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미해결
드론이 움직이지 않아요
22.03.15 22:43 작성 조회수 206
1
드론에 관한 스크립트를 짰는데 Heuristic 모드로 해도 움직이지 않고, 기본값으로해도 움직이지 않아요.
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using Unity.MLAgents;
using Unity.MLAgents.Sensors;
using Unity.MLAgents.Actuators;
using PA_DronePack;
public class DroneAgent : Agent
{
private PA_DroneController dcoScript;
public DroneSetting area;
public GameObject goal;
float preDist;
private Transform agentTrans;
private Transform goalTrans;
private Rigidbody agent_Rigidbody;
public override void Initialize()
{
base.Initialize();
dcoScript = gameObject.GetComponent<PA_DroneController>();
agentTrans = gameObject.transform;
goalTrans = goal.transform;
agent_Rigidbody = gameObject.GetComponent<Rigidbody>();
Academy.Instance.AgentPreStep += WaitTimeInference;
}
public override void CollectObservations(VectorSensor sensor)
{
sensor.AddObservation(agentTrans.position - goalTrans.position);
sensor.AddObservation(agent_Rigidbody.velocity);
sensor.AddObservation(agent_Rigidbody.angularVelocity);
}
public override void OnActionReceived(ActionBuffers actionBuffers)
{
AddReward(-0.01f);
var actions = actionBuffers.ContinuousActions;
float moveX = Mathf.Clamp(actions[0], -1, 1f);
float moveY = Mathf.Clamp(actions[1], -1, 1f);
float moveZ = Mathf.Clamp(actions[2], -1, 1f);
dcoScript.DriveInput(moveX);
dcoScript.StrafeInput(moveY);
dcoScript.LiftInput(moveZ);
float distance = Vector3.Magnitude(goalTrans.position - agentTrans.position);
if (distance <= 0.5f)
{
SetReward(1f);
EndEpisode();
}
else if(distance > 10f)
{
SetReward(-1f);
EndEpisode();
}
else
{
float reward = preDist - distance;
AddReward(reward);
preDist = distance;
}
}
public override void OnEpisodeBegin()
{
area.AreaSetting();
preDist = Vector3.Magnitude(goalTrans.position - agentTrans.position);
}
public override void Heuristic(in ActionBuffers actionsOut)
{
var continuousActionsOut = actionsOut.ContinuousActions;
continuousActionsOut[0] = Input.GetAxis("Vertical");
continuousActionsOut[1] = Input.GetAxis("Horizontal");
continuousActionsOut[2] = Input.GetAxis("Mouse ScrollWheel");
}
public float DecisionWaitingTime = 5f;
float m_currentTime = 0f;
public void WaitTimeInference(int action)
{
if(Academy.Instance.IsCommunicatorOn)
{
RequestDecision();
}
else
{
if(m_currentTime >= DecisionWaitingTime)
{
m_currentTime = 0f;
RequestDecision();
}
else
{
m_currentTime += Time.fixedDeltaTime;
}
}
}
}
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