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ml-agents
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code and prefab clean up

/hh-develop-walljump_bugfixes
Hunter 5 年前
当前提交
b0d33e49
共有 11 个文件被更改，包括 83 次插入 和 911 次删除
  1. 25
      UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/AgentCubeGroundCheck.cs
  2. 1
      UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/AgentCubeMovement.cs
  3. 2
      UnitySDK/Assets/ML-Agents/Examples/WallJump/Brains/BigWallJumpLearning.asset
  4. 2
      UnitySDK/Assets/ML-Agents/Examples/WallJump/Brains/SmallWallJumpLearning.asset
  5. 519
      UnitySDK/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpArea.prefab
  6. 90
      UnitySDK/Assets/ML-Agents/Examples/WallJump/Scenes/WallJump.unity
  7. 21
      UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAcademy.cs
  8. 328
      UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
  9. 2
      UnitySDK/Assets/ML-Agents/Examples/WallJump/TFModels/BigWallJumpLearning.nn.meta
  10. 2
      UnitySDK/Assets/ML-Agents/Examples/WallJump/TFModels/SmallWallJumpLearning.nn.meta
  11. 2
      UnitySDK/csharp_timers.json

25
UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/AgentCubeGroundCheck.cs
查看文件


using System.Collections;
//Standardized ground check for the Agent Cube
// using MLAgents;
namespace MLAgents
{

public class AgentCubeGroundCheck : MonoBehaviour
{
public bool debugDrawGizmos;
// public List<string> tagsToDetect = new List<string>(){"walkableSurface", "block"};
void FixedUpdate()
{

/// <param name="smallCheck"></param>
public void DoGroundCheck()
{
// hitGroundColliders = new Collider[3];
isGrounded = false;
if(Physics.OverlapBoxNonAlloc(
transform.TransformPoint(groundCheckBoxLocalPos),

{
foreach (var col in hitGroundColliders)
{
// if (col != null && col.transform != transform &&
// (col.CompareTag("walkableSurface") ||
// col.CompareTag("block") ||
// col.CompareTag("wall")))
// {
// col.CompareTag("wall") ||
col.CompareTag("block")))
{
isGrounded = true; //then we're grounded

}
}
//Draw the Box Overlap as a gizmo to show where it currently is testing. Click the Gizmos button to see this
//Draw the Box Overlap as a gizmo to show where it currently is testing.
// Convert the local coordinate values into world
// coordinates for the matrix transformation.
//Draw a cube where the OverlapBox is (positioned where your GameObject is as well as a size)
// Gizmos.DrawWireCube(transform.position, transform.localScale);
// Gizmos.color = Color.blue;
// Gizmos.DrawWireCube(transform.TransformPoint(groundCheckBoxLocalPos), groundCheckBoxSize);
// Gizmos.DrawWireCube(transform.TransformPoint(groundCheckBoxLocalPos), transform.localScale);
}
}

1
UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/AgentCubeMovement.cs
查看文件


//Standardized movement controller for the Agent Cube
using UnityEngine;
namespace MLAgents

2
UnitySDK/Assets/ML-Agents/Examples/WallJump/Brains/BigWallJumpLearning.asset
查看文件


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inferenceDevice: 0

2
UnitySDK/Assets/ML-Agents/Examples/WallJump/Brains/SmallWallJumpLearning.asset
查看文件


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519
UnitySDK/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpArea.prefab
查看文件


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90
UnitySDK/Assets/ML-Agents/Examples/WallJump/Scenes/WallJump.unity
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21
UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAcademy.cs
查看文件


public class WallJumpAcademy : Academy
{
[Header("Specific to WallJump")]
// public float agentRunSpeed;
// public float agentMaxVel = 5; //maximum agent velocity
// public float agentIdleDragVelCoeff = .95f; //coeff used to dampen idle velocity
// public float agentJumpHeight;
// public float agentRotationSpeed = 5;
// public float agentFallingSpeed = 100;
// [HideInInspector]
//use ~3 to make things less floaty
public float gravityMultiplier = 2.5f;
// [HideInInspector]
// public float agentJumpVelocity = 3;
// // public float agentJumpVelocity = 777;
// [HideInInspector]
// public float agentJumpVelocityMaxChange = 10;
// Use this for initialization
public override void InitializeAcademy()
{
Physics.gravity *= gravityMultiplier;
}
}

328
UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
查看文件


public GameObject ground;
public GameObject spawnArea;
Bounds m_SpawnAreaBounds;
// public GameObject goal;
Bounds m_SpawnAreaBounds;
Rigidbody m_ShortBlockRb;
Rigidbody m_AgentRb;
Material m_GroundMaterial;

// public float jumpingTime;
public float jumpTimer; //timer used to control jump timing & prevent rapid doublejumps
// // This is a downward force applied when falling to make jumps look
// // less floaty
// public float fallingForce;
// // Use to check the coliding objects
// public Collider[] hitGroundColliders = new Collider[3];
// Vector3 m_JumpTargetPos;
// Vector3 m_JumpStartingPos;
// public bool grounded;
// public bool largeGround;
public float m_currentVelMag;
private AgentCubeGroundCheck m_groundCheck;
public AgentCubeMovement m_agentMovement;
int fuTimer;
public float smoothTime = 0.3F;
private Vector3 velocity = Vector3.zero;
AgentCubeGroundCheck m_groundCheck;
AgentCubeMovement m_agentMovement;
public override void InitializeAgent()
{

m_RayPer = GetComponent<RayPerception>();
m_Configuration = Random.Range(0, 5);
m_DetectableObjects = new[] { "wall", "goal", "block" };
// Begin the jump sequence
// public void Jump()
// {
// jumpingTime = 0.2f;
// m_JumpStartingPos = m_AgentRb.position;
// }
// /// <summary>
// /// Does the ground check.
// /// </summary>
// /// <returns><c>true</c>, if the agent is on the ground,
// /// <c>false</c> otherwise.</returns>
// /// <param name="smallCheck"></param>
// public bool DoGroundCheck(bool smallCheck)
// {
// if (!smallCheck)
// {
// hitGroundColliders = new Collider[3];
// var o = gameObject;
// Physics.OverlapBoxNonAlloc(
// o.transform.position + new Vector3(0, -0.05f, 0),
// new Vector3(0.95f / 2f, 0.5f, 0.95f / 2f),
// hitGroundColliders,
// o.transform.rotation);
// var grounded = false;
// foreach (var col in hitGroundColliders)
// {
// // if (col != null && col.transform != transform &&
// // (col.CompareTag("walkableSurface") ||
// // col.CompareTag("block") ||
// // col.CompareTag("wall")))
// // {
// if (col != null && col.transform != transform &&
// (col.CompareTag("walkableSurface") ||
// col.CompareTag("block")))
// {
// grounded = true; //then we're grounded
// break;
// }
// }
// return grounded;
// }
// else
// {
// RaycastHit hit;
// // Physics.SphereCast(m_AgentRb.position + new Vector3(0, .5f, 0), .55f, -Vector3.up, out hit,
// // 1f);
// Physics.Raycast(transform.position + new Vector3(0, -0.05f, 0), -Vector3.up, out hit,
// .51f);
// // if (hit.collider != null &&
// // (hit.collider.CompareTag("walkableSurface") ||
// // hit.collider.CompareTag("block") ||
// // hit.collider.CompareTag("wall"))
// // && hit.normal.y > 0.95f)
// // {
// if (hit.collider != null &&
// (hit.collider.CompareTag("walkableSurface") ||
// hit.collider.CompareTag("block"))
// && hit.normal.y > 0.95f)
// {
// return true;
// }
// return false;
// }
// }
// /// <summary>
// /// Moves a rigidbody towards a position smoothly.
// /// </summary>
// /// <param name="targetPos">Target position.</param>
// /// <param name="rb">The rigidbody to be moved.</param>
// /// <param name="targetVel">The velocity to target during the
// /// motion.</param>
// /// <param name="maxVel">The maximum velocity posible.</param>
// void MoveTowards(
// Vector3 targetPos, Rigidbody rb, float targetVel, float maxVel)
// {
// var moveToPos = targetPos - rb.worldCenterOfMass;
// var velocityTarget = Time.fixedDeltaTime * targetVel * moveToPos;
// if (float.IsNaN(velocityTarget.x) == false)
// {
// rb.velocity = Vector3.MoveTowards(
// rb.velocity, velocityTarget, maxVel);
// }
// }
// grounded = DoGroundCheck(true);
// largeGround = DoGroundCheck(false);
// print($"Observation: {m_Academy.GetStepCount()} {fuTimer}");
// print($"Observation: {GetStepCount()} {fuTimer}");
var rayDistance = 20f;
float[] rayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
AddVectorObs(m_RayPer.Perceive(

var agentPos = m_AgentRb.position - ground.transform.position;
AddVectorObs(agentPos / 20f);
// AddVectorObs(grounded? 1 : 0);
AddVectorObs(agentPos / 20f); //help with orientation
AddVectorObs(m_AgentRb.velocity/m_agentMovement.agentRunSpeed);
AddVectorObs(m_AgentRb.angularVelocity/m_AgentRb.maxAngularVelocity);
AddVectorObs(m_AgentRb.transform.forward);
AddVectorObs(m_AgentRb.velocity/m_agentMovement.agentRunSpeed); //normalized vel
AddVectorObs(m_AgentRb.angularVelocity/m_AgentRb.maxAngularVelocity); //normalized angVel
AddVectorObs(m_AgentRb.transform.forward); //help with orientation
}
/// <summary>

}
/// <summary>
/// Chenges the color of the ground for a moment
/// Changes the color of the ground for a moment
/// </summary>
/// <returns>The Enumerator to be used in a Coroutine</returns>
/// <param name="mat">The material to be swaped.</param>

public void MoveAgent(float[] act)
{
AddReward(-0.0005f);
// var smallGrounded = DoGroundCheck(true);
// var smallGrounded = grounded;
// var largeGrounded = largeGround;
// largeGround = largeGrounded;
AddReward(-0.0005f); //hurry up
// var dirToGoSideAction = (int)act[2];
// print($"Academy: {m_Academy.GetStepCount()}");
// print($"Agent: {GetStepCount()}");
// print($"Action: {GetStepCount()} {fuTimer}");
// if (smallGrounded)
// {
// if (dirToGoForwardAction == 1)
// dirToGo = 1f * transform.forward;
// else if (dirToGoForwardAction == 2)
// dirToGo = -1f * transform.forward;
// if (dirToGoSideAction == 1)
// dirToGo = -0.6f * transform.right;
// else if (dirToGoSideAction == 2)
// dirToGo = 0.6f * transform.right;
// }
// // if (smallGrounded)
// // {
// if (dirToGoForwardAction == 1)
// dirToGo = (largeGrounded ? 1f : 0.1f) * 1f * transform.forward;
// else if (dirToGoForwardAction == 2)
// dirToGo = (largeGrounded ? 1f : 0.1f) * -1f * transform.forward;
// if (dirToGoSideAction == 1)
// dirToGo = (largeGrounded ? 1f : 0.1f) * -0.6f * transform.right;
// else if (dirToGoSideAction == 2)
// dirToGo = (largeGrounded ? 1f : 0.1f) * 0.6f * transform.right;
if (dirToGoForwardAction == 1)
dirToGo += transform.forward;
else if (dirToGoForwardAction == 2)
dirToGo += -transform.forward;
// if (dirToGoSideAction == 1)
// dirToGo += -transform.right;
// else if (dirToGoSideAction == 2)
// dirToGo += transform.right;
// // }
if (dirToGoForwardAction == 1)
dirToGo += transform.forward;
else if (dirToGoForwardAction == 2)
dirToGo += -transform.forward;
//handle jumping
// if (largeGrounded)
// if (m_groundCheck.isGrounded && jumpTimer > .15f)
// Jump();
// print($"JUMP {m_groundCheck.isGrounded}");
// m_AgentRb.velocity = Vector3.zero;
// jumpTimer = 0f;
// Vector3 velToUse = m_AgentRb.velocity;
// velToUse.y = m_Academy.agentJumpVelocity;
// m_AgentRb.velocity = velToUse;
// m_AgentRb.AddForce(Vector3.up * m_Academy.agentJumpVelocity,
// ForceMode.VelocityChange);
// m_AgentRb.AddForce(Vector3.up * m_Academy.agentJumpVelocity,
// ForceMode.Impulse);
// AddReward(-0.01f); //don't constantly jump
// transform.Rotate(rotateDir, Time.fixedDeltaTime * 300f);
// transform.Rotate(rotateDir, m_Academy.agentRotationSpeed);
//handle body rotation
// m_AgentRb.MoveRotation(m_AgentRb.rotation * Quaternion.AngleAxis(m_Academy.agentRotationSpeed, rotateDir));
//Running Logic
// float runSpeed = Mathf.Clamp(m_agentMovement.agentRunSpeed - m_currentVelMag, 0, m_agentMovement.agentRunSpeed);
// float runSpeed = Mathf.Clamp(m_agentMovement.agentRunMaxVelMagnitude - m_currentVelMag, 0, m_agentMovement.agentRunMaxVelMagnitude);
if (!m_groundCheck.isGrounded)
//handle running
if (dirToGo != Vector3.zero)
m_agentMovement.RunInAir(m_AgentRb, dirToGo.normalized);
if (!m_groundCheck.isGrounded)
{
m_agentMovement.RunInAir(m_AgentRb, dirToGo.normalized);
}
else
{
m_agentMovement.RunOnGround(m_AgentRb, dirToGo.normalized);
}
else
{
m_agentMovement.RunOnGround(m_AgentRb, dirToGo.normalized);
}
// m_AgentRb.AddForce(dirToGo.normalized * runSpeed,
// ForceMode.VelocityChange);
// m_AgentRb.AddForce(dirToGo.normalized * runSpeed,
// ForceMode.Impulse);
// if (m_groundCheck.isGrounded && dirToGo == Vector3.zero && jumpTimer > .15f)
//handle idle drag
// m_AgentRb.velocity *= m_Academy.agentIdleDragVelCoeff;
// print("damping");
// //Running Logic
// Vector3 smoothedVel = Vector3.SmoothDamp(m_AgentRb.velocity, dirToGo * runSpeed, ref velocity, smoothTime);
// m_AgentRb.velocity = smoothedVel;
// if(m_currentVelMag < m_Academy.agentMaxVel)
// {
// m_AgentRb.AddForce(dirToGo * m_Academy.agentRunSpeed,
// ForceMode.VelocityChange);
// }
// if (jumpingTime > 0f)
// {
// m_JumpTargetPos =
// new Vector3(m_AgentRb.position.x,
// m_JumpStartingPos.y + m_Academy.agentJumpHeight,
// m_AgentRb.position.z) + dirToGo;
// MoveTowards(m_JumpTargetPos, m_AgentRb, m_Academy.agentJumpVelocity,
// m_Academy.agentJumpVelocityMaxChange);
// }
// if (!m_groundCheck.isGrounded && jumpTimer > .15f)
//handle falling forces
// m_AgentRb.AddForce(
// // Vector3.down * fallingForce, ForceMode.Acceleration);
// Vector3.down * m_Academy.agentFallingSpeed, ForceMode.Acceleration);
// if (!(jumpingTime > 0f) && !m_groundCheck.isGrounded)
// {
// m_AgentRb.AddForce(
// // Vector3.down * fallingForce, ForceMode.Acceleration);
// Vector3.down * m_Academy.agentFallingSpeed, ForceMode.Acceleration);
// }
// jumpingTime -= Time.fixedDeltaTime;
// jumpTimer += Time.fixedDeltaTime;
// public void MoveAgent(float[] act)
// {
// AddReward(-0.0005f);
// var smallGrounded = DoGroundCheck(true);
// grounded = smallGrounded;
// var largeGrounded = DoGroundCheck(false);
// var dirToGo = Vector3.zero;
// var rotateDir = Vector3.zero;
// var dirToGoForwardAction = (int)act[0];
// var rotateDirAction = (int)act[1];
// var dirToGoSideAction = (int)act[2];
// var jumpAction = (int)act[3];
// if (dirToGoForwardAction == 1)
// dirToGo = (largeGrounded ? 1f : 0.5f) * 1f * transform.forward;
// else if (dirToGoForwardAction == 2)
// dirToGo = (largeGrounded ? 1f : 0.5f) * -1f * transform.forward;
// if (rotateDirAction == 1)
// rotateDir = transform.up * -1f;
// else if (rotateDirAction == 2)
// rotateDir = transform.up * 1f;
// if (dirToGoSideAction == 1)
// dirToGo = (largeGrounded ? 1f : 0.5f) * -0.6f * transform.right;
// else if (dirToGoSideAction == 2)
// dirToGo = (largeGrounded ? 1f : 0.5f) * 0.6f * transform.right;
// if (jumpAction == 1)
// if ((jumpingTime <= 0f) && smallGrounded)
// {
// Jump();
// AddReward(-0.01f); //don't constantly jump
// }
// transform.Rotate(rotateDir, Time.fixedDeltaTime * 300f);
// m_AgentRb.AddForce(dirToGo * m_Academy.agentRunSpeed,
// ForceMode.VelocityChange);
// if (jumpingTime > 0f)
// {
// m_JumpTargetPos =
// new Vector3(m_AgentRb.position.x,
// m_JumpStartingPos.y + m_Academy.agentJumpHeight,
// m_AgentRb.position.z) + dirToGo;
// MoveTowards(m_JumpTargetPos, m_AgentRb, m_Academy.agentJumpVelocity,
// m_Academy.agentJumpVelocityMaxChange);
// }
// if (!(jumpingTime > 0f) && !largeGrounded)
// {
// m_AgentRb.AddForce(
// Vector3.down * fallingForce, ForceMode.Acceleration);
// }
// jumpingTime -= Time.fixedDeltaTime;
// }
// if ((!Physics.Raycast(m_AgentRb.position, Vector3.down, 20))
// || (!Physics.Raycast(m_ShortBlockRb.position, Vector3.down, 20)))
if(m_AgentRb.position.y < -1 || m_ShortBlockRb.position.y < -1)
{
SetReward(-1f);

}
// Detect when the agent hits the goal
// void OnTriggerEnter(Collider col)
// if (col.gameObject.CompareTag("goal") && DoGroundCheck(true))
if (col.gameObject.CompareTag("goal") && m_groundCheck.isGrounded)
{
SetReward(1f);

transform.localPosition = new Vector3(
18 * (Random.value - 0.5f), 1, -12);
m_Configuration = Random.Range(0, 5);
// m_AgentRb.velocity = default(Vector3);
m_currentVelMag = m_AgentRb.velocity.magnitude;
// fuTimer++;
if (m_Configuration != -1)
{
ConfigureAgent(m_Configuration);

2
UnitySDK/Assets/ML-Agents/Examples/WallJump/TFModels/BigWallJumpLearning.nn.meta
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2
UnitySDK/csharp_timers.json
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