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Add New 3 Joint Ragdoll Worm Environment (#3798)
Add New 3 Joint Ragdoll Worm Environment (#3798)
Co-authored-by: Arthur Juliani <awjuliani@gmail.com>/develop/dockerfile
GitHub
5 年前
当前提交
f8909ab1
共有 39 个文件被更改,包括 9646 次插入 和 2 次删除
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6Project/ProjectSettings/DynamicsManager.asset
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2com.unity.ml-agents/CHANGELOG.md
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30config/trainer_config.yaml
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23docs/Learning-Environment-Examples.md
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702Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/DynamicTargetPlatform.prefab
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7Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/DynamicTargetPlatform.prefab.meta
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8Project/Assets/ML-Agents/Examples/Worm.meta
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717docs/images/worm.png
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8Project/Assets/ML-Agents/Examples/Worm/Meshes.meta
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1001Project/Assets/ML-Agents/Examples/Worm/Meshes/WormCourt.fbx
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99Project/Assets/ML-Agents/Examples/Worm/Meshes/WormCourt.fbx.meta
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9Project/Assets/ML-Agents/Examples/Worm/Prefabs.meta
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210Project/Assets/ML-Agents/Examples/Worm/Prefabs/PlatformWormDynamicTarget.prefab
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476Project/Assets/ML-Agents/Examples/Worm/Prefabs/PlatformWormStaticTarget.prefab
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7Project/Assets/ML-Agents/Examples/Worm/Prefabs/PlatformWormDynamicTarget.prefab.meta
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7Project/Assets/ML-Agents/Examples/Worm/Prefabs/PlatformWormStaticTarget.prefab.meta
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7Project/Assets/ML-Agents/Examples/Worm/Prefabs/WormBasePrefabDynamic.prefab.meta
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7Project/Assets/ML-Agents/Examples/Worm/Prefabs/WormBasePrefabStatic.prefab.meta
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1001Project/Assets/ML-Agents/Examples/Worm/Prefabs/WormBasePrefabDynamic.prefab
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1001Project/Assets/ML-Agents/Examples/Worm/Prefabs/WormBasePrefabStatic.prefab
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8Project/Assets/ML-Agents/Examples/Worm/Scenes.meta
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7Project/Assets/ML-Agents/Examples/Worm/Scenes/WormDynamicTarget.unity.meta
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8Project/Assets/ML-Agents/Examples/Worm/Scenes/WormStaticTarget.unity.meta
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1001Project/Assets/ML-Agents/Examples/Worm/Scenes/WormDynamicTarget.unity
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1001Project/Assets/ML-Agents/Examples/Worm/Scenes/WormStaticTarget.unity
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8Project/Assets/ML-Agents/Examples/Worm/Scripts.meta
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13Project/Assets/ML-Agents/Examples/Worm/Scripts/WormAgent.cs.meta
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242Project/Assets/ML-Agents/Examples/Worm/Scripts/WormAgent.cs
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8Project/Assets/ML-Agents/Examples/Worm/TFModels.meta
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1001Project/Assets/ML-Agents/Examples/Worm/TFModels/WormDynamic.nn
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11Project/Assets/ML-Agents/Examples/Worm/TFModels/WormDynamic.nn.meta
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1001Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn
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11Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn.meta
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Project/Assets/ML-Agents/Examples/Worm/Prefabs/WormBasePrefabDynamic.prefab
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Project/Assets/ML-Agents/Examples/Worm/Scenes/WormDynamicTarget.unity
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|||
using System.Collections; |
|||
using UnityEngine; |
|||
using MLAgents; |
|||
using MLAgentsExamples; |
|||
using MLAgents.Sensors; |
|||
|
|||
[RequireComponent(typeof(JointDriveController))] // Required to set joint forces
|
|||
public class WormAgent : Agent |
|||
{ |
|||
[Header("Target To Walk Towards")] |
|||
[Space(10)] |
|||
public Transform target; |
|||
|
|||
public Transform ground; |
|||
public bool detectTargets; |
|||
public bool targetIsStatic; |
|||
public bool respawnTargetWhenTouched; |
|||
public float targetSpawnRadius; |
|||
|
|||
[Header("Body Parts")] [Space(10)] |
|||
public Transform bodySegment0; |
|||
public Transform bodySegment1; |
|||
public Transform bodySegment2; |
|||
public Transform bodySegment3; |
|||
|
|||
[Header("Joint Settings")] [Space(10)] |
|||
JointDriveController m_JdController; |
|||
Vector3 m_DirToTarget; |
|||
float m_MovingTowardsDot; |
|||
float m_FacingDot; |
|||
|
|||
[Header("Reward Functions To Use")] |
|||
[Space(10)] |
|||
public bool rewardMovingTowardsTarget; // Agent should move towards target
|
|||
|
|||
public bool rewardFacingTarget; // Agent should face the target
|
|||
public bool rewardUseTimePenalty; // Hurry up
|
|||
|
|||
Quaternion m_LookRotation; //LookRotation from m_TargetDirMatrix to Target
|
|||
Matrix4x4 m_TargetDirMatrix; //Matrix used by agent as orientation reference
|
|||
|
|||
public override void Initialize() |
|||
{ |
|||
m_JdController = GetComponent<JointDriveController>(); |
|||
m_DirToTarget = target.position - bodySegment0.position; |
|||
m_LookRotation = Quaternion.LookRotation(m_DirToTarget); |
|||
m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one); |
|||
|
|||
//Setup each body part
|
|||
m_JdController.SetupBodyPart(bodySegment0); |
|||
m_JdController.SetupBodyPart(bodySegment1); |
|||
m_JdController.SetupBodyPart(bodySegment2); |
|||
m_JdController.SetupBodyPart(bodySegment3); |
|||
|
|||
//We only want the head to detect the target
|
|||
//So we need to remove TargetContact from everything else
|
|||
//This is a temp fix till we can redesign
|
|||
DestroyImmediate(bodySegment1.GetComponent<TargetContact>()); |
|||
DestroyImmediate(bodySegment2.GetComponent<TargetContact>()); |
|||
DestroyImmediate(bodySegment3.GetComponent<TargetContact>()); |
|||
} |
|||
|
|||
|
|||
//Get Joint Rotation Relative to the Connected Rigidbody
|
|||
//We want to collect this info because it is the actual rotation, not the "target rotation"
|
|||
public Quaternion GetJointRotation(ConfigurableJoint joint) |
|||
{ |
|||
return(Quaternion.FromToRotation(joint.axis, joint.connectedBody.transform.rotation.eulerAngles)); |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Add relevant information on each body part to observations.
|
|||
/// </summary>
|
|||
public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor) |
|||
{ |
|||
var rb = bp.rb; |
|||
sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
|
|||
|
|||
var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity); |
|||
sensor.AddObservation(velocityRelativeToLookRotationToTarget); |
|||
|
|||
var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity); |
|||
sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget); |
|||
|
|||
if (bp.rb.transform != bodySegment0) |
|||
{ |
|||
var localPosRelToBody = bodySegment0.InverseTransformPoint(rb.position); |
|||
sensor.AddObservation(localPosRelToBody); |
|||
sensor.AddObservation(GetJointRotation(bp.joint)); |
|||
sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit); |
|||
} |
|||
} |
|||
|
|||
public override void CollectObservations(VectorSensor sensor) |
|||
{ |
|||
m_JdController.GetCurrentJointForces(); |
|||
|
|||
// Update pos to target
|
|||
m_DirToTarget = target.position - bodySegment0.position; |
|||
m_LookRotation = Quaternion.LookRotation(m_DirToTarget); |
|||
m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one); |
|||
|
|||
RaycastHit hit; |
|||
float maxDist = 10; |
|||
if (Physics.Raycast(bodySegment0.position, Vector3.down, out hit, maxDist)) |
|||
{ |
|||
sensor.AddObservation(hit.distance/maxDist); |
|||
} |
|||
else |
|||
sensor.AddObservation(1); |
|||
|
|||
foreach (var bodyPart in m_JdController.bodyPartsDict.Values) |
|||
{ |
|||
CollectObservationBodyPart(bodyPart, sensor); |
|||
} |
|||
|
|||
//Rotation delta between the matrix and the head
|
|||
Quaternion headRotationDeltaFromMatrixRot = Quaternion.Inverse(m_TargetDirMatrix.rotation) * bodySegment0.rotation; |
|||
sensor.AddObservation(headRotationDeltaFromMatrixRot); |
|||
} |
|||
|
|||
/// <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; |
|||
} |
|||
|
|||
public override void OnActionReceived(float[] vectorAction) |
|||
{ |
|||
// The dictionary with all the body parts in it are in the jdController
|
|||
var bpDict = m_JdController.bodyPartsDict; |
|||
|
|||
var i = -1; |
|||
// Pick a new target joint rotation
|
|||
bpDict[bodySegment1].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0); |
|||
bpDict[bodySegment2].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0); |
|||
bpDict[bodySegment3].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0); |
|||
|
|||
// Update joint strength
|
|||
bpDict[bodySegment1].SetJointStrength(vectorAction[++i]); |
|||
bpDict[bodySegment2].SetJointStrength(vectorAction[++i]); |
|||
bpDict[bodySegment3].SetJointStrength(vectorAction[++i]); |
|||
|
|||
if (bodySegment0.position.y < ground.position.y -2) |
|||
{ |
|||
EndEpisode(); |
|||
} |
|||
} |
|||
|
|||
void FixedUpdate() |
|||
{ |
|||
if (detectTargets) |
|||
{ |
|||
foreach (var bodyPart in m_JdController.bodyPartsDict.Values) |
|||
{ |
|||
if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget) |
|||
{ |
|||
TouchedTarget(); |
|||
} |
|||
} |
|||
} |
|||
|
|||
// Set reward for this step according to mixture of the following elements.
|
|||
if (rewardMovingTowardsTarget) |
|||
{ |
|||
RewardFunctionMovingTowards(); |
|||
} |
|||
|
|||
if (rewardFacingTarget) |
|||
{ |
|||
RewardFunctionFacingTarget(); |
|||
} |
|||
|
|||
if (rewardUseTimePenalty) |
|||
{ |
|||
RewardFunctionTimePenalty(); |
|||
} |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Reward moving towards target & Penalize moving away from target.
|
|||
/// </summary>
|
|||
void RewardFunctionMovingTowards() |
|||
{ |
|||
m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[bodySegment0].rb.velocity, m_DirToTarget.normalized); |
|||
AddReward(0.01f * m_MovingTowardsDot); |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Reward facing target & Penalize facing away from target
|
|||
/// </summary>
|
|||
void RewardFunctionFacingTarget() |
|||
{ |
|||
float bodyRotRelativeToMatrixDot = Quaternion.Dot(m_TargetDirMatrix.rotation, bodySegment0.rotation); |
|||
AddReward(0.01f * bodyRotRelativeToMatrixDot); |
|||
} |
|||
|
|||
/// <summary>
|
|||
/// Existential penalty for time-contrained tasks.
|
|||
/// </summary>
|
|||
void RewardFunctionTimePenalty() |
|||
{ |
|||
AddReward(-0.001f); |
|||
} |
|||
|
|||
/// <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); |
|||
} |
|||
if (m_DirToTarget != Vector3.zero) |
|||
{ |
|||
transform.rotation = Quaternion.LookRotation(m_DirToTarget); |
|||
} |
|||
transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f)); |
|||
|
|||
if (!targetIsStatic) |
|||
{ |
|||
GetRandomTargetPos(); |
|||
} |
|||
} |
|||
} |
|
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1001
Project/Assets/ML-Agents/Examples/Worm/TFModels/WormDynamic.nn
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1001
Project/Assets/ML-Agents/Examples/Worm/TFModels/WormStatic.nn
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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