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286 行
10 KiB
286 行
10 KiB
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 UnityEditor;
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using BodyPart = Unity.MLAgentsExamples.BodyPart;
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public class WalkerAgentDynamic : Agent
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{
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[Header("Walking Speed")]
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[Space(10)]
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[Header("Specific to Walker")]
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public float maximumWalkingSpeed = 999; //The max walk velocity magnitude an agent will be rewarded for
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[Header("Orientation Cube")]
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[Space(10)]
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//This will be used as a stable observation platform for the ragdoll to use.
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GameObject m_OrientationCube;
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public bool showOrientationCubeGizmo = true;
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public Transform directionIndicator;
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Vector3 m_WalkDir;
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Quaternion m_WalkDirLookRot;
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[Header("Target To Walk Towards")]
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[Space(10)]
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public float targetSpawnRadius;
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public Transform target;
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public Transform ground;
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public bool detectTargets;
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public bool targetIsStatic;
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public bool respawnTargetWhenTouched;
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[Header("Body Parts")]
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[Space(10)]
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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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JointDriveController m_JdController;
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Rigidbody m_HipsRb;
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Rigidbody m_ChestRb;
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Rigidbody m_SpineRb;
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EnvironmentParameters m_ResetParams;
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public override void Initialize()
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{
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//Spawn an orientation cube
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Vector3 oCubePos = hips.position;
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oCubePos.y = -.45f;
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m_OrientationCube = Instantiate(Resources.Load<GameObject>("OrientationCube"), oCubePos, Quaternion.identity);
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m_OrientationCube.transform.SetParent(transform);
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UpdateOrientationCube();
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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_HipsRb = hips.GetComponent<Rigidbody>();
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m_ChestRb = chest.GetComponent<Rigidbody>();
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m_SpineRb = spine.GetComponent<Rigidbody>();
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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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/// 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 ? 1 : 0); // 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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sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(bp.rb.position - hips.position)); //best
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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, m_OrientationCube.transform.forward));
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sensor.AddObservation(Quaternion.FromToRotation(head.forward, m_OrientationCube.transform.forward));
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foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
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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 UpdateOrientationCube()
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{
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//FACING DIR
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m_WalkDir = target.position - m_OrientationCube.transform.position;
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m_WalkDir.y = 0; //flatten dir on the y
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m_WalkDirLookRot = Quaternion.LookRotation(m_WalkDir); //get our look rot to the target
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//UPDATE ORIENTATION CUBE POS & ROT
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m_OrientationCube.transform.position = hips.position;
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m_OrientationCube.transform.rotation = m_WalkDirLookRot;
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directionIndicator.position = new Vector3(hips.position.x, directionIndicator.position.y, hips.position.z);
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directionIndicator.rotation = m_WalkDirLookRot;
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}
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void FixedUpdate()
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{
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if (detectTargets)
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{
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foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
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{
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if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget)
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{
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TouchedTarget();
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}
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}
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}
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UpdateOrientationCube();
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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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// b. Rotation alignment with goal direction.
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// c. Encourage head height.
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AddReward(
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+0.02f * Vector3.Dot(m_OrientationCube.transform.forward,
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Vector3.ClampMagnitude(m_JdController.bodyPartsDict[hips].rb.velocity, maximumWalkingSpeed))
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+ 0.01f * Vector3.Dot(m_OrientationCube.transform.forward, head.forward)
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+ 0.005f * (head.position.y - footL.position.y)
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+ 0.005f * (head.position.y - footR.position.y)
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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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if (respawnTargetWhenTouched)
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{
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GetRandomTargetPos();
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}
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}
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/// <summary>
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/// Moves target to a random position within specified radius.
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/// </summary>
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public void GetRandomTargetPos()
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{
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var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
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newTargetPos.y = 5;
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target.position = newTargetPos + ground.position;
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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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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
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transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
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UpdateOrientationCube();
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if (detectTargets && !targetIsStatic)
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{
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GetRandomTargetPos();
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}
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SetResetParameters();
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}
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public void SetTorsoMass()
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{
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m_ChestRb.mass = m_ResetParams.GetWithDefault("chest_mass", 8);
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m_SpineRb.mass = m_ResetParams.GetWithDefault("spine_mass", 10);
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// m_HipsRb.mass = m_ResetParams.GetWithDefault("hip_mass", 12);
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m_HipsRb.mass = m_ResetParams.GetWithDefault("hip_mass", 15);
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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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private void OnDrawGizmosSelected()
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{
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if (showOrientationCubeGizmo && Application.isPlaying)
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{
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Gizmos.color = Color.green;
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Gizmos.matrix = m_OrientationCube.transform.localToWorldMatrix;
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Gizmos.DrawWireCube(Vector3.zero, m_OrientationCube.transform.localScale);
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Gizmos.DrawRay(Vector3.zero, Vector3.forward);
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}
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}
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}
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