using System; using UnityEngine; using Unity.MLAgents; using Unity.MLAgents.Actuators; using Unity.MLAgentsExamples; using Unity.MLAgents.Sensors; using BodyPart = Unity.MLAgentsExamples.BodyPart; using Random = UnityEngine.Random; public class WalkerAgent : Agent { [Header("Walk Speed")] [Range(0.1f, 10)] [SerializeField] //The walking speed to try and achieve private float m_TargetWalkingSpeed = 10; public float MTargetWalkingSpeed // property { get { return m_TargetWalkingSpeed; } set { m_TargetWalkingSpeed = Mathf.Clamp(value, .1f, m_maxWalkingSpeed); } } const float m_maxWalkingSpeed = 10; //The max walking speed //Should the agent sample a new goal velocity each episode? //If true, walkSpeed will be randomly set between zero and m_maxWalkingSpeed in OnEpisodeBegin() //If false, the goal velocity will be walkingSpeed public bool randomizeWalkSpeedEachEpisode; //The direction an agent will walk during training. private Vector3 m_WorldDirToWalk = Vector3.right; [Header("Target To Walk Towards")] public Transform target; //Target the agent will walk towards during training. [Header("Body Parts")] 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; //This will be used as a stabilized model space reference point for observations //Because ragdolls can move erratically during training, using a stabilized reference transform improves learning OrientationCubeController m_OrientationCube; //The indicator graphic gameobject that points towards the target DirectionIndicator m_DirectionIndicator; JointDriveController m_JdController; EnvironmentParameters m_ResetParams; public override void Initialize() { m_OrientationCube = GetComponentInChildren(); m_DirectionIndicator = GetComponentInChildren(); //Setup each body part m_JdController = GetComponent(); 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_ResetParams = Academy.Instance.EnvironmentParameters; SetResetParameters(); } /// /// Loop over body parts and reset them to initial conditions. /// public override void OnEpisodeBegin() { //Reset all of the body parts foreach (var bodyPart in m_JdController.bodyPartsDict.Values) { bodyPart.Reset(bodyPart); } //Random start rotation to help generalize hips.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0); UpdateOrientationObjects(); //Set our goal walking speed MTargetWalkingSpeed = randomizeWalkSpeedEachEpisode ? Random.Range(0.1f, m_maxWalkingSpeed) : MTargetWalkingSpeed; SetResetParameters(); } /// /// Add relevant information on each body part to observations. /// public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor) { //GROUND CHECK sensor.AddObservation(bp.groundContact.touchingGround); // 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)); 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); } } /// /// Loop over body parts to add them to observation. /// public override void CollectObservations(VectorSensor sensor) { var cubeForward = m_OrientationCube.transform.forward; //velocity we want to match var velGoal = cubeForward * MTargetWalkingSpeed; //ragdoll's avg vel var avgVel = GetAvgVelocity(); //current ragdoll velocity. normalized sensor.AddObservation(Vector3.Distance(velGoal, avgVel)); //avg body vel relative to cube sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(avgVel)); //vel goal relative to cube sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(velGoal)); //rotation deltas sensor.AddObservation(Quaternion.FromToRotation(hips.forward, cubeForward)); sensor.AddObservation(Quaternion.FromToRotation(head.forward, cubeForward)); //Position of target position relative to cube sensor.AddObservation(m_OrientationCube.transform.InverseTransformPoint(target.transform.position)); foreach (var bodyPart in m_JdController.bodyPartsList) { CollectObservationBodyPart(bodyPart, sensor); } } public override void OnActionReceived(ActionBuffers actionBuffers) { var bpDict = m_JdController.bodyPartsDict; var i = -1; var continuousActions = actionBuffers.ContinuousActions; bpDict[chest].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], continuousActions[++i]); bpDict[spine].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], continuousActions[++i]); bpDict[thighL].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0); bpDict[thighR].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0); bpDict[shinL].SetJointTargetRotation(continuousActions[++i], 0, 0); bpDict[shinR].SetJointTargetRotation(continuousActions[++i], 0, 0); bpDict[footR].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], continuousActions[++i]); bpDict[footL].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], continuousActions[++i]); bpDict[armL].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0); bpDict[armR].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0); bpDict[forearmL].SetJointTargetRotation(continuousActions[++i], 0, 0); bpDict[forearmR].SetJointTargetRotation(continuousActions[++i], 0, 0); bpDict[head].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0); //update joint strength settings bpDict[chest].SetJointStrength(continuousActions[++i]); bpDict[spine].SetJointStrength(continuousActions[++i]); bpDict[head].SetJointStrength(continuousActions[++i]); bpDict[thighL].SetJointStrength(continuousActions[++i]); bpDict[shinL].SetJointStrength(continuousActions[++i]); bpDict[footL].SetJointStrength(continuousActions[++i]); bpDict[thighR].SetJointStrength(continuousActions[++i]); bpDict[shinR].SetJointStrength(continuousActions[++i]); bpDict[footR].SetJointStrength(continuousActions[++i]); bpDict[armL].SetJointStrength(continuousActions[++i]); bpDict[forearmL].SetJointStrength(continuousActions[++i]); bpDict[armR].SetJointStrength(continuousActions[++i]); bpDict[forearmR].SetJointStrength(continuousActions[++i]); } //Update OrientationCube and DirectionIndicator void UpdateOrientationObjects() { m_WorldDirToWalk = target.position - hips.position; m_OrientationCube.UpdateOrientation(hips, target); if (m_DirectionIndicator) { m_DirectionIndicator.MatchOrientation(m_OrientationCube.transform); } } void FixedUpdate() { UpdateOrientationObjects(); var cubeForward = m_OrientationCube.transform.forward; // Set reward for this step according to mixture of the following elements. // a. Match target speed //This reward will approach 1 if it matches perfectly and approach zero as it deviates var matchSpeedReward = GetMatchingVelocityReward(cubeForward * MTargetWalkingSpeed, GetAvgVelocity()); //Check for NaNs if (float.IsNaN(matchSpeedReward)) { throw new ArgumentException( "NaN in moveTowardsTargetReward.\n" + $" cubeForward: {cubeForward}\n" + $" hips.velocity: {m_JdController.bodyPartsDict[hips].rb.velocity}\n" + $" maximumWalkingSpeed: {m_maxWalkingSpeed}" ); } // b. Rotation alignment with target direction. //This reward will approach 1 if it faces the target direction perfectly and approach zero as it deviates var lookAtTargetReward = (Vector3.Dot(cubeForward, head.forward) + 1) * .5F; //Check for NaNs if (float.IsNaN(lookAtTargetReward)) { throw new ArgumentException( "NaN in lookAtTargetReward.\n" + $" cubeForward: {cubeForward}\n" + $" head.forward: {head.forward}" ); } AddReward(matchSpeedReward * lookAtTargetReward); } //Returns the average velocity of all of the body parts //Using the velocity of the hips only has shown to result in more erratic movement from the limbs, so... //...using the average helps prevent this erratic movement Vector3 GetAvgVelocity() { Vector3 velSum = Vector3.zero; Vector3 avgVel = Vector3.zero; //ALL RBS int numOfRB = 0; foreach (var item in m_JdController.bodyPartsList) { numOfRB++; velSum += item.rb.velocity; } avgVel = velSum / numOfRB; return avgVel; } //normalized value of the difference in avg speed vs goal walking speed. public float GetMatchingVelocityReward(Vector3 velocityGoal, Vector3 actualVelocity) { //distance between our actual velocity and goal velocity var velDeltaMagnitude = Mathf.Clamp(Vector3.Distance(actualVelocity, velocityGoal), 0, MTargetWalkingSpeed); //return the value on a declining sigmoid shaped curve that decays from 1 to 0 //This reward will approach 1 if it matches perfectly and approach zero as it deviates return Mathf.Pow(1 - Mathf.Pow(velDeltaMagnitude / MTargetWalkingSpeed, 2), 2); } /// /// Agent touched the target /// public void TouchedTarget() { AddReward(1f); } public void SetTorsoMass() { m_JdController.bodyPartsDict[chest].rb.mass = m_ResetParams.GetWithDefault("chest_mass", 8); m_JdController.bodyPartsDict[spine].rb.mass = m_ResetParams.GetWithDefault("spine_mass", 8); m_JdController.bodyPartsDict[hips].rb.mass = m_ResetParams.GetWithDefault("hip_mass", 8); } public void SetResetParameters() { SetTorsoMass(); } }