBehaviour |
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{ |
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[Header("Collider Tag To Detect")] |
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public string tagToDetect = "agent"; //collider tag to detect
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[Header("Target Placement")] |
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public float spawnRadius; //The radius in which a target can be randomly spawned.
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public bool respawnIfTouched; //Should the target respawn to a different position when touched
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[Header("Target Fell Protection")] |
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public bool respawnIfFallsOffPlatform = true; //If the target falls off the platform, reset the position.
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public float fallDistance = 5; //distance below the starting height that will trigger a respawn
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private Vector3 m_startingPos; //the starting position of the target
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private Agent m_agentTouching; //the agent currently touching the target
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[System.Serializable] |
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public class TriggerEvent : UnityEvent<Collider> |
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{ |
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} |
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[Header("Trigger Callbacks")] |
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public TriggerEvent onTriggerEnterEvent = new TriggerEvent(); |
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public TriggerEvent onTriggerStayEvent = new TriggerEvent(); |
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public TriggerEvent onTriggerExitEvent = new TriggerEvent(); |
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[System.Serializable] |
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public class CollisionEvent : UnityEvent<Collision> |
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{ |
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} |
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[Header("Collision Callbacks")] |
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public CollisionEvent onCollisionEnterEvent = new CollisionEvent(); |
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public CollisionEvent onCollisionStayEvent = new CollisionEvent(); |
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public CollisionEvent onCollisionExitEvent = new CollisionEvent(); |
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|
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// Start is called before the first frame update
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void OnEnable() |
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{ |
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m_startingPos = transform.position; |
|||
if (respawnIfTouched) |
|||
{ |
|||
MoveTargetToRandomPosition(); |
|||
} |
|||
} |
|||
|
|||
void Update() |
|||
{ |
|||
if (respawnIfFallsOffPlatform) |
|||
{ |
|||
if (transform.position.y < m_startingPos.y - fallDistance) |
|||
{ |
|||
Debug.Log($"{transform.name} Fell Off Platform"); |
|||
MoveTargetToRandomPosition(); |
|||
} |
|||
} |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Moves target to a random position within specified radius.
|
|||
/// </summary>
|
|||
public void MoveTargetToRandomPosition() |
|||
{ |
|||
var newTargetPos = m_startingPos + (Random.insideUnitSphere * spawnRadius); |
|||
newTargetPos.y = m_startingPos.y; |
|||
transform.position = newTargetPos; |
|||
} |
|||
|
|||
private void OnCollisionEnter(Collision col) |
|||
{ |
|||
if (col.transform.CompareTag(tagToDetect)) |
|||
{ |
|||
onCollisionEnterEvent.Invoke(col); |
|||
if (respawnIfTouched) |
|||
{ |
|||
MoveTargetToRandomPosition(); |
|||
} |
|||
} |
|||
} |
|||
|
|||
private void OnCollisionStay(Collision col) |
|||
{ |
|||
if (col.transform.CompareTag(tagToDetect)) |
|||
{ |
|||
onCollisionStayEvent.Invoke(col); |
|||
} |
|||
} |
|||
|
|||
private void OnCollisionExit(Collision col) |
|||
{ |
|||
if (col.transform.CompareTag(tagToDetect)) |
|||
{ |
|||
onCollisionExitEvent.Invoke(col); |
|||
} |
|||
} |
|||
|
|||
private void OnTriggerEnter(Collider col) |
|||
{ |
|||
if (col.CompareTag(tagToDetect)) |
|||
{ |
|||
onTriggerEnterEvent.Invoke(col); |
|||
} |
|||
} |
|||
|
|||
private void OnTriggerStay(Collider col) |
|||
{ |
|||
if (col.CompareTag(tagToDetect)) |
|||
{ |
|||
onTriggerStayEvent.Invoke(col); |
|||
} |
|||
} |
|||
|
|||
private void OnTriggerExit(Collider col) |
|||
{ |
|||
if (col.CompareTag(tagToDetect)) |
|||
{ |
|||
onTriggerExitEvent.Invoke(col); |
|||
} |
|||
} |
|||
} |
|||
} |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: 3c8f113a8b8d94967b1b1782c549be81 |
|||
MonoImporter: |
|||
externalObjects: {} |
|||
serializedVersion: 2 |
|||
defaultReferences: [] |
|||
executionOrder: 0 |
|||
icon: {instanceID: 0} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|||
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