Hunter-Unity
4 年前
当前提交
da6d25c9
共有 25 个文件被更改，包括 2032 次插入 和 2141 次删除
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3Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/JointDriveController.cs
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29Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerRagdoll.prefab
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7Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerWithTargetPair.prefab
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2Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerStatic.unity
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2config/ppo/WalkerStatic.yaml
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42config/trainer_config.yaml
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1001Project/Assets/ExpertWalkerDyn.demo
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10Project/Assets/ExpertWalkerDyn.demo.meta
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1001Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalkerDyn.demo
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10Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalkerDyn.demo.meta
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11Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AvgCenterOfMass.cs.meta
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28Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/RagdollHelpers.cs
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3Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/RagdollHelpers.cs.meta
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297Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AvgCenterOfMass.cs
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36Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/MeshSkewFix.cs
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11Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/MeshSkewFix.cs.meta
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1001Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo
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10Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo.meta
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7Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerPairDynamic.prefab.meta
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358Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerPairDynamic.prefab
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12Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgentDynamic.cs.meta
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284Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgentDynamic.cs
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8Project/Assets/Puppo.meta
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0/config/ppo/WalkerStatic.yaml
1001
Project/Assets/ExpertWalkerDyn.demo
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1001
Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalkerDyn.demo
文件差异内容过多而无法显示
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文件差异内容过多而无法显示
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11400000: Assets/Demonstrations/ExpertWalkerDyn.demo |
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using UnityEngine; |
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namespace MLAgentsExamples |
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{ |
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/// <summary>
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/// This class contains logic for common ragdoll operations & helper methods.
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/// </summary>
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public static class RagdollHelpers |
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{ |
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/// <summary>
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//Get Joint Rotation Relative to the Connected Rigidbody
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//We want to collect this info because it is the actual rotation, not the "target rotation"
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//..because when the joint is weak, the target rotation will be much different than the actual rotation
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/// </summary>
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public static Quaternion GetJointRotation(ConfigurableJoint joint) |
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{ |
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Quaternion rotDiff = Quaternion.Inverse(joint.connectedBody.transform.rotation) * joint.transform.rotation; |
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return(rotDiff); |
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// return(Quaternion.FromToRotation(joint.axis, joint.connectedBody.transform.rotation.eulerAngles));
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} |
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public static Quaternion GetRotationDelta(Quaternion r1, Quaternion r2) |
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{ |
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Quaternion rotDiff = Quaternion.Inverse(r1) * r2; |
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return(rotDiff); |
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} |
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} |
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} |
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fileFormatVersion: 2 |
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guid: 2b8c368466f64b5d8b4dca532c0a7b3c |
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timeCreated: 1588782867 |
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using System.Collections.Generic; |
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using UnityEngine; |
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/// <summary>
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/// Used for visualizing the average center of mass of a ragdoll
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/// </summary>
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[DisallowMultipleComponent] |
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[ExecuteInEditMode] |
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public class AvgCenterOfMass : MonoBehaviour |
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{ |
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/// <summary>
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/// Enable to show a green spehere at the current center of mass.
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/// </summary>
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[Tooltip("Enable to show a green spehere at the current center of mass.")] |
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public bool showCOMGizmos = true; |
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public Vector3 avgCOMWorldSpace; |
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public Color avgCOMColor = Color.green; |
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public Color bodyPartCOMColor = Color.yellow; |
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List<Rigidbody> rbList = new List<Rigidbody>(); |
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public float totalMass; |
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[Tooltip("Visualize Relative Pos")] |
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public bool showBPPosRelToBody; |
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public bool useTransformPoint = true; |
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public bool useTransformVector; |
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public bool useTransformDir; |
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public bool showRBPos; |
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public bool showRelPosVectorOnly; |
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public bool showInverseTransformPointUnscaledRelToBody; |
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public bool showInverseTransformPointRelToBody; |
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public bool showInverseTransformVectorRelToBody; |
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public bool showInverseTransformDirRelToBody; |
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public Transform body_T; |
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void OnEnable() |
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{ |
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SetUpRigidbodies(); |
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} |
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void SetUpRigidbodies() |
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{ |
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rbList.Clear(); |
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totalMass = 0; |
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foreach(var item in GetComponentsInChildren<Rigidbody>()) |
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{ |
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rbList.Add(item); |
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totalMass += item.mass; |
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} |
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} |
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// void FixedUpdate()
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// {
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// if(Application.isPlaying)
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// {
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// avgCOMWorldSpace = Vector3.zero;
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// foreach(var item in rbList)
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// {
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// if (item)
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// {
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// avgCOMWorldSpace += item.worldCenterOfMass;
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// }
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// }
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// //DRAW AVG GIZMOS
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// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
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// }
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// }
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void FixedUpdate() |
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{ |
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if(Application.isPlaying) |
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{ |
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// avgCOMWorldSpace = Vector3.zero;
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// foreach(var item in rbList)
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// {
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// if (item)
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// {
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// avgCOMWorldSpace += item.worldCenterOfMass;
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// }
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// }
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// //DRAW AVG GIZMOS
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// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
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Vector3 CoM = Vector3.zero; |
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float c = 0f; |
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foreach(var item in rbList) |
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{ |
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CoM += item.worldCenterOfMass * item.mass; |
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c += item.mass; |
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} |
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avgCOMWorldSpace = CoM/c; |
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// CoM /= c;
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if (showBPPosRelToBody) |
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{ |
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var pos = body_T.position; |
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Matrix4x4 bodyMatrix = body_T.localToWorldMatrix; |
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// get position from the last column
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var bodyPos = new Vector3(bodyMatrix[0,3], bodyMatrix[1,3], bodyMatrix[2,3]); |
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Debug.DrawRay(bodyPos, Vector3.up, Color.yellow,Time.fixedDeltaTime); |
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foreach (var rb in rbList) |
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{ |
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if (showRBPos) |
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{ |
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Debug.DrawRay(rb.position, Vector3.up, Color.green,Time.fixedDeltaTime); |
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} |
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if (rb.transform != body_T) |
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{ |
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if (showRelPosVectorOnly) |
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{ |
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var relPosVector = rb.position - body_T.position; |
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// Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
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Debug.DrawRay(body_T.position + relPosVector, Vector3.up, Color.red,Time.fixedDeltaTime); |
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// Vector3 currentLocalPosRelToMatrix = bodyMatrix.inverse.MultiplyPoint(rb.position);
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Vector3 currentLocalPosRelToMatrix = bodyMatrix.inverse.MultiplyVector(rb.position - bodyPos); |
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Debug.DrawRay(body_T.position + currentLocalPosRelToMatrix, Vector3.up, Color.green,Time.fixedDeltaTime); |
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} |
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if (showInverseTransformPointUnscaledRelToBody) |
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{ |
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// Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
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// Debug.DrawRay(body_T.position + body_T.InverseTransformPointUnscaled(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
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Debug.DrawRay(body_T.position + body_T.InverseTransformPointUnscaled(rb.transform.position), Vector3.up, Color.red,Time.fixedDeltaTime); |
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} |
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if (showInverseTransformPointRelToBody) |
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{ |
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// Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
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Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime); |
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} |
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if (showInverseTransformDirRelToBody) |
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{ |
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Debug.DrawRay(body_T.InverseTransformDirection(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime); |
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} |
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if (showInverseTransformVectorRelToBody) |
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{ |
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Debug.DrawRay(body_T.position + body_T.InverseTransformVector(rb.position - body_T.position), Vector3.up, Color.red,Time.fixedDeltaTime); |
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} |
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// var localPosRelToBody = body.InverseTransformPoint(rb.position);
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// Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
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// Debug.DrawRay(body_T.position + rb.transform.TransformVector(rb.transform.localPosition), Vector3.up, Color.cyan,Time.fixedDeltaTime);
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// Debug.DrawRay(rb.transform.TransformPoint(rb.position), Vector3.up, Color.green,Time.fixedDeltaTime);
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// Debug.DrawRay(body_T.position + body_T.InverseTransformVector(rb.transform.position), Vector3.up, Color.red,Time.fixedDeltaTime);
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// Debug.DrawRay(body_T.position + body_T.InverseTransformDirection(rb.transform.position), Vector3.up, Color.red,Time.fixedDeltaTime);
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// Debug.DrawRay(body_T.position + body_T.TransformPoint(rb.transform.localPosition), Vector3.up, Color.red,Time.fixedDeltaTime);
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if (useTransformPoint) |
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{ |
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} |
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else if (useTransformVector) |
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{ |
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} |
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else if (useTransformDir) |
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{ |
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} |
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} |
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} |
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} |
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} |
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} |
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private void OnDrawGizmosSelected() |
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{ |
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if(!Application.isPlaying) |
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{ |
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if (showCOMGizmos) |
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{ |
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Vector3 CoM = Vector3.zero; |
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float c = 0f; |
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// avgCOMWorldSpace = Vector3.zero;
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//SHOW BODY PART GIZMOS
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foreach(var item in rbList) |
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{ |
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// if (item)
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// {
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Gizmos.color = bodyPartCOMColor; |
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float drawCOMRadius = item.mass/totalMass; |
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Gizmos.DrawSphere(item.worldCenterOfMass, drawCOMRadius); |
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// Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
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CoM += item.worldCenterOfMass * item.mass; |
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c += item.mass; |
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// avgCOMWorldSpace += item.worldCenterOfMass;
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// }
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} |
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//DRAW AVG GIZMOS
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avgCOMWorldSpace = CoM/c; |
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// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
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float avgCOMRadius = 0.1f; //radius of gizmo
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Gizmos.color = avgCOMColor; |
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Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMRadius); |
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} |
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} |
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else |
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{ |
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if (showCOMGizmos) |
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{ |
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// avgCOMWorldSpace = Vector3.zero;
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|
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//SHOW BODY PART GIZMOS
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foreach(var item in rbList) |
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{ |
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// if (item)
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// {
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Gizmos.color = bodyPartCOMColor; |
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float drawCOMRadius = item.mass/totalMass; |
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Gizmos.DrawSphere(item.worldCenterOfMass, drawCOMRadius); |
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// Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
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// avgCOMWorldSpace += item.worldCenterOfMass;
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// }
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} |
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//DRAW AVG GIZMOS
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// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
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float avgCOMGizmoRadius = 0.1f; //radius of gizmo
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Gizmos.color = avgCOMColor; |
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Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMGizmoRadius); |
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} |
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} |
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} |
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// {
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// if(!Application.isPlaying)
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// {
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// if (showCOMGizmos)
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// {
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// avgCOMWorldSpace = Vector3.zero;
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// //SHOW BODY PART GIZMOS
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// foreach(var item in rbList)
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// {
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// if (item)
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// {
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// Gizmos.color = bodyPartCOMColor;
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// float drawCOMRadius = item.mass/totalMass;
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// Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
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// avgCOMWorldSpace += item.worldCenterOfMass;
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// }
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// }
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// //DRAW AVG GIZMOS
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// avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
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// float avgCOMRadius = 0.1f; //radius of gizmo
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// Gizmos.color = avgCOMColor;
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// Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMRadius);
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// }
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// }
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// else
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// {
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// if (showCOMGizmos)
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// {
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// // avgCOMWorldSpace = Vector3.zero;
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// //SHOW BODY PART GIZMOS
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// foreach(var item in rbList)
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// {
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// if (item)
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// {
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// Gizmos.color = bodyPartCOMColor;
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// float drawCOMRadius = item.mass/totalMass;
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// Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
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// // avgCOMWorldSpace += item.worldCenterOfMass;
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// }
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// }
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// //DRAW AVG GIZMOS
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// // avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
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// float avgCOMGizmoRadius = 0.1f; //radius of gizmo
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// Gizmos.color = avgCOMColor;
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// Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMGizmoRadius);
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// }
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// }
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// }
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} |
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using System.Collections; |
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using System.Collections.Generic; |
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using UnityEngine; |
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[ExecuteAlways] |
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public class MeshSkewFix : MonoBehaviour |
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{ |
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public bool fix; |
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public GameObject rootGameObject; |
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// Start is called before the first frame update
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void Start() |
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{ |
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} |
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// Update is called once per frame
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void Update() |
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{ |
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if (fix) |
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{ |
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fix = false; |
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foreach (var t in GetComponentsInChildren<Transform>()) |
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{ |
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var joint = t.GetComponent<ConfigurableJoint>(); |
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if (joint) |
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{ |
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var meshFilter = t.GetComponent<MeshFilter>(); |
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var meshRend = t.GetComponent<MeshFilter>(); |
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} |
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} |
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} |
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} |
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} |
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assetBundleVariant: |
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1001
Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo
文件差异内容过多而无法显示
查看文件
文件差异内容过多而无法显示
查看文件
|
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fileFormatVersion: 2 |
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guid: d75254c9e8cb8402d98eede161c74a60 |
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ScriptedImporter: |
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fileIDToRecycleName: |
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11400000: Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo |
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externalObjects: {} |
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userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)' |
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m_Layer: 0 |
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m_Name: WalkerPairDynamic |
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using MLAgentsExamples; |
|||
using UnityEngine; |
|||
using Unity.MLAgents; |
|||
using Unity.MLAgentsExamples; |
|||
using Unity.MLAgents.Sensors; |
|||
using UnityEditor; |
|||
using BodyPart = Unity.MLAgentsExamples.BodyPart; |
|||
|
|||
public class WalkerAgentDynamic : Agent |
|||
{ |
|||
[Header("Walking Speed")] |
|||
[Space(10)] |
|||
[Header("Specific to Walker")] |
|||
public float maximumWalkingSpeed = 999; //The max walk velocity magnitude an agent will be rewarded for
|
|||
Vector3 m_WalkDir; |
|||
Quaternion m_WalkDirLookRot; |
|||
|
|||
[Space(10)] |
|||
[Header("Orientation Cube")] |
|||
[Space(10)] |
|||
//This will be used as a stable observation platform for the ragdoll to use.
|
|||
GameObject m_OrientationCube; |
|||
public Transform directionIndicator; |
|||
|
|||
[Header("Target To Walk Towards")] |
|||
[Space(10)] |
|||
public float targetSpawnRadius; |
|||
public Transform target; |
|||
public Transform ground; |
|||
public bool detectTargets; |
|||
public bool targetIsStatic; |
|||
public bool respawnTargetWhenTouched; |
|||
|
|||
|
|||
[Header("Body Parts")] |
|||
[Space(10)] |
|||
public Transform hips; |
|||
public Transform chest; |
|||
public Transform spine; |
|||
public Transform head; |
|||
public Transform thighL; |
|||
public Transform shinL; |
|||
public Transform footL; |
|||
public Transform thighR; |
|||
public Transform shinR; |
|||
public Transform footR; |
|||
public Transform armL; |
|||
public Transform forearmL; |
|||
public Transform handL; |
|||
public Transform armR; |
|||
public Transform forearmR; |
|||
public Transform handR; |
|||
JointDriveController m_JdController; |
|||
|
|||
Rigidbody m_HipsRb; |
|||
Rigidbody m_ChestRb; |
|||
Rigidbody m_SpineRb; |
|||
|
|||
EnvironmentParameters m_ResetParams; |
|||
|
|||
|
|||
|
|||
public override void Initialize() |
|||
{ |
|||
//Spawn an orientation cube
|
|||
Vector3 oCubePos = hips.position; |
|||
oCubePos.y = -.45f; |
|||
m_OrientationCube = Instantiate(Resources.Load<GameObject>("OrientationCube"), oCubePos, Quaternion.identity); |
|||
m_OrientationCube.transform.SetParent(transform); |
|||
|
|||
UpdateOrientationCube(); |
|||
|
|||
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) |
|||
{ |
|||
//GROUND CHECK
|
|||
sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Is this bp touching the ground
|
|||
|
|||
//Get velocities in the context of our orientation cube's space
|
|||
//Note: You can get these velocities in world space as well but it may not train as well.
|
|||
sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.velocity)); |
|||
sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.angularVelocity)); |
|||
|
|||
//Get position relative to hips in the context of our orientation cube's space
|
|||
sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.position - hips.position)); //best
|
|||
|
|||
if (bp.rb.transform != hips && bp.rb.transform != handL && bp.rb.transform != handR) |
|||
{ |
|||
sensor.AddObservation(bp.rb.transform.localRotation); |
|||
sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit); |
|||
} |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Loop over body parts to add them to observation.
|
|||
/// </summary>
|
|||
public override void CollectObservations(VectorSensor sensor) |
|||
{ |
|||
sensor.AddObservation(Quaternion.FromToRotation(hips.forward, m_OrientationCube.transform.forward)); |
|||
sensor.AddObservation(Quaternion.FromToRotation(head.forward, m_OrientationCube.transform.forward)); |
|||
|
|||
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 UpdateOrientationCube() |
|||
{ |
|||
//FACING DIR
|
|||
m_WalkDir = target.position - m_OrientationCube.transform.position; |
|||
m_WalkDir.y = 0; //flatten dir on the y
|
|||
m_WalkDirLookRot = Quaternion.LookRotation(m_WalkDir); //get our look rot to the target
|
|||
|
|||
//UPDATE ORIENTATION CUBE POS & ROT
|
|||
m_OrientationCube.transform.position = hips.position; |
|||
m_OrientationCube.transform.rotation = m_WalkDirLookRot; |
|||
|
|||
directionIndicator.position = new Vector3(hips.position.x, directionIndicator.position.y, hips.position.z); |
|||
directionIndicator.rotation = m_WalkDirLookRot; |
|||
} |
|||
|
|||
void FixedUpdate() |
|||
{ |
|||
if (detectTargets) |
|||
{ |
|||
foreach (var bodyPart in m_JdController.bodyPartsDict.Values) |
|||
{ |
|||
if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget) |
|||
{ |
|||
TouchedTarget(); |
|||
} |
|||
} |
|||
} |
|||
|
|||
UpdateOrientationCube(); |
|||
|
|||
// 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.
|
|||
AddReward( |
|||
+0.02f * Vector3.Dot(m_OrientationCube.transform.forward, |
|||
Vector3.ClampMagnitude(m_JdController.bodyPartsDict[hips].rb.velocity, maximumWalkingSpeed)) |
|||
+ 0.01f * Vector3.Dot(m_OrientationCube.transform.forward, head.forward) |
|||
+ 0.005f * (head.position.y - footL.position.y) |
|||
+ 0.005f * (head.position.y - footR.position.y) |
|||
); |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Agent touched the target
|
|||
/// </summary>
|
|||
public void TouchedTarget() |
|||
{ |
|||
AddReward(1f); |
|||
if (respawnTargetWhenTouched) |
|||
{ |
|||
GetRandomTargetPos(); |
|||
} |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Moves target to a random position within specified radius.
|
|||
/// </summary>
|
|||
public void GetRandomTargetPos() |
|||
{ |
|||
var newTargetPos = Random.insideUnitSphere * targetSpawnRadius; |
|||
newTargetPos.y = 5; |
|||
target.position = newTargetPos + ground.position; |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Loop over body parts and reset them to initial conditions.
|
|||
/// </summary>
|
|||
public override void OnEpisodeBegin() |
|||
{ |
|||
foreach (var bodyPart in m_JdController.bodyPartsDict.Values) |
|||
{ |
|||
bodyPart.Reset(bodyPart); |
|||
} |
|||
|
|||
//Random start rotation
|
|||
transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0); |
|||
|
|||
UpdateOrientationCube(); |
|||
|
|||
if (detectTargets && !targetIsStatic) |
|||
{ |
|||
GetRandomTargetPos(); |
|||
} |
|||
|
|||
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(); |
|||
} |
|||
|
|||
private void OnDrawGizmosSelected() |
|||
{ |
|||
if (Application.isPlaying) |
|||
{ |
|||
Gizmos.color = Color.green; |
|||
Gizmos.matrix = m_OrientationCube.transform.localToWorldMatrix; |
|||
Gizmos.DrawWireCube(Vector3.zero, m_OrientationCube.transform.localScale); |
|||
Gizmos.DrawRay(Vector3.zero, Vector3.forward); |
|||
} |
|||
} |
|||
} |
|||
|
|||
fileFormatVersion: 2 |
|||
guid: 8fe7964b5935448bbb5ea7625e228d8e |
|||
folderAsset: yes |
|||
DefaultImporter: |
|||
externalObjects: {} |
|||
userData: |
|||
assetBundleName: |
|||
assetBundleVariant: |
|||
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