void ObservationsDefault()
{
var sensor = this;
var pelvis = BodyParts["pelvis"];
Vector3 normalizedVelocity = this.GetNormalizedVelocity(pelvis.velocity);
sensor.AddVectorObs(normalizedVelocity);
sensor.AddVectorObs(pelvis.transform.forward); // gyroscope
sensor.AddVectorObs(pelvis.transform.up);
sensor.AddVectorObs(SensorIsInTouch);
JointRotations.ForEach(x => sensor.AddVectorObs(x));
sensor.AddVectorObs(JointVelocity);
// sensor.AddVectorObs(new []{
// this.GetNormalizedPosition(BodyParts["left_foot"].transform.position).y,
// this.GetNormalizedPosition(BodyParts["right_foot"].transform.position).y
// });
(List <float> distances, float fraction) =
_terrainGenerator.GetDistances2d(
pelvis.transform.position, ShowMonitor);
sensor.AddVectorObs(distances);
sensor.AddVectorObs(fraction);
}
void ObservationsHumanoid()
{
if (ShowMonitor)
{
}
var pelvis = BodyParts["pelvis"];
var shoulders = BodyParts["shoulders"];
Vector3 normalizedVelocity = this.GetNormalizedVelocity(pelvis.velocity);
AddVectorObs(normalizedVelocity);
AddVectorObs(pelvis.transform.forward); // gyroscope
AddVectorObs(pelvis.transform.up);
AddVectorObs(shoulders.transform.forward); // gyroscope
AddVectorObs(shoulders.transform.up);
AddVectorObs(SensorIsInTouch);
JointRotations.ForEach(x => AddVectorObs(x));
AddVectorObs(JointVelocity);
AddVectorObs(new [] {
this.GetNormalizedPosition(BodyParts["left_foot_left"].transform.position).y,
this.GetNormalizedPosition(BodyParts["left_foot_right"].transform.position).y,
this.GetNormalizedPosition(BodyParts["right_foot_left"].transform.position).y,
this.GetNormalizedPosition(BodyParts["right_foot_right"].transform.position).y,
});
}
void ObservationsDefault()
{
// var pelvis = BodyParts["pelvis"];
// AddVectorObs(pelvis.velocity);
// AddVectorObs(pelvis.transform.forward); // gyroscope
// AddVectorObs(pelvis.transform.up);
// AddVectorObs(SensorIsInTouch);
// JointRotations.ForEach(x=>AddVectorObs(x));
// AddVectorObs(JointVelocity);
// var foot = BodyParts["foot"];
// AddVectorObs(foot.transform.position.y);
var pelvis = BodyParts["pelvis"];
Vector3 normalizedVelocity = this.GetNormalizedVelocity(pelvis.velocity);
AddVectorObs(normalizedVelocity);
AddVectorObs(pelvis.transform.forward); // gyroscope
AddVectorObs(pelvis.transform.up);
AddVectorObs(SensorIsInTouch);
JointRotations.ForEach(x => AddVectorObs(x));
AddVectorObs(JointVelocity);
var foot = BodyParts["foot"];
Vector3 normalizedFootPosition = this.GetNormalizedPosition(foot.transform.position);
AddVectorObs(normalizedFootPosition.y);
(List <float> distances, float fraction) =
_terrainGenerator.GetDistances2d(
pelvis.transform.position, ShowMonitor);
AddVectorObs(distances);
AddVectorObs(fraction);
}
void ObservationsDefault()
{
if (ShowMonitor)
{
}
var pelvis = BodyParts["pelvis"];
AddVectorObs(pelvis.velocity);
AddVectorObs(pelvis.transform.forward); // gyroscope
AddVectorObs(pelvis.transform.up);
AddVectorObs(SensorIsInTouch);
JointRotations.ForEach(x => AddVectorObs(x));
AddVectorObs(JointVelocity);
var foot = BodyParts["foot"];
AddVectorObs(foot.transform.position.y);
var xpos = foot.transform.position.x;
xpos -= 2f;
float fraction = (xpos - (Mathf.Floor(xpos * 5) / 5)) * 5;
float ypos = foot.transform.position.y;
List <Ray> rays = Enumerable.Range(0, 5 * 5).Select(x => new Ray(new Vector3(xpos + (x * .2f), 5f, 0f), Vector3.down)).ToList();
List <float> distances = rays.Select
(x =>
ypos - (5f -
Physics.RaycastAll(x, 10f)
.OrderBy(y => y.distance)
.First()
.distance)
).ToList();
if (Application.isEditor && ShowMonitor)
{
var view = distances.Skip(10).Take(20).Select(x => x).ToList();
Monitor.Log("distances", view.ToArray());
var time = Time.deltaTime;
time *= agentParameters.numberOfActionsBetweenDecisions;
for (int i = 0; i < rays.Count; i++)
{
var distance = distances[i];
var origin = new Vector3(rays[i].origin.x, ypos, 0f);
var direction = distance > 0 ? Vector3.down : Vector3.up;
var color = distance > 0 ? Color.yellow : Color.red;
Debug.DrawRay(origin, direction * Mathf.Abs(distance), color, time, false);
}
}
AddVectorObs(distances);
AddVectorObs(fraction);
}
void ObservationsDefault()
{
if (ShowMonitor)
{
}
var pelvis = BodyParts["pelvis"];
AddVectorObs(pelvis.velocity);
AddVectorObs(pelvis.transform.forward); // gyroscope
AddVectorObs(pelvis.transform.up);
AddVectorObs(SensorIsInTouch);
JointRotations.ForEach(x => AddVectorObs(x));
AddVectorObs(JointVelocity);
}
public GaitOsc()
{
osc = new Oscillator();
phaseOffset = new float[N_LEGS];
dPhaseOffset = new float[N_LEGS];
tPhaseOffset = new float[N_LEGS];
GetKneeJointPhaseOffset(left, right, ref phaseOffset);
GetKneeJointPhaseOffset(left, right, ref tPhaseOffset);
amp = new float[N_LEGS];
dAmp = new float[N_LEGS];
tAmp = new float[N_LEGS];
GetShoulderJointAmp(left, right, ref amp);
GetShoulderJointAmp(left, right, ref tAmp);
jr = new JointRotations(N_LEGS);
}
void ObservationsDefault()
{
if (ShowMonitor)
{
}
var pelvis = BodyParts["pelvis"];
Vector3 normalizedVelocity = GetNormalizedVelocity(pelvis.velocity);
AddVectorObs(normalizedVelocity);
AddVectorObs(pelvis.transform.forward); // gyroscope
AddVectorObs(pelvis.transform.up);
AddVectorObs(SensorIsInTouch);
JointRotations.ForEach(x => AddVectorObs(x));
AddVectorObs(JointVelocity);
Vector3 normalizedFootPosition = this.GetNormalizedPosition(pelvis.transform.position);
AddVectorObs(normalizedFootPosition.y);
}
void ObservationsDefault()
{
TargetVelocityX = controllerAgent.AxisX;
if (ShowMonitor)
{
}
var pelvis = BodyParts["pelvis"];
AddVectorObs(pelvis.velocity);
AddVectorObs(pelvis.transform.forward); // gyroscope
AddVectorObs(pelvis.transform.up);
AddVectorObs(SensorIsInTouch);
JointRotations.ForEach(x => AddVectorObs(x));
AddVectorObs(JointVelocity);
var foot = BodyParts["foot"];
AddVectorObs(foot.transform.position.y);
AddVectorObs(TargetVelocityX);
AddVectorObs(CurrentVelocityX);
}
void ObservationsDefault()
{
var sensor = this;
if (ShowMonitor)
{
}
var pelvis = BodyParts["pelvis"];
Vector3 normalizedVelocity = this.GetNormalizedVelocity(pelvis.velocity);
sensor.AddVectorObs(normalizedVelocity);
sensor.AddVectorObs(pelvis.transform.forward); // gyroscope
sensor.AddVectorObs(pelvis.transform.up);
sensor.AddVectorObs(SensorIsInTouch);
JointRotations.ForEach(x => sensor.AddVectorObs(x));
sensor.AddVectorObs(JointVelocity);
sensor.AddVectorObs(new [] {
this.GetNormalizedPosition(BodyParts["left_foot"].transform.position).y,
this.GetNormalizedPosition(BodyParts["right_foot"].transform.position).y
});
}
void ObservationsDefault()
{
var pelvis = BodyParts["pelvis"];
#region origin
AddVectorObs(pelvis.velocity); //3
AddVectorObs(pelvis.transform.forward); // gyroscope //3
AddVectorObs(pelvis.transform.up); //3
//AddVectorObs(SensorIsInTouch); //xml 센서 수
for (int i = 0; i < collisionSensors.Count; i++)
{
AddVectorObs(collisionSensors[i].isCollision);
}
JointRotations.ForEach(x => AddVectorObs(x)); //xml actuator 수 * 4
AddVectorObs(JointVelocity); //xml actuator 수
#endregion
#region pybullet
//if (collectStateList.Count <= 0)
//{
// //more //8
// float torso_height = Mathf.Abs(pelvis.transform.position.y - init_y);
// AddVectorObs(torso_height);
// float self_walk_target_theta = Mathf.Atan2(target.z - pelvis.transform.position.z, target.x - pelvis.transform.position.x);
// float yaw = GetAngle(pelvis.transform.localEulerAngles.y) * Mathf.Deg2Rad;
// float angle_to_target = self_walk_target_theta - yaw;
// //print(self_walk_target_theta + ", " + yaw);
// float sin = Mathf.Sin(angle_to_target);
// float cos = Mathf.Cos(angle_to_target);
// //print(sin + ", " + cos);
// AddVectorObs(sin);
// AddVectorObs(cos);
// AddVectorObs(pelvis.velocity * 0.3f);
// float pitch = GetAngle(pelvis.transform.localEulerAngles.x) * Mathf.Deg2Rad;
// float roll = GetAngle(pelvis.transform.localEulerAngles.z) * Mathf.Deg2Rad;
// float clampedAngleX = Mathf.Clamp(pitch, -5f, 5f);
// //float clampedAngleY = Mathf.Clamp(yaw, -5f, 5f);
// float clampedAngleZ = Mathf.Clamp(roll, -5f, 5f);
// AddVectorObs(clampedAngleX);
// //AddVectorObs(clampedAngleY);
// AddVectorObs(clampedAngleZ);
// CollectJointAngle(0); //joint 각도
// CollectJointAngularVelocity(0); //joint 각속도
// CollectJointCollisionSensors(0); //feet_contact, 지면 접촉 여부
//}
#endregion
#region CSONG
foreach (var item in collectStateList)
{
item.collectState(item.index);
}
//print(info.vectorObservation.Count);
int remain = brain.brainParameters.vectorObservationSize - info.vectorObservation.Count;
for (int i = 0; i < remain; i++)
{
AddVectorObs(0f);
}
#endregion
}
