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made environment for BensonV4

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This commit is contained in:
Ciakon
2024-04-19 11:30:12 +02:00
parent 92a98b98d7
commit 769315be1e
21 changed files with 1553 additions and 435 deletions
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5
Assets/Scripts/AgentController.cs → Assets/Scripts/AgentController (old).cs
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@@ -115,6 +115,9 @@ public class AgentController : Agent
public override void OnActionReceived(ActionBuffers actions)
{
print("L");
// Actions size = 2 [vertical speed, horizontal speed] = [-1..1, -1..1] // discrete = [{0, 1, 2}, {0, 1, 2}] = [{-1, 0, 1}...]
float vInput = 0;
float hInput = 0;
@@ -133,7 +136,7 @@ public class AgentController : Agent
if (vInput == 1f)
{
AddReward(0.001f);
AddReward(0.02f);
}
// give benson mental pain for existing (punishment for maximizing first checkpoint by standing still)

0
Assets/Scripts/AgentController.cs.meta → Assets/Scripts/AgentController (old).cs.meta
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226
Assets/Scripts/AgentControllerV4.cs Normal file
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@@ -0,0 +1,226 @@
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Sensors;
using Unity.MLAgents.Actuators;
using UnityEngine.UIElements;
using System.Linq;
using Unity.Mathematics;
using Unity.VisualScripting;
using System.Reflection;
using System;
public class AgentControllerV4 : Agent
{
public float motorForce = 300;
public float brakeForce = 500;
public float maxSpeed = 400;
public float steeringRange = 9;
Rigidbody rigidBody;
public List<GameObject> checkpoints;
Vector3 startPosition;
Quaternion startRotation;
int currentStep = 0;
int stepsSinceCheckpoint = 0;
public int maxStepsPerCheckpoint = 300;
public int distanceBetweenCheckpoints;
// Start is called before the first frame update
void Start()
{
rigidBody = GetComponent<Rigidbody>();
// Find all child GameObjects that have the WheelControl script attached
startPosition = transform.localPosition;
startRotation = transform.localRotation;
}
public override void OnEpisodeBegin()
{
stepsSinceCheckpoint = 0;
// reset car
transform.localPosition = startPosition;
transform.localRotation = startRotation;
rigidBody.velocity = Vector3.zero;
rigidBody.angularVelocity = Vector3.zero;
// reset checkpoints
foreach (GameObject checkpoint in checkpoints)
{
checkpoint.GetComponent<Checkpoint>().isCollected = false;
}
}
public override void CollectObservations(VectorSensor sensor)
{
Transform currentCheckpoint = checkpoints[0].transform;
foreach (GameObject checkpoint in checkpoints)
{
bool isCollected = checkpoint.GetComponent<Checkpoint>().isCollected;
if (!isCollected)
{
currentCheckpoint = checkpoint.transform;
break;
}
}
print(transform.rotation.y);
sensor.AddObservation(transform.rotation.y);
Vector3 position = transform.localPosition;
Vector3 checkpointPosition = currentCheckpoint.localPosition;
Vector2 toCheckpoint = new Vector2(
checkpointPosition.x - position.x,
checkpointPosition.z - position.z
);
sensor.AddObservation(toCheckpoint.normalized);
sensor.AddObservation(toCheckpoint.magnitude);
var FullVelocityMagnitude = rigidBody.velocity.magnitude; // Velocity including angular velocity
var angularMagnitude = rigidBody.angularVelocity.magnitude;
var forwardMagnitude = Mathf.Sqrt( Mathf.Pow(FullVelocityMagnitude, 2) - Mathf.Pow(angularMagnitude, 2)); // Agent velocity in forward direction
if (forwardMagnitude >= 0.001)
sensor.AddObservation(forwardMagnitude);
else
sensor.AddObservation(FullVelocityMagnitude);
sensor.AddObservation(angularMagnitude);
}
public override void OnActionReceived(ActionBuffers actions)
{
// Actions size = 2 [vertical speed, horizontal speed] = [-1..1, -1..1] // discrete = [{0, 1, 2}, {0, 1, 2}] = [{-1, 0, 1}...]
float vInput = 0;
float hInput = 0;
if (actions.DiscreteActions[0] == 0)
vInput = -1f;
if (actions.DiscreteActions[0] == 1)
vInput = 1f;
if (actions.DiscreteActions[1] == 0)
hInput = -1f;
if (actions.DiscreteActions[1] == 1)
hInput = 1f;
// reward for going forward
// if (vInput == 1f)
// {
// AddReward(0.02f);
// }
// give benson mental pain for existing (punishment for maximizing first checkpoint by standing still)
AddReward(-0.002f);
Vector3 movementForce = vInput * motorForce * transform.forward;
float carAngle = transform.rotation.eulerAngles.y + steeringRange * hInput;
float x = transform.rotation.eulerAngles.x;
float z = transform.rotation.eulerAngles.z;
transform.rotation = Quaternion.Euler(x, carAngle, z);
rigidBody.AddForce(movementForce, ForceMode.Impulse);
// rewards
Transform currentCheckpoint = checkpoints[0].transform;
foreach (GameObject checkpoint in checkpoints)
{
bool isCollected = checkpoint.GetComponent<Checkpoint>().isCollected;
if (!isCollected)
{
currentCheckpoint = checkpoint.transform;
break;
}
}
float checkpintDistance = distanceToCheckpoint(currentCheckpoint);
float reward = (1 - Mathf.InverseLerp(0, distanceBetweenCheckpoints, checkpintDistance)) / 1000;
AddReward(reward);
if (checkpintDistance < 0.1f)
{
currentCheckpoint.GetComponent<Checkpoint>().isCollected = true;
stepsSinceCheckpoint = 0;
if (currentCheckpoint == checkpoints[checkpoints.Count - 1].transform)
{
AddReward(10f);
EndEpisode();
}
AddReward(1.0f);
}
currentStep += 1;
stepsSinceCheckpoint += 1;
if (stepsSinceCheckpoint >= maxStepsPerCheckpoint)
{
stepsSinceCheckpoint = 0;
EndEpisode();
}
}
public override void Heuristic(in ActionBuffers actionsOut)
{
var discreteActionsOut = actionsOut.DiscreteActions;
discreteActionsOut[0] = 2;
discreteActionsOut[1] = 2;
if (Input.GetAxis("Vertical") < -0.5)
discreteActionsOut[0] = 0;
if (Input.GetAxis("Vertical") > 0.5)
discreteActionsOut[0] = 1;
if (Input.GetAxis("Horizontal") < -0.5)
discreteActionsOut[1] = 0;
if (Input.GetAxis("Horizontal") > 0.5)
discreteActionsOut[1] = 1;
}
// finds distance from agent to closest point on the checkpoint line
float distanceToCheckpoint(Transform checkpoint)
{
var closestPoint = checkpoint.GetComponent<Collider>().ClosestPointOnBounds(transform.position);
var distanceToCheckpoint = Vector3.Distance(transform.position, closestPoint);
return distanceToCheckpoint;
}
// find angle from agent to middle of checkpoint line.
float angleToCheckpoint(Transform checkpoint)
{
Vector3 checkpointDirection = checkpoint.localPosition - transform.localPosition;
float angle = Vector3.SignedAngle(transform.forward, checkpointDirection, Vector3.up);
return angle;
}
// punishment for hitting a wall
private void OnCollisionEnter(Collision other) {
if (other.gameObject.tag == "Wall")
{
AddReward(-0.05f);
}
}
// punishment for staying at a wall
private void OnCollisionStay(Collision other) {
if (other.gameObject.tag == "Wall")
{
AddReward(-0.05f);
}
}
}

2
Assets/Scripts/VehichleControl.cs.meta → Assets/Scripts/AgentControllerV4.cs.meta
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@@ -1,5 +1,5 @@
fileFormatVersion: 2
guid: 8c9672ffa7e21bf41b27f35da94be659
guid: f5cda3de98f45464999f00bdd795f2a0
MonoImporter:
externalObjects: {}
serializedVersion: 2

44
Assets/Scripts/CarControl.cs
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@@ -1,44 +0,0 @@
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class CarControl : MonoBehaviour
{
public float motorTorque = 2000;
public float maxSpeed = 20;
public float steeringRange = 30;
//public float steeringRangeAtMaxSpeed = 10;
WheelControl[] wheels;
Rigidbody rigidBody;
// Start is called before the first frame update
void Start()
{
rigidBody = GetComponent<Rigidbody>();
// Find all child GameObjects that have the WheelControl script attached
wheels = GetComponentsInChildren<WheelControl>();
}
// Update is called once per frame
void FixedUpdate()
{
float vInput = Input.GetAxis("Vertical");
float hInput = Input.GetAxis("Horizontal");
foreach (var wheel in wheels)
{
// Apply steering to Wheel colliders that have "Steerable" enabled
if (wheel.steerable)
{
wheel.WheelCollider.steerAngle = hInput * steeringRange;
}
// Apply torque to Wheel colliders that have "Motorized" enabled
if (wheel.motorized)
{
wheel.WheelCollider.motorTorque = vInput * motorTorque;
}
}
}
}

11
Assets/Scripts/CarControl.cs.meta
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@@ -1,11 +0,0 @@
fileFormatVersion: 2
guid: a23c7d66d3ff94847a946cf7b30ca1b7
MonoImporter:
externalObjects: {}
serializedVersion: 2
defaultReferences: []
executionOrder: 0
icon: {instanceID: 0}
userData:
assetBundleName:
assetBundleVariant:

16
Assets/Scripts/Checkpoint.cs
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@@ -5,4 +5,20 @@ using UnityEngine;
public class Checkpoint : MonoBehaviour
{
public bool isCollected = false;
MeshRenderer meshRenderer;
private void Start() {
meshRenderer = GetComponent<MeshRenderer>();
}
private void Update() {
if (isCollected)
{
meshRenderer.enabled = false;
}
else
{
meshRenderer.enabled = true;
}
}
}

59
Assets/Scripts/VehichleControl.cs
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@@ -1,59 +0,0 @@
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
public class VehichleControl : MonoBehaviour
{
public InputController InputCtrl;
[Tooltip("Set ref in order of FL, FR, RL, RR")]
public WheelCollider[] WheelColliders;
[Tooltip("Set ref of wheel meshes in order of FL, FR, RL, RR")]
public Transform[] Wheels;
public Transform CenterOfMass;
public int Force;
public int Angle;
public int BrakeForce;
private void Drive()
{
WheelColliders[0].motorTorque = WheelColliders[1].motorTorque = InputCtrl.Vertical * Force;
}
private void Steer()
{
WheelColliders[0].steerAngle = WheelColliders[1].steerAngle = InputCtrl.Horizontal * Angle;
}
private void Brake()
{
WheelColliders[0].brakeTorque = WheelColliders[1].brakeTorque = InputCtrl.Brake * BrakeForce;
}
private void UpdateWheelMovements()
{
for (var i = 0; i < Wheels.Length; i++)
{
Vector3 pos;
Quaternion rot;
WheelColliders[i].GetWorldPose(out pos, out rot);
Wheels[i].transform.position = pos;
Wheels[i].transform.rotation = rot;
}
}
private void FixedUpdate()
{
Steer();
Drive();
Brake();
UpdateWheelMovements();
}
private void Start()
{
GetComponent<Rigidbody>().centerOfMass = CenterOfMass.localPosition;
}
}