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308 行
12 KiB
308 行
12 KiB
using System;
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using UnityEngine;
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using Unity.MLAgents;
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using Unity.MLAgents.Actuators;
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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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[Header("Walk Speed")]
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[Range(0.1f, 10)]
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[SerializeField]
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//The walking speed to try and achieve
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private float m_TargetWalkingSpeed = 10;
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public float MTargetWalkingSpeed // property
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{
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get { return m_TargetWalkingSpeed; }
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set { m_TargetWalkingSpeed = Mathf.Clamp(value, .1f, m_maxWalkingSpeed); }
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}
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const float m_maxWalkingSpeed = 10; //The max walking speed
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//Should the agent sample a new goal velocity each episode?
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//If true, walkSpeed will be randomly set between zero and m_maxWalkingSpeed in OnEpisodeBegin()
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//If false, the goal velocity will be walkingSpeed
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public bool randomizeWalkSpeedEachEpisode;
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//The direction an agent will walk during training.
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private Vector3 m_WorldDirToWalk = Vector3.right;
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[Header("Target To Walk Towards")] public Transform target; //Target the agent will walk towards during training.
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[Header("Body Parts")] 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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//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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OrientationCubeController m_OrientationCube;
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//The indicator graphic gameobject that points towards the target
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DirectionIndicator m_DirectionIndicator;
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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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m_OrientationCube = GetComponentInChildren<OrientationCubeController>();
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m_DirectionIndicator = GetComponentInChildren<DirectionIndicator>();
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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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hips.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
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UpdateOrientationObjects();
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//Set our goal walking speed
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MTargetWalkingSpeed =
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randomizeWalkSpeedEachEpisode ? Random.Range(0.1f, m_maxWalkingSpeed) : MTargetWalkingSpeed;
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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(m_OrientationCube.transform.InverseTransformDirection(bp.rb.velocity));
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sensor.AddObservation(m_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(m_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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var cubeForward = m_OrientationCube.transform.forward;
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//velocity we want to match
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var velGoal = cubeForward * MTargetWalkingSpeed;
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//ragdoll's avg vel
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var avgVel = GetAvgVelocity();
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//current ragdoll velocity. normalized
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sensor.AddObservation(Vector3.Distance(velGoal, avgVel));
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//avg body vel relative to cube
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sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(avgVel));
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//vel goal relative to cube
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sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(velGoal));
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//rotation deltas
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sensor.AddObservation(Quaternion.FromToRotation(hips.forward, cubeForward));
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sensor.AddObservation(Quaternion.FromToRotation(head.forward, cubeForward));
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//Position of target position relative to cube
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sensor.AddObservation(m_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(ActionBuffers actionBuffers)
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{
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var bpDict = m_JdController.bodyPartsDict;
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var i = -1;
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var continuousActions = actionBuffers.ContinuousActions;
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bpDict[chest].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], continuousActions[++i]);
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bpDict[spine].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], continuousActions[++i]);
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bpDict[thighL].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
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bpDict[thighR].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
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bpDict[shinL].SetJointTargetRotation(continuousActions[++i], 0, 0);
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bpDict[shinR].SetJointTargetRotation(continuousActions[++i], 0, 0);
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bpDict[footR].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], continuousActions[++i]);
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bpDict[footL].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], continuousActions[++i]);
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bpDict[armL].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
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bpDict[armR].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
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bpDict[forearmL].SetJointTargetRotation(continuousActions[++i], 0, 0);
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bpDict[forearmR].SetJointTargetRotation(continuousActions[++i], 0, 0);
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bpDict[head].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
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//update joint strength settings
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bpDict[chest].SetJointStrength(continuousActions[++i]);
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bpDict[spine].SetJointStrength(continuousActions[++i]);
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bpDict[head].SetJointStrength(continuousActions[++i]);
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bpDict[thighL].SetJointStrength(continuousActions[++i]);
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bpDict[shinL].SetJointStrength(continuousActions[++i]);
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bpDict[footL].SetJointStrength(continuousActions[++i]);
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bpDict[thighR].SetJointStrength(continuousActions[++i]);
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bpDict[shinR].SetJointStrength(continuousActions[++i]);
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bpDict[footR].SetJointStrength(continuousActions[++i]);
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bpDict[armL].SetJointStrength(continuousActions[++i]);
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bpDict[forearmL].SetJointStrength(continuousActions[++i]);
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bpDict[armR].SetJointStrength(continuousActions[++i]);
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bpDict[forearmR].SetJointStrength(continuousActions[++i]);
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}
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//Update OrientationCube and DirectionIndicator
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void UpdateOrientationObjects()
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{
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m_WorldDirToWalk = target.position - hips.position;
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m_OrientationCube.UpdateOrientation(hips, target);
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if (m_DirectionIndicator)
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{
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m_DirectionIndicator.MatchOrientation(m_OrientationCube.transform);
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}
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}
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void FixedUpdate()
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{
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UpdateOrientationObjects();
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var cubeForward = m_OrientationCube.transform.forward;
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// Set reward for this step according to mixture of the following elements.
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// a. Match target speed
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//This reward will approach 1 if it matches perfectly and approach zero as it deviates
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var matchSpeedReward = GetMatchingVelocityReward(cubeForward * MTargetWalkingSpeed, GetAvgVelocity());
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//Check for NaNs
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if (float.IsNaN(matchSpeedReward))
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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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$" maximumWalkingSpeed: {m_maxWalkingSpeed}"
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);
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}
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// b. Rotation alignment with target direction.
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//This reward will approach 1 if it faces the target direction perfectly and approach zero as it deviates
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var lookAtTargetReward = (Vector3.Dot(cubeForward, head.forward) + 1) * .5F;
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//Check for NaNs
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if (float.IsNaN(lookAtTargetReward))
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{
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throw new ArgumentException(
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"NaN in lookAtTargetReward.\n" +
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$" cubeForward: {cubeForward}\n" +
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$" head.forward: {head.forward}"
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);
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}
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AddReward(matchSpeedReward * lookAtTargetReward);
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}
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//Returns the average velocity of all of the body parts
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//Using the velocity of the hips only has shown to result in more erratic movement from the limbs, so...
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//...using the average helps prevent this erratic movement
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Vector3 GetAvgVelocity()
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{
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Vector3 velSum = Vector3.zero;
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Vector3 avgVel = Vector3.zero;
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//ALL RBS
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int numOfRB = 0;
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foreach (var item in m_JdController.bodyPartsList)
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{
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numOfRB++;
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velSum += item.rb.velocity;
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}
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avgVel = velSum / numOfRB;
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return avgVel;
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}
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//normalized value of the difference in avg speed vs goal walking speed.
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public float GetMatchingVelocityReward(Vector3 velocityGoal, Vector3 actualVelocity)
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{
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//distance between our actual velocity and goal velocity
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var velDeltaMagnitude = Mathf.Clamp(Vector3.Distance(actualVelocity, velocityGoal), 0, MTargetWalkingSpeed);
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//return the value on a declining sigmoid shaped curve that decays from 1 to 0
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//This reward will approach 1 if it matches perfectly and approach zero as it deviates
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return Mathf.Pow(1 - Mathf.Pow(velDeltaMagnitude / MTargetWalkingSpeed, 2), 2);
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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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