Unity 机器学习代理工具包 (ML-Agents) 是一个开源项目,它使游戏和模拟能够作为训练智能代理的环境。
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#if UNITY_2020_1_OR_NEWER
using UnityEngine;
using NUnit.Framework;
using Unity.MLAgents.Extensions.Sensors;
namespace Unity.MLAgents.Extensions.Tests.Sensors
{
public class ArticulationBodySensorTests
{
[Test]
public void TestNullRootBody()
{
var gameObj = new GameObject();
var sensorComponent = gameObj.AddComponent<ArticulationBodySensorComponent>();
var sensor = sensorComponent.CreateSensors()[0];
SensorTestHelper.CompareObservation(sensor, new float[0]);
}
[Test]
public void TestSingleBody()
{
var gameObj = new GameObject();
var articulationBody = gameObj.AddComponent<ArticulationBody>();
var sensorComponent = gameObj.AddComponent<ArticulationBodySensorComponent>();
sensorComponent.RootBody = articulationBody;
sensorComponent.Settings = new PhysicsSensorSettings
{
UseModelSpaceLinearVelocity = true,
UseLocalSpaceTranslations = true,
UseLocalSpaceRotations = true
};
var sensor = sensorComponent.CreateSensors()[0];
sensor.Update();
var expected = new[]
{
0f, 0f, 0f, // ModelSpaceLinearVelocity
0f, 0f, 0f, // LocalSpaceTranslations
0f, 0f, 0f, 1f // LocalSpaceRotations
};
SensorTestHelper.CompareObservation(sensor, expected);
Assert.AreEqual(expected.Length, sensor.GetObservationSpec().Shape[0]);
}
[Test]
public void TestBodiesWithJoint()
{
var rootObj = new GameObject();
var rootArticBody = rootObj.AddComponent<ArticulationBody>();
var middleGamObj = new GameObject();
var middleArticBody = middleGamObj.AddComponent<ArticulationBody>();
middleArticBody.AddForce(new Vector3(0f, 1f, 0f));
middleGamObj.transform.SetParent(rootObj.transform);
middleGamObj.transform.localPosition = new Vector3(13.37f, 0f, 0f);
middleArticBody.jointType = ArticulationJointType.RevoluteJoint;
var leafGameObj = new GameObject();
var leafArticBody = leafGameObj.AddComponent<ArticulationBody>();
leafGameObj.transform.SetParent(middleGamObj.transform);
leafGameObj.transform.localPosition = new Vector3(4.2f, 0f, 0f);
leafArticBody.jointType = ArticulationJointType.PrismaticJoint;
leafArticBody.linearLockZ = ArticulationDofLock.LimitedMotion;
leafArticBody.zDrive = new ArticulationDrive
{
lowerLimit = -3,
upperLimit = 1
};
#if UNITY_2020_2_OR_NEWER
// ArticulationBody.velocity is read-only in 2020.1
rootArticBody.velocity = new Vector3(1f, 0f, 0f);
middleArticBody.velocity = new Vector3(0f, 1f, 0f);
leafArticBody.velocity = new Vector3(0f, 0f, 1f);
#endif
var sensorComponent = rootObj.AddComponent<ArticulationBodySensorComponent>();
sensorComponent.RootBody = rootArticBody;
sensorComponent.Settings = new PhysicsSensorSettings
{
UseModelSpaceTranslations = true,
UseLocalSpaceTranslations = true,
#if UNITY_2020_2_OR_NEWER
UseLocalSpaceLinearVelocity = true
#endif
};
var sensor = sensorComponent.CreateSensors()[0];
sensor.Update();
var expected = new[]
{
// Model space
0f, 0f, 0f, // Root pos
13.37f, 0f, 0f, // Middle pos
leafGameObj.transform.position.x, 0f, 0f, // Leaf pos
// Local space
0f, 0f, 0f, // Root pos
13.37f, 0f, 0f, // Attached pos
4.2f, 0f, 0f, // Leaf pos
#if UNITY_2020_2_OR_NEWER
0f, 0f, 0f, // Root vel
-1f, 1f, 0f, // Attached vel
0f, -1f, 1f // Leaf vel
#endif
};
SensorTestHelper.CompareObservation(sensor, expected);
Assert.AreEqual(expected.Length, sensor.GetObservationSpec().Shape[0]);
// Update the settings to only process joint observations
sensorComponent.Settings = new PhysicsSensorSettings
{
UseJointForces = true,
UseJointPositionsAndAngles = true,
};
sensor = sensorComponent.CreateSensors()[0];
sensor.Update();
expected = new[]
{
// revolute
0f, 1f, // joint1.position (sin and cos)
0f, // joint1.force
// prismatic
0.5f, // joint2.position (interpolate between limits)
0f, // joint2.force
};
SensorTestHelper.CompareObservation(sensor, expected);
Assert.AreEqual(expected.Length, sensor.GetObservationSpec().Shape[0]);
}
}
}
#endif // #if UNITY_2020_1_OR_NEWER