public void SetupMujoco()
{
_mujocoController = GetComponent <MujocoController>();
_numJoints = _mujocoController.qpos.Count;
_numSensors = _mujocoController.MujocoSensors.Count;
_jointSize = 2;
_sensorSize = 1;
_sensorOffset = _jointSize * _numJoints;
_observationSize = _sensorOffset + (_sensorSize * _numSensors);
_observation1D = Enumerable.Repeat <float>(0f, _observationSize).ToArray();
Low = _internalLow = Enumerable.Repeat <float>(float.MinValue, _observationSize).ToArray();
High = _internalHigh = Enumerable.Repeat <float>(float.MaxValue, _observationSize).ToArray();
for (int j = 0; j < _numJoints; j++)
{
var offset = j * _jointSize;
_internalLow[offset + 0] = -5; //-10;
_internalHigh[offset + 0] = 5; //10;
_internalLow[offset + 1] = -5; //-500;
_internalHigh[offset + 1] = 5; //500;
// _internalLow[offset+2] = -5;//-500;
// _internalHigh[offset+3] = 5;//500;
}
for (int j = 0; j < _numSensors; j++)
{
var offset = _sensorOffset + (j * _sensorSize);
_internalLow[offset + 0] = -1; //-10;
_internalHigh[offset + 0] = 1; //10;
}
_lastSenorState = Enumerable.Repeat <float>(0f, _numSensors).ToList();
_phase = 0;
_phaseBonus = 0f;
_nextPhaseBonus = 0f;
this.brain = GameObject.Find("MujocoBrain").GetComponent <Brain>();
}
public override void AgentAction(float[] vectorAction, string textAction)
{
Actions = vectorAction
.Select(x => Mathf.Clamp(x, -3, 3f) / 3)
.ToList();
//KillJointPower(new []{"shoulder", "elbow"}); // HACK
// if (ShowMonitor)
// Monitor.Log("actions", _actions, MonitorType.hist);
for (int i = 0; i < _mujocoController.MujocoJoints.Count; i++)
{
var inp = (float)Actions[i];
MujocoController.ApplyAction(_mujocoController.MujocoJoints[i], inp);
}
_mujocoController.UpdateFromExternalComponent();
var done = _terminate();//Terminate_HopperOai();
if (done)
{
Done();
//var reward = 0;
var reward = -1f;
SetReward(reward);
}
if (!IsDone())
{
var reward = _stepReward();//StepReward_OaiHopper();
SetReward(reward);
}
_footHitTerrain = false;
_nonFootHitTerrain = false;
}
public override void AgentReset()
{
Monitor.SetActive(true);
_mujocoController = GetComponent <MujocoController>();
_mujocoController.MujocoJoints = null;
_mujocoController.MujocoSensors = null;
// var joints = this.GetComponentsInChildren<Joint>().ToList();
// foreach (var item in joints)
// Destroy(item.gameObject);
var rbs = this.GetComponentsInChildren <Rigidbody>().ToList();
foreach (var item in rbs)
{
if (item != null)
{
DestroyImmediate(item.gameObject);
}
}
Resources.UnloadUnusedAssets();
var mujocoSpawner = this.GetComponent <MujocoUnity.MujocoSpawner>();
if (mujocoSpawner != null)
{
mujocoSpawner.MujocoXml = MujocoXml;
}
mujocoSpawner.SpawnFromXml();
SetupMujoco();
_mujocoController.UpdateFromExternalComponent();
switch (ActorId)
{
case "a_oai_walker2d-v0":
_stepReward = StepReward_OaiWalker;
_terminate = Terminate_OnNonFootHitTerrain;
_observations = Observations_Default;
break;
case "a_dm_walker-v0":
_stepReward = StepReward_DmWalker;
_terminate = Terminate_OnNonFootHitTerrain;
_observations = Observations_Default;
break;
case "a_oai_hopper-v0":
_stepReward = StepReward_OaiHopper;
_terminate = Terminate_HopperOai;
_observations = Observations_Default;
break;
case "a_oai_humanoid-v0":
_stepReward = StepReward_OaiHumanoidRun;
// _stepReward = StepReward_OaiHumanoidStand;
// _stepReward = StepReward_OaiHumanoidPureRun;
_terminate = Terminate_OnNonFootHitTerrain;
_observations = Observations_Humanoid;
_bodyParts["pelvis"] = GetComponentsInChildren <Rigidbody>().FirstOrDefault(x => x.name == "butt");
_bodyParts["shoulders"] = GetComponentsInChildren <Rigidbody>().FirstOrDefault(x => x.name == "torso1");
_bodyParts["head"] = GetComponentsInChildren <Rigidbody>().FirstOrDefault(x => x.name == "head");
_bodyParts["left_thigh"] = GetComponentsInChildren <Rigidbody>().FirstOrDefault(x => x.name == "left_thigh1");
_bodyParts["right_thigh"] = GetComponentsInChildren <Rigidbody>().FirstOrDefault(x => x.name == "right_thigh1");
_bodyParts["left_uarm"] = GetComponentsInChildren <Rigidbody>().FirstOrDefault(x => x.name == "left_uarm1");
_bodyParts["right_uarm"] = GetComponentsInChildren <Rigidbody>().FirstOrDefault(x => x.name == "right_uarm1");
break;
case "a_ant-v0":
case "a_oai_half_cheetah-v0":
default:
throw new NotImplementedException();
}
// set body part directions
foreach (var bodyPart in _bodyParts)
{
var name = bodyPart.Key;
var rigidbody = bodyPart.Value;
// find up
var focalPoint = rigidbody.position;
focalPoint.x += 10;
var focalPointRotation = rigidbody.rotation;
focalPointRotation.SetLookRotation(focalPoint - rigidbody.position);
_bodyPartsToFocalRoation[name] = focalPointRotation;
}
}
