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236 行
9.3 KiB
236 行
9.3 KiB
using System;
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using MLAgentsExamples;
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using UnityEngine;
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using Unity.MLAgents;
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using Unity.MLAgentsExamples;
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using Unity.MLAgents.Sensors;
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using BodyPart = Unity.MLAgentsExamples.BodyPart;
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using Random = UnityEngine.Random;
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public class WalkerAgent : Agent
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{
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public float maximumWalkingSpeed = 999; //The max walk velocity magnitude an agent will be rewarded for
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Vector3 m_WalkDir; //Direction to the target
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// Quaternion m_WalkDirLookRot; //Will hold the rotation to our target
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[Header("Target To Walk Towards")] [Space(10)]
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public TargetController target; //Target the agent will walk towards.
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[Header("Body Parts")] [Space(10)] public Transform hips;
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public Transform chest;
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public Transform spine;
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public Transform head;
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public Transform thighL;
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public Transform shinL;
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public Transform footL;
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public Transform thighR;
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public Transform shinR;
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public Transform footR;
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public Transform armL;
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public Transform forearmL;
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public Transform handL;
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public Transform armR;
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public Transform forearmR;
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public Transform handR;
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[Header("Orientation")] [Space(10)]
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//This will be used as a stabilized model space reference point for observations
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//Because ragdolls can move erratically during training, using a stabilized reference transform improves learning
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public OrientationCubeController orientationCube;
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JointDriveController m_JdController;
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EnvironmentParameters m_ResetParams;
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public override void Initialize()
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{
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orientationCube.UpdateOrientation(hips, target.transform);
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//Setup each body part
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m_JdController = GetComponent<JointDriveController>();
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m_JdController.SetupBodyPart(hips);
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m_JdController.SetupBodyPart(chest);
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m_JdController.SetupBodyPart(spine);
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m_JdController.SetupBodyPart(head);
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m_JdController.SetupBodyPart(thighL);
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m_JdController.SetupBodyPart(shinL);
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m_JdController.SetupBodyPart(footL);
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m_JdController.SetupBodyPart(thighR);
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m_JdController.SetupBodyPart(shinR);
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m_JdController.SetupBodyPart(footR);
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m_JdController.SetupBodyPart(armL);
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m_JdController.SetupBodyPart(forearmL);
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m_JdController.SetupBodyPart(handL);
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m_JdController.SetupBodyPart(armR);
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m_JdController.SetupBodyPart(forearmR);
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m_JdController.SetupBodyPart(handR);
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m_ResetParams = Academy.Instance.EnvironmentParameters;
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SetResetParameters();
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}
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/// <summary>
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/// Loop over body parts and reset them to initial conditions.
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/// </summary>
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public override void OnEpisodeBegin()
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{
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//Reset all of the body parts
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foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
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{
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bodyPart.Reset(bodyPart);
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}
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//Random start rotation to help generalize
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transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
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orientationCube.UpdateOrientation(hips, target.transform);
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SetResetParameters();
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}
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/// <summary>
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/// Add relevant information on each body part to observations.
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/// </summary>
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public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
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{
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//GROUND CHECK
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sensor.AddObservation(bp.groundContact.touchingGround); // Is this bp touching the ground
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//Get velocities in the context of our orientation cube's space
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//Note: You can get these velocities in world space as well but it may not train as well.
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sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.velocity));
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sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.angularVelocity));
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//Get position relative to hips in the context of our orientation cube's space
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sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.position - hips.position));
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if (bp.rb.transform != hips && bp.rb.transform != handL && bp.rb.transform != handR)
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{
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sensor.AddObservation(bp.rb.transform.localRotation);
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sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
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}
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}
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/// <summary>
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/// Loop over body parts to add them to observation.
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/// </summary>
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public override void CollectObservations(VectorSensor sensor)
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{
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sensor.AddObservation(Quaternion.FromToRotation(hips.forward, orientationCube.transform.forward));
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sensor.AddObservation(Quaternion.FromToRotation(head.forward, orientationCube.transform.forward));
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sensor.AddObservation(orientationCube.transform.InverseTransformPoint(target.transform.position));
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foreach (var bodyPart in m_JdController.bodyPartsList)
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{
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CollectObservationBodyPart(bodyPart, sensor);
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}
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}
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public override void OnActionReceived(float[] vectorAction)
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{
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var bpDict = m_JdController.bodyPartsDict;
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var i = -1;
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bpDict[chest].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
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bpDict[spine].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
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bpDict[thighL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
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bpDict[thighR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
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bpDict[shinL].SetJointTargetRotation(vectorAction[++i], 0, 0);
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bpDict[shinR].SetJointTargetRotation(vectorAction[++i], 0, 0);
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bpDict[footR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
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bpDict[footL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
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bpDict[armL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
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bpDict[armR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
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bpDict[forearmL].SetJointTargetRotation(vectorAction[++i], 0, 0);
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bpDict[forearmR].SetJointTargetRotation(vectorAction[++i], 0, 0);
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bpDict[head].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
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//update joint strength settings
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bpDict[chest].SetJointStrength(vectorAction[++i]);
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bpDict[spine].SetJointStrength(vectorAction[++i]);
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bpDict[head].SetJointStrength(vectorAction[++i]);
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bpDict[thighL].SetJointStrength(vectorAction[++i]);
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bpDict[shinL].SetJointStrength(vectorAction[++i]);
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bpDict[footL].SetJointStrength(vectorAction[++i]);
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bpDict[thighR].SetJointStrength(vectorAction[++i]);
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bpDict[shinR].SetJointStrength(vectorAction[++i]);
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bpDict[footR].SetJointStrength(vectorAction[++i]);
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bpDict[armL].SetJointStrength(vectorAction[++i]);
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bpDict[forearmL].SetJointStrength(vectorAction[++i]);
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bpDict[armR].SetJointStrength(vectorAction[++i]);
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bpDict[forearmR].SetJointStrength(vectorAction[++i]);
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}
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void FixedUpdate()
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{
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var cubeForward = orientationCube.transform.forward;
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orientationCube.UpdateOrientation(hips, target.transform);
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// Set reward for this step according to mixture of the following elements.
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// a. Velocity alignment with goal direction.
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var moveTowardsTargetReward = Vector3.Dot(cubeForward,
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Vector3.ClampMagnitude(m_JdController.bodyPartsDict[hips].rb.velocity, maximumWalkingSpeed));
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if (float.IsNaN(moveTowardsTargetReward))
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{
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throw new ArgumentException(
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"NaN in moveTowardsTargetReward.\n" +
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$" cubeForward: {cubeForward}\n"+
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$" hips.velocity: {m_JdController.bodyPartsDict[hips].rb.velocity}\n"+
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$" maximumWalkingSpeed: {maximumWalkingSpeed}"
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);
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}
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// b. Rotation alignment with goal direction.
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var lookAtTargetReward = Vector3.Dot(cubeForward, head.forward);
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if (float.IsNaN(lookAtTargetReward))
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{
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throw new ArgumentException(
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"NaN in lookAtTargetReward.\n" +
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$" cubeForward: {cubeForward}\n"+
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$" head.forward: {head.forward}"
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);
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}
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// c. Encourage head height. //Should normalize to ~1
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var headHeightOverFeetReward =
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((head.position.y - footL.position.y) + (head.position.y - footR.position.y) / 10);
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if (float.IsNaN(headHeightOverFeetReward))
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{
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throw new ArgumentException(
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"NaN in headHeightOverFeetReward.\n" +
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$" head.position: {head.position}\n"+
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$" footL.position: {footL.position}\n"+
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$" footR.position: {footR.position}"
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);
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}
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AddReward(
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+ 0.02f * moveTowardsTargetReward
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+ 0.02f * lookAtTargetReward
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+ 0.005f * headHeightOverFeetReward
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);
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}
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/// <summary>
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/// Agent touched the target
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/// </summary>
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public void TouchedTarget()
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{
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AddReward(1f);
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}
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public void SetTorsoMass()
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{
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m_JdController.bodyPartsDict[chest].rb.mass = m_ResetParams.GetWithDefault("chest_mass", 8);
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m_JdController.bodyPartsDict[spine].rb.mass = m_ResetParams.GetWithDefault("spine_mass", 8);
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m_JdController.bodyPartsDict[hips].rb.mass = m_ResetParams.GetWithDefault("hip_mass", 8);
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}
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public void SetResetParameters()
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{
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SetTorsoMass();
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}
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}
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