From e3482a3eabf90518bf2ca49867a708098879547f Mon Sep 17 00:00:00 2001 From: Tobi Date: Fri, 17 May 2019 19:12:07 +0200 Subject: [PATCH] Implemented Academy / Set GoalPoint / Bug: Training does not move agents --- Assets/Materials/GroundMaterial.mat | 2 +- Assets/Scenes/CozmoTraining.unity | 86 +- .../CannyEdgeDetection/ImageProcessor.cs | 4 +- Assets/Scripts/ML Cozmo/CozmoAcademy.cs | 18 +- Assets/Scripts/ML Cozmo/CozmoAgent.cs | 9 + Assets/Textures/Ground/SimpleWay.png | Bin 0 -> 7042 bytes Assets/Textures/Ground/SimpleWay.png.meta | 88 + .../Examples/GridWorld/Scripts/GridAgent.cs | 12 +- Notebooks/UnitySDK.log | 6064 +++++++++++++++++ Notebooks/getting-started.ipynb | 1035 ++- ProjectSettings/TagManager.asset | 3 +- 11 files changed, 7302 insertions(+), 19 deletions(-) create mode 100644 Assets/Textures/Ground/SimpleWay.png create mode 100644 Assets/Textures/Ground/SimpleWay.png.meta diff --git a/Assets/Materials/GroundMaterial.mat b/Assets/Materials/GroundMaterial.mat index 49ccb18..2cbf903 100644 --- a/Assets/Materials/GroundMaterial.mat +++ b/Assets/Materials/GroundMaterial.mat @@ -40,7 +40,7 @@ Material: m_Scale: {x: 1, y: 1} m_Offset: {x: 0, y: 0} - _MainTex: - m_Texture: {fileID: 2800000, guid: 199bbc3b06fa73149b6e1ad35ae6d936, type: 3} + m_Texture: {fileID: 2800000, guid: e2f202a27eca89449af658ee823922fb, type: 3} m_Scale: {x: 1, y: 1} m_Offset: {x: 0, y: 0} - _MetallicGlossMap: diff --git a/Assets/Scenes/CozmoTraining.unity b/Assets/Scenes/CozmoTraining.unity index abf9f84..50912be 100644 --- a/Assets/Scenes/CozmoTraining.unity +++ b/Assets/Scenes/CozmoTraining.unity @@ -143,6 +143,8 @@ Transform: - {fileID: 1159195261} - {fileID: 1863707381} - {fileID: 380448017} + - {fileID: 2078653368} + - {fileID: 435986020} m_Father: {fileID: 0} m_RootOrder: 1 m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} @@ -437,6 +439,50 @@ Transform: m_Father: {fileID: 99578049} m_RootOrder: 3 m_LocalEulerAnglesHint: {x: 90, y: 0, z: 0} +--- !u!1 &435986019 +GameObject: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + serializedVersion: 6 + m_Component: + - component: {fileID: 435986020} + - component: {fileID: 435986021} + m_Layer: 0 + m_Name: GoalPoint + m_TagString: Goal + m_Icon: {fileID: 0} + m_NavMeshLayer: 0 + m_StaticEditorFlags: 0 + m_IsActive: 1 +--- !u!4 &435986020 +Transform: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 435986019} + m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} + m_LocalPosition: {x: 0.314, y: 0, z: 0.52} + m_LocalScale: {x: 1, y: 1, z: 1} + m_Children: [] + m_Father: {fileID: 99578049} + m_RootOrder: 5 + m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} +--- !u!65 &435986021 +BoxCollider: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 435986019} + m_Material: {fileID: 0} + m_IsTrigger: 1 + m_Enabled: 1 + serializedVersion: 2 + m_Size: {x: 0.1, y: 0.1, z: 0.1} + m_Center: {x: 0, y: 0, z: 0.030643802} --- !u!1 &589453881 GameObject: m_ObjectHideFlags: 0 @@ -960,7 +1006,8 @@ MonoBehaviour: - {fileID: 11400000, guid: 0d9d5ce547064a648b466ad7f208cf3d, type: 2} _brainsToControl: - {fileID: 0} - maxSteps: 0 + - {fileID: 11400000, guid: 0d9d5ce547064a648b466ad7f208cf3d, type: 2} + maxSteps: 1000 trainingConfiguration: width: 84 height: 84 @@ -975,6 +1022,8 @@ MonoBehaviour: targetFrameRate: 60 resetParameters: resetParameters: [] + cozmo: {fileID: 7570006596986120123} + startPoint: {fileID: 2078653368} --- !u!4 &998256474 Transform: m_ObjectHideFlags: 0 @@ -1540,6 +1589,36 @@ MeshFilter: m_PrefabAsset: {fileID: 0} m_GameObject: {fileID: 1863707380} m_Mesh: {fileID: 10210, guid: 0000000000000000e000000000000000, type: 0} +--- !u!1 &2078653367 +GameObject: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + serializedVersion: 6 + m_Component: + - component: {fileID: 2078653368} + m_Layer: 0 + m_Name: StartPoint + m_TagString: Untagged + m_Icon: {fileID: 3936346786652291628, guid: 0000000000000000d000000000000000, type: 0} + m_NavMeshLayer: 0 + m_StaticEditorFlags: 0 + m_IsActive: 1 +--- !u!4 &2078653368 +Transform: + m_ObjectHideFlags: 0 + m_CorrespondingSourceObject: {fileID: 0} + m_PrefabInstance: {fileID: 0} + m_PrefabAsset: {fileID: 0} + m_GameObject: {fileID: 2078653367} + m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} + m_LocalPosition: {x: 0, y: 0, z: -0.52} + m_LocalScale: {x: 1, y: 1, z: 1} + m_Children: [] + m_Father: {fileID: 99578049} + m_RootOrder: 4 + m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} --- !u!1001 &7570006596986120122 PrefabInstance: m_ObjectHideFlags: 0 @@ -1566,7 +1645,7 @@ PrefabInstance: - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d, type: 3} propertyPath: m_LocalPosition.x - value: 0.42 + value: 0 objectReference: {fileID: 0} - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d, type: 3} @@ -1576,7 +1655,7 @@ PrefabInstance: - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d, type: 3} propertyPath: m_LocalPosition.z - value: -0.529 + value: -0.52 objectReference: {fileID: 0} - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d, type: 3} @@ -1659,7 +1738,6 @@ MonoBehaviour: onDemandDecision: 1 numberOfActionsBetweenDecisions: 1 renderCamera: {fileID: 891713640} - academy: {fileID: 998256473} movement: {fileID: 7570006596986120128} timeBetweenDecisionsAtInference: 0.15 --- !u!65 &7570006596986120126 diff --git a/Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs b/Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs index 327b9d0..c285b75 100644 --- a/Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs +++ b/Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs @@ -134,10 +134,12 @@ public class ImageProcessor : MonoBehaviour Moments m = new Moments(processedImage, true); CenterOfGravity = new Point(m.M10 / m.M00, m.M01 / m.M00); +#if UNITY_EDITOR // show the image with a point mark at the centroid Cv2.Circle(processedImage, CenterOfGravity, 5, new Scalar(128, 0, 0), -1); Cv2.Flip(processedImage, processedImage, FlipMode.X); Cv2.ImShow("Image with center", processedImage); - //Cv2.WaitKey(0); +#endif } + } diff --git a/Assets/Scripts/ML Cozmo/CozmoAcademy.cs b/Assets/Scripts/ML Cozmo/CozmoAcademy.cs index 6e03323..87e88cd 100644 --- a/Assets/Scripts/ML Cozmo/CozmoAcademy.cs +++ b/Assets/Scripts/ML Cozmo/CozmoAcademy.cs @@ -5,5 +5,21 @@ using UnityEngine; public class CozmoAcademy : Academy { - + public GameObject cozmo; + public Transform startPoint; + //public bool testAcademyReset = false; + + public override void AcademyReset() + { + cozmo.transform.position = startPoint.position; + } + + //private void Update() + //{ + // if (testAcademyReset) + // { + // AcademyReset(); + // testAcademyReset = !testAcademyReset; + // } + //} } diff --git a/Assets/Scripts/ML Cozmo/CozmoAgent.cs b/Assets/Scripts/ML Cozmo/CozmoAgent.cs index 9b9b45c..d4f48df 100644 --- a/Assets/Scripts/ML Cozmo/CozmoAgent.cs +++ b/Assets/Scripts/ML Cozmo/CozmoAgent.cs @@ -112,6 +112,15 @@ public class CozmoAgent : Agent } + private void OnTriggerEnter(Collider other) + { + if (other.transform.CompareTag("Goal")) + { + print("Collission"); + Done(); + } + } + private void WaitTimeInference() { if (renderCamera != null) diff --git a/Assets/Textures/Ground/SimpleWay.png b/Assets/Textures/Ground/SimpleWay.png new file mode 100644 index 0000000000000000000000000000000000000000..dd4d9995ef871d8e39670fa6b5a96cb5a90b7e95 GIT binary patch literal 7042 zcmcgweOy#!_J8io$bh_y#f!pR!55T5bSX4p=PDvnV6>TG5KgWrzVV`@XgYIStj+WX z=&yW3WonHqMcKp!)Lq7uAjOpp7hOXnP=i2T1Oi8AX3u%<+yVSx`Rk7#pU-8U=Q-zm 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buildTarget: DefaultTexturePlatform + maxTextureSize: 2048 + resizeAlgorithm: 0 + textureFormat: -1 + textureCompression: 1 + compressionQuality: 50 + crunchedCompression: 0 + allowsAlphaSplitting: 0 + overridden: 0 + androidETC2FallbackOverride: 0 + spriteSheet: + serializedVersion: 2 + sprites: [] + outline: [] + physicsShape: [] + bones: [] + spriteID: + vertices: [] + indices: + edges: [] + weights: [] + spritePackingTag: + pSDRemoveMatte: 0 + pSDShowRemoveMatteOption: 0 + userData: + assetBundleName: + assetBundleVariant: diff --git a/Assets/UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs b/Assets/UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs index 31b1a42..46c8606 100644 --- a/Assets/UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs +++ b/Assets/UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs @@ -10,7 +10,7 @@ public class GridAgent : Agent public float timeBetweenDecisionsAtInference; private float timeSinceDecision; - [Tooltip("Because we want an observation right before making a decision, we can force " + + [Tooltip("Because we want an observation right before making a decision, we can force " + "a camera to render before making a decision. Place the agentCam here if using " + "RenderTexture as observations.")] public Camera renderCamera; @@ -48,8 +48,8 @@ public class GridAgent : Agent private void SetMask() { // Prevents the agent from picking an action that would make it collide with a wall - var positionX = (int) transform.position.x; - var positionZ = (int) transform.position.z; + var positionX = (int)transform.position.x; + var positionZ = (int)transform.position.z; var maxPosition = academy.gridSize - 1; if (positionX == 0) @@ -108,17 +108,17 @@ public class GridAgent : Agent if (blockTest.Where(col => col.gameObject.CompareTag("goal")).ToArray().Length == 1) { - Done(); SetReward(1f); } if (blockTest.Where(col => col.gameObject.CompareTag("pit")).ToArray().Length == 1) { - Done(); SetReward(-1f); } } } + + // to be implemented by the developer public override void AgentReset() { @@ -132,7 +132,7 @@ public class GridAgent : Agent private void WaitTimeInference() { - if(renderCamera != null) + if (renderCamera != null) { renderCamera.Render(); } diff --git a/Notebooks/UnitySDK.log b/Notebooks/UnitySDK.log index eb935c9..35d1d2b 100644 --- a/Notebooks/UnitySDK.log +++ b/Notebooks/UnitySDK.log @@ -482657,3 +482657,6067 @@ MLAgents.Academy.FixedUpdate () (at <5dfd5e04a023461aad465646d7fba81c>:0) 15.05.2019 12:05:14 +17.05.2019 19:03:30 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +17.05.2019 19:07:51 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + +Log +Reward: +1 + 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b/Notebooks/getting-started.ipynb @@ -136,7 +136,7 @@ }, { "data": { - "image/png": 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" ] @@ -188,11 +188,1036 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 5, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this episode: 1.0\n", + "Total reward this 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a/ProjectSettings/TagManager.asset +++ b/ProjectSettings/TagManager.asset @@ -3,7 +3,8 @@ --- !u!78 &1 TagManager: serializedVersion: 2 - tags: [] + tags: + - Goal layers: - Default - TransparentFX