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 Unity.MLAgents.Sensors;
namespace Unity.MLAgents.Extensions.Sensors
{
public class ArticulationBodySensorComponent : SensorComponent
{
public ArticulationBody RootBody;
[SerializeField]
public PhysicsSensorSettings Settings = PhysicsSensorSettings.Default();
public string sensorName;
/// <summary>
/// Creates a PhysicsBodySensor.
/// </summary>
/// <returns></returns>
public override ISensor CreateSensor()
{
return new PhysicsBodySensor(RootBody, Settings, sensorName);
}
/// <inheritdoc/>
public override int[] GetObservationShape()
{
if (RootBody == null)
{
return new[] { 0 };
}
// TODO static method in PhysicsBodySensor?
// TODO only update PoseExtractor when body changes?
var poseExtractor = new ArticulationBodyPoseExtractor(RootBody);
var numPoseObservations = poseExtractor.GetNumPoseObservations(Settings);
var numJointObservations = 0;
// Start from i=1 to ignore the root
for (var i = 1; i < poseExtractor.Bodies.Length; i++)
{
numJointObservations += ArticulationBodyJointExtractor.NumObservations(
poseExtractor.Bodies[i], Settings
);
}
return new[] { numPoseObservations + numJointObservations };
}
}
}
#endif // UNITY_2020_1_OR_NEWER