Various changes to make crawler learning work. Demonstration of ArticulationBody.enable=false crash.

5 年前 · 0b0383f1
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+    - target: {fileID: 7737080709538424164, guid: 1661ce2a8a3cdfd3480c3d24bddd72f2,
-      propertyPath: m_ConnectedAnchor.y
-      value: 0.6249963
+      propertyPath: detectTargets
+      value: 0
-    - target: {fileID: 153475598826299386, guid: 1661ce2a8a3cdfd3480c3d24bddd72f2,
+    - target: {fileID: 7737080709538424164, guid: 1661ce2a8a3cdfd3480c3d24bddd72f2,
-      propertyPath: m_ConnectedAnchor.x
-      value: 0.0000032511432
+      propertyPath: respawnTargetWhenTouched
+      value: 0
-    - target: {fileID: 153475598826299386, guid: 1661ce2a8a3cdfd3480c3d24bddd72f2,
+    - target: {fileID: 8962597602698882073, guid: 1661ce2a8a3cdfd3480c3d24bddd72f2,
-      propertyPath: m_ConnectedAnchor.y
-      value: 0.6249948
+      propertyPath: m_ParentAnchorPosition.x
+      value: -0.98526704
-    - target: {fileID: 153258788415880078, guid: 1661ce2a8a3cdfd3480c3d24bddd72f2,
+    - target: {fileID: 8962597602698882073, guid: 1661ce2a8a3cdfd3480c3d24bddd72f2,
-      propertyPath: m_ConnectedAnchor.z
-      value: 0.2828397
+      propertyPath: m_ParentAnchorPosition.z
+      value: -0.945482
      objectReference: {fileID: 0}
    m_RemovedComponents: []
  m_SourcePrefab: {fileID: 100100000, guid: 1661ce2a8a3cdfd3480c3d24bddd72f2, type: 3}
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scenes/ArticulatedCrawlerManualControl.unity
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scenes/ArticulatedCrawlerManualControl.unity
  upperLeg1: {fileID: 384922840}
  foreLeg0: {fileID: 1541621532}
  foreLeg1: {fileID: 162708877}
+  body: {fileID: 1633365430}
  useAlternativeKeySetForInput: 0
  maxJointForceLimit: 1000
  maxJointSpring: 100
    type: 3}
  m_PrefabInstance: {fileID: 671491189}
  m_PrefabAsset: {fileID: 0}
+--- !u!1 &1633365430 stripped
+GameObject:
+  m_CorrespondingSourceObject: {fileID: 1828705975967124, guid: 1661ce2a8a3cdfd3480c3d24bddd72f2,
+    type: 3}
+  m_PrefabInstance: {fileID: 671491189}
+  m_PrefabAsset: {fileID: 0}
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scenes/ArticulatedCrawlerStaticTarget.unity
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scenes/ArticulatedCrawlerStaticTarget.unity
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerAgent.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerAgent.cs
    public void GetRandomTargetPos()
    {
        var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
-        newTargetPos.y = 5;
+        newTargetPos.y = 0.5f;
        target.position = newTargetPos + ground.position;
    }

--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerManualControl.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerManualControl.cs
    {
        public GameObject upperLeg0, upperLeg1;
        public GameObject foreLeg0, foreLeg1;
+        public GameObject body;
+        
+        private ArticulationBody m_AbBody;

        private Vector3 m_rotationUpper0, m_rotationUpper1;
        private Vector3 m_rotationFore0, m_rotationFore1;
            m_AbUpper1 = upperLeg1.GetComponent<ArticulationBody>();
            m_AbFore1 = foreLeg1.GetComponent<ArticulationBody>();

+            m_AbBody = body.GetComponent<ArticulationBody>();

            m_rotationUpper0 = m_rotationFore0 = m_rotationUpper1 = m_rotationFore1 = Vector3.zero;
        }
        /// </summary>
        public void AgentReset()
        {
-            m_rotationUpper0 = m_rotationFore0 = m_rotationUpper1 = m_rotationFore1 = Vector3.zero;
+            Vector3 position = new Vector3(0.0f, 8.0f, 6.3f);
+            Quaternion rotation = Quaternion.identity;
+            m_AbBody.enabled = false;
+            //m_AbBody.TeleportRoot(position, rotation);
+            m_AbBody.enabled = true;
+            //m_rotationUpper0 = m_rotationFore0 = m_rotationUpper1 = m_rotationFore1 = Vector3.zero;

            /*
            m_AbUpper.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedJointDriveController.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedJointDriveController.cs
    {
        //[Header("Body Part Info")][Space(10)] public ConfigurableJoint joint;
        public ArticulationBody arb;
+        public Transform t;
+        [HideInInspector] public Vector3 startingArbPos;
+        [HideInInspector] public Quaternion startingArbRot;
+
+

        [Header("Ground & Target Contact")][Space(10)]
        public GroundContact groundContact;
        {
            // Can't assign transforms for articulation bodies: transform changes are ignored, simulations goes on.
            // No way to reset velocities for articulation bodies now
-            if (bp.arb.isRoot)
-                bp.arb.TeleportRoot(bp.startingPos, bp.startingRot);
-            //bp.arb.transform.position = bp.startingPos;
-            //bp.arb.transform.rotation = bp.startingRot;
-            
+            //if (bp.arb.isRoot)
+            //{
+            //    bp.arb.TeleportRoot(bp.startingArbPos, bp.startingArbRot);
+            //    bp.t.position = bp.startingPos;
+            //    bp.t.rotation = bp.startingRot;
+            //}
+
            // Can't assigned articulation body velocitys/angularVelocities
            //bp.arb.velocity = Vector3.zero;
            //bp.arb.angularVelocity = Vector3.zero;
            var bp = new ArticulationBodyPart()
            {
                arb =  arb,
+                t = t,
+                startingArbPos = arb.transform.position,
+                startingArbRot = arb.transform.rotation,
                startingPos = t.position,
                startingRot = t.rotation
            };