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110 行
3.5 KiB
110 行
3.5 KiB
using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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public class ReacherAgent : Agent {
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public GameObject pendulumA;
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public GameObject pendulumB;
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public GameObject hand;
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public GameObject goal;
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float goalDegree;
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Rigidbody rbA;
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Rigidbody rbB;
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float goalSpeed;
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public override void InitializeAgent()
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{
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rbA = pendulumA.GetComponent<Rigidbody>();
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rbB = pendulumB.GetComponent<Rigidbody>();
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}
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public override List<float> CollectState()
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{
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List<float> state = new List<float>();
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state.Add(pendulumA.transform.rotation.x);
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state.Add(pendulumA.transform.rotation.y);
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state.Add(pendulumA.transform.rotation.z);
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state.Add(pendulumA.transform.rotation.w);
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state.Add(rbA.angularVelocity.x);
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state.Add(rbA.angularVelocity.y);
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state.Add(rbA.angularVelocity.z);
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state.Add(rbA.velocity.x);
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state.Add(rbA.velocity.y);
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state.Add(rbA.velocity.z);
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state.Add(pendulumB.transform.rotation.x);
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state.Add(pendulumB.transform.rotation.y);
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state.Add(pendulumB.transform.rotation.z);
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state.Add(pendulumB.transform.rotation.w);
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state.Add(rbB.angularVelocity.x);
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state.Add(rbB.angularVelocity.y);
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state.Add(rbB.angularVelocity.z);
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state.Add(rbB.velocity.x);
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state.Add(rbB.velocity.y);
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state.Add(rbB.velocity.z);
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state.Add(goal.transform.position.x - transform.position.x);
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state.Add(goal.transform.position.y - transform.position.y);
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state.Add(goal.transform.position.z - transform.position.z);
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state.Add(hand.transform.position.x - transform.position.x);
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state.Add(hand.transform.position.y - transform.position.y);
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state.Add(hand.transform.position.z - transform.position.z);
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return state;
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}
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public override void AgentStep(float[] act)
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{
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goalDegree += goalSpeed;
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UpdateGoalPosition();
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float torque_x = Mathf.Clamp(act[0], -1, 1) * 100f;
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float torque_z = Mathf.Clamp(act[1], -1, 1) * 100f;
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rbA.AddTorque(new Vector3(torque_x, 0f, torque_z));
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torque_x = Mathf.Clamp(act[2], -1, 1) * 100f;
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torque_z = Mathf.Clamp(act[3], -1, 1) * 100f;
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rbB.AddTorque(new Vector3(torque_x, 0f, torque_z));
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}
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void UpdateGoalPosition() {
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float radians = (goalDegree * Mathf.PI) / 180f;
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float goalX = 8f * Mathf.Cos(radians);
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float goalY = 8f * Mathf.Sin(radians);
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goal.transform.position = new Vector3(goalY, -1f, goalX) + transform.position;
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}
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public override void AgentReset()
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{
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pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
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pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
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rbA.velocity = new Vector3(0f, 0f, 0f);
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rbA.angularVelocity = new Vector3(0f, 0f, 0f);
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pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position;
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pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
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rbB.velocity = new Vector3(0f, 0f, 0f);
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rbB.angularVelocity = new Vector3(0f, 0f, 0f);
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goalDegree = Random.Range(0, 360);
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UpdateGoalPosition();
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ReacherAcademy academy = GameObject.Find("Academy").GetComponent<ReacherAcademy>();
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float goalSize = academy.goalSize;
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goalSpeed = academy.goalSpeed;
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goal.transform.localScale = new Vector3(goalSize, goalSize, goalSize);
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}
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public override void AgentOnDone()
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{
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}
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}
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