Chris Elion
5 年前
当前提交
dc4a001f
共有 7 个文件被更改，包括 279 次插入 和 9 次删除
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42Project/Assets/ML-Agents/Examples/Crawler/Prefabs/ArticulatedDynamicPlatform.prefab
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2Project/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerAgent.cs
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6Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
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211Project/Assets/ML-Agents/Examples/SharedAssets/ArticulationBodySensor.cs
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3Project/Assets/ML-Agents/Examples/SharedAssets/ArticulationBodySensor.cs.meta
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21Project/Assets/ML-Agents/Examples/SharedAssets/ArticulationBodySensorComponent.cs
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3Project/Assets/ML-Agents/Examples/SharedAssets/ArticulationBodySensorComponent.cs.meta
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using System; |
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using System.Collections.Generic; |
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using Unity.MLAgents.Sensors; |
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using UnityEngine; |
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[Serializable] |
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public class ArticulationBodySensorSettings |
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{ |
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public enum TransformFormat |
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{ |
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PositionForwardRight, |
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PositionQuaternion, |
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}; |
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public enum JointAngleFunction |
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{ |
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Ignore, |
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Fmod, |
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SinCos, |
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} |
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public static readonly Dictionary<TransformFormat, int> s_NumObservationsByTransformFormat = |
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new Dictionary<TransformFormat, int> |
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{ |
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{ TransformFormat.PositionForwardRight, 9 }, // transform pos, fwd, right
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{ TransformFormat.PositionQuaternion, 7 } // transform pos, quaternion
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}; |
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public static readonly Dictionary<JointAngleFunction, int> s_NumObservationsByJointAngleFunction = |
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new Dictionary<JointAngleFunction, int> |
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{ |
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{ JointAngleFunction.Ignore, 0 }, |
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{ JointAngleFunction.Fmod, 1 }, |
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{ JointAngleFunction.SinCos, 2 } |
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}; |
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public TransformFormat transformFormat = TransformFormat.PositionForwardRight; |
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public JointAngleFunction jointAngleFunction = JointAngleFunction.Fmod; |
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public int NumTransformObservations |
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{ |
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get { return s_NumObservationsByTransformFormat[transformFormat]; } |
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} |
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public int NumJointAngleObservations |
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{ |
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get { return s_NumObservationsByJointAngleFunction[jointAngleFunction]; } |
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} |
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} |
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public class ArticulationBodySensor : ISensor |
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{ |
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string m_SensorName; |
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int[] m_Shape; |
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ArticulationBody[] m_Bodies; |
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ArticulationBodySensorSettings m_Settings; |
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public ArticulationBodySensor(ArticulationBody rootBody, ArticulationBodySensorSettings settings, string name = null) |
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{ |
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m_SensorName = string.IsNullOrEmpty(name) ? $"ArticulationBodySensor:{rootBody.name}" : name; |
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m_Settings = settings; |
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// Note that m_Bodies[0] will always be rootBody
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m_Bodies = rootBody.GetComponentsInChildren<ArticulationBody>(); |
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var sensorSize = GetArticulationSensorSize(rootBody, settings); |
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m_Shape = new[] { sensorSize }; |
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} |
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/// <inheritdoc/>
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public int[] GetObservationShape() |
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{ |
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return m_Shape; |
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} |
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/// <inheritdoc/>
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public int Write(ObservationWriter writer) |
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{ |
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int obsIndex = 0; |
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foreach (var body in m_Bodies) |
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{ |
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obsIndex = WriteBody(writer, body, obsIndex); |
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} |
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return obsIndex; |
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} |
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/// <inheritdoc/>
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public byte[] GetCompressedObservation() |
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{ |
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throw new NotImplementedException(); |
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} |
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/// <inheritdoc/>
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public void Update() |
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{ |
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} |
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/// <inheritdoc/>
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public void Reset() { } |
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/// <inheritdoc/>
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public SensorCompressionType GetCompressionType() |
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{ |
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return SensorCompressionType.None; |
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} |
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/// <inheritdoc/>
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public string GetName() |
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{ |
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return m_SensorName; |
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} |
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public static int GetArticulationSensorSize(ArticulationBody rootBody, ArticulationBodySensorSettings settings) |
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{ |
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if (rootBody == null) |
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{ |
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return 0; |
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} |
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int numObs = 0; |
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var bodies = rootBody.GetComponentsInChildren<ArticulationBody>(); |
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foreach (var childBody in bodies) |
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{ |
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numObs += GetArticulationObservationSize(childBody, settings); |
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} |
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return numObs; |
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} |
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static int GetArticulationObservationSize(ArticulationBody body, ArticulationBodySensorSettings settings) |
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{ |
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if (body == null) |
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{ |
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return 0; |
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} |
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var transformObsSize = settings.NumTransformObservations; |
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// TODO more observations for dof depending on type
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var obsPerDof = settings.NumJointAngleObservations; |
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var dof = body.dofCount; |
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return transformObsSize + dof * obsPerDof; |
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} |
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int WriteBody(ObservationWriter writer, ArticulationBody body, int observationIndex) |
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{ |
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if (body == null) |
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{ |
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// TODO - getting this error
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// MissingReferenceException: The object of type 'ArticulationBody' has been destroyed but you are still trying to access it.
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// Your script should either check if it is null or you should not destroy the object.
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// Handle later.
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return observationIndex; |
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} |
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var rootWorldTransform = m_Bodies[0].transform; |
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var modelSpacePos = rootWorldTransform.InverseTransformPoint(body.transform.position); |
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writer[observationIndex++] = modelSpacePos.x; |
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writer[observationIndex++] = modelSpacePos.y; |
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writer[observationIndex++] = modelSpacePos.z; |
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if (m_Settings.transformFormat == ArticulationBodySensorSettings.TransformFormat.PositionForwardRight) |
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{ |
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var modelFwd = rootWorldTransform.InverseTransformDirection(body.transform.forward); |
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writer[observationIndex++] = modelFwd.x; |
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writer[observationIndex++] = modelFwd.y; |
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writer[observationIndex++] = modelFwd.z; |
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var modelRight = rootWorldTransform.InverseTransformDirection(body.transform.right); |
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writer[observationIndex++] = modelRight.x; |
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writer[observationIndex++] = modelRight.y; |
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writer[observationIndex++] = modelRight.z; |
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} |
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else |
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{ |
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// TODO not 100% sure this is right
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var modelSpaceRot = Quaternion.Inverse(rootWorldTransform.rotation) * body.transform.rotation; |
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writer[observationIndex++] = modelSpaceRot.x; |
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writer[observationIndex++] = modelSpaceRot.y; |
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writer[observationIndex++] = modelSpaceRot.z; |
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writer[observationIndex++] = modelSpaceRot.w; |
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} |
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// Write degree-of-freedom info. For now, assume all angular.
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for (var dofIndex = 0; dofIndex < body.dofCount; dofIndex++) |
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{ |
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var jointRotationRads = body.jointPosition[dofIndex]; |
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if (m_Settings.jointAngleFunction == ArticulationBodySensorSettings.JointAngleFunction.Ignore) |
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{ |
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// Nothing
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} |
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else if (m_Settings.jointAngleFunction == ArticulationBodySensorSettings.JointAngleFunction.Fmod) |
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{ |
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var jointRotationDegs = jointRotationRads * Mathf.Rad2Deg; |
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var rotationFmod = (jointRotationDegs / 360.0f) % 1f; |
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writer[observationIndex++] = rotationFmod; |
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} |
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else if (m_Settings.jointAngleFunction == ArticulationBodySensorSettings.JointAngleFunction.SinCos) |
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{ |
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writer[observationIndex++] = Mathf.Sin(jointRotationRads); |
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writer[observationIndex++] = Mathf.Cos(jointRotationRads); |
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} |
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} |
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return observationIndex; |
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} |
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} |
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fileFormatVersion: 2 |
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guid: e14bb25a95194b69987ea4f57e249169 |
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timeCreated: 1589824795 |
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using Unity.MLAgents.Sensors; |
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using UnityEngine; |
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public class ArticulationBodySensorComponent : SensorComponent |
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{ |
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public ArticulationBody RootBody; |
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[SerializeField] |
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public ArticulationBodySensorSettings Settings = new ArticulationBodySensorSettings(); |
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/// <inheritdoc/>
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public override ISensor CreateSensor() |
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{ |
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return new ArticulationBodySensor(RootBody, Settings); |
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} |
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/// <inheritdoc/>
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public override int[] GetObservationShape() |
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{ |
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return new[] { ArticulationBodySensor.GetArticulationSensorSize(RootBody, Settings) }; |
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} |
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} |
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fileFormatVersion: 2 |
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guid: 4ae1ad4b0c504a2ab52e4dc39d7070af |
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timeCreated: 1589824814 |
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