Implemented ArticulatedCrawler agent reset via crawler body prefab respawn. Reimplemented ArticulatedCrawlerDynamicTarget scene and associated prefabs. Modified camera follow script to track respawned articulated body object - still need to generalize.

5 年前 · 5d3141d7
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Prefabs/ArticulatedCrawler.prefab
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Prefabs/ArticulatedCrawler.prefab
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Prefabs/ArticulatedFixedPlatform.prefab
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Prefabs/ArticulatedFixedPlatform.prefab
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--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scenes/ArticulatedCrawlerManualControl.unity
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scenes/ArticulatedCrawlerManualControl.unity
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--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerAgent.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerAgent.cs
    public bool respawnTargetWhenTouched;
    public float targetSpawnRadius;

-    [Header("Body Parts")][Space(10)] public Transform body;
+    [Header("Body Parts")][Space(10)] 
+    public Transform rootBodyPrefab; 
+    public Transform body;
    public Transform leg0Upper;
    public Transform leg0Lower;
    public Transform leg1Upper;
        m_CurrentDecisionStep = 1;
        m_DirToTarget = target.position - body.position;

+        m_JdController.Reset();
+        SetupBodyParts();
+    }
+    /// <summary>
+    /// Setup body parts - add body part and configure ArticulatedJoinDriveController
+    /// </summary>
+    private void SetupBodyParts()
+    {
        //Setup each body part
        m_JdController.SetupBodyPart(body);
        m_JdController.SetupBodyPart(leg0Upper);
        m_JdController.SetupBodyPart(leg3Upper);
        m_JdController.SetupBodyPart(leg3Lower);
    }
-
+    
    /// <summary>
    /// We only need to change the joint settings based on decision freq.
    /// </summary>
    /// </summary>
    public override void AgentReset()
    {
-        if (m_DirToTarget != Vector3.zero)
-        {
-            body.transform.rotation = Quaternion.LookRotation(m_DirToTarget);
-        }
-        body.transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
+        Vector3 position = m_JdController.bodyPartsDict[body].startingPos;
+        
+        // For starting position, make a random orientation
+        Quaternion rotation = Quaternion.identity;
+        rotation.SetLookRotation(Random.onUnitSphere * 10.0f + position, Vector3.up);
+        
+        m_JdController.Reset();
+        
+        string bodyName = body.name;
+        DestroyImmediate(body.gameObject);
+        body = Instantiate(rootBodyPrefab, position, rotation);
+        body.transform.parent = transform;
+        body.name = bodyName;
-        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
-        {
-            bodyPart.Reset(bodyPart);
-        }
+        
+        ResetLegTransforms(body);
+        SetupBodyParts();
+        
        if (!targetIsStatic)
        {
            GetRandomTargetPos();
+    }
+    /// <summary>
+    /// After spawning new prefab, reinitialize transforms of body parts
+    /// </summary>
+    /// <param name="rootBody"></param>
+    private void ResetLegTransforms(Transform rootBody)
+    {
+        leg0Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"leg0");
+        leg1Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"leg1");
+        leg2Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"leg2");
+        leg3Upper = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"leg3");
+
+        leg0Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"foreleg0");
+        leg1Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"foreleg1");
+        leg2Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"foreleg2");
+        leg3Lower = ArticulatedJointDriveController.FindBodyPartByName(rootBody,"foreleg3");
    }
 }
--- 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;
+
+        public GameObject rootBodyPrefab;
        
        private ArticulationBody m_AbUpper0, m_AbUpper1;
        private ArticulationBody m_AbFore0, m_AbFore1;

        public float currentStrength = 0.0f;

-        /// <summary>
-        /// Collect the rigidbodies of the reacher in order to resue them for
-        /// observations and actions.
-        /// </summary>
-        public void Start()
+
+
+        private void InitializeLegGameObjects()
+        {
+            string namePrefix = name + "/" + rootBodyPrefab.name + "/";
+            upperLeg0 = GameObject.Find(namePrefix + "UpperLegBone0");
+            upperLeg1 = GameObject.Find(namePrefix + "UpperLegBone1");
+            foreLeg0 = GameObject.Find(namePrefix + upperLeg0.name + "/" + "ForeLegBone0");
+            foreLeg1 = GameObject.Find(namePrefix + upperLeg1.name + "/" + "ForeLegBone1");
+
+        }
+        private void InitializeArticulationBodies()
        {
            m_AbUpper0 = upperLeg0.GetComponent<ArticulationBody>();
            m_AbFore0 = foreLeg0.GetComponent<ArticulationBody>();

            m_AbBody = body.GetComponent<ArticulationBody>();

+        }
+        public void Start()
+        {
+            InitializeArticulationBodies();            
            m_rotationUpper0 = m_rotationFore0 = m_rotationUpper1 = m_rotationFore1 = Vector3.zero;
        }

        public void AgentReset()
        {
+            
-            m_AbBody.enabled = false;
-            //m_AbBody.TeleportRoot(position, rotation);
-            m_AbBody.enabled = true;
-            //m_rotationUpper0 = m_rotationFore0 = m_rotationUpper1 = m_rotationFore1 = Vector3.zero;
+
+            string bodyName = body.name;
+            DestroyImmediate(body);
+            body = Instantiate(rootBodyPrefab, position, rotation);
+            body.transform.parent = transform;
+            body.name = bodyName;
+
+            InitializeLegGameObjects();
+            InitializeArticulationBodies();
+            m_rotationUpper0 = m_rotationFore0 = m_rotationUpper1 = m_rotationFore1 = Vector3.zero;

            /*
            m_AbUpper.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
            arb.zDrive = zDrive;
            //joint.slerpDrive = jd;
            currentStrength = rawVal;
+        }
+
+        public void Update()
+        {
+            Debug.DrawLine(body.transform.position, body.transform.position + body.transform.forward * 10.0f);
        }
    }
 }
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedJointDriveController.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedJointDriveController.cs
    [System.Serializable]
    public class ArticulationBodyPart
    {
-        //[Header("Body Part Info")][Space(10)] public ConfigurableJoint joint;
-        [HideInInspector] public Vector3 startingArbPos;
-        [HideInInspector] public Quaternion startingArbRot;
-
-
+        

        [Header("Ground & Target Contact")][Space(10)]
        public GroundContact groundContact;
        public float currentYNormalizedRot;
        public float currentZNormalizedRot;

-        /// <summary>
-        /// Reset body part to initial configuration.
-        /// </summary>
-        public void Reset(ArticulationBodyPart bp)
-        {
-            // 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.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;
-            if (bp.groundContact)
-            {
-                bp.groundContact.touchingGround = false;
-            }
-
-            if (bp.targetContact)
-            {
-                bp.targetContact.touchingTarget = false;
-            }
-        }
-
+        
        /// <summary>
        /// Apply torque according to defined goal `x, y, z` angle and force `strength`.
        /// </summary>
            currentYNormalizedRot = Mathf.InverseLerp(yDrive.lowerLimit, yDrive.upperLimit, yRot);
            currentZNormalizedRot = Mathf.InverseLerp(zDrive.lowerLimit, zDrive.upperLimit, zRot);

-            //joint.targetRotation = Quaternion.Euler(xRot, yRot, zRot); // Original code
            xDrive.target = xRot; yDrive.target = yRot; zDrive.target = zRot;

            arb.xDrive = xDrive; arb.yDrive = yDrive; arb.zDrive = zDrive;
            xDrive.damping = yDrive.damping = zDrive.damping = thisJdController.jointDampen;
            xDrive.forceLimit = yDrive.forceLimit = zDrive.forceLimit = rawVal;

-            // Slerp drive does not exist, so we try to set strength for each axis individually
-            //joint.slerpDrive = jd;
            currentStrength = rawVal;
        }
    }

        [HideInInspector] public List<ArticulationBodyPart> bodyPartsList = new List<ArticulationBodyPart>();

+        
+        /// <summary>
+        /// Reset BodyPart list and dictionary.
+        /// </summary>
+        public void Reset()
+        {
+            bodyPartsDict.Clear();
+            bodyPartsList.Clear();
+        }
        /// <summary>
        /// Create BodyPart object and add it to dictionary.
        /// </summary>
            {
                arb =  arb,
                t = t,
-                startingArbPos = arb.transform.position,
-                startingArbRot = arb.transform.rotation,
-            // Does not exist in articulation body
-            //bp.rb.maxAngularVelocity = 100;
-
+            
            // Add & setup the ground contact script
            bp.groundContact = t.GetComponent<GroundContact>();
            if (!bp.groundContact)
            bp.thisJdController = this;
            bodyPartsDict.Add(t, bp);
            bodyPartsList.Add(bp);
+        }
+        
+        
+        public static Transform FindBodyPartByName(Transform rootBody, string bodyPartName)
+        {
+            Queue<Transform> queue = new Queue<Transform>();
+            queue.Enqueue(rootBody);
+            while (queue.Count > 0)
+            {
+                Transform child = queue.Dequeue();
+                if (child.name == bodyPartName)
+                    return child;
+                foreach(Transform t in child)
+                    queue.Enqueue(t);
+            }
+            return null;
        }
    }
 }
--- a/UnitySDK/Assets/ML-Agents/Examples/Reacher/Scenes/ArticulatedReacher.unity
+++ b/UnitySDK/Assets/ML-Agents/Examples/Reacher/Scenes/ArticulatedReacher.unity
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--- a/UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/CameraFollow.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/CameraFollow.cs
 {
    public class CameraFollow : MonoBehaviour
    {
-        public Transform target;
-        Vector3 m_Offset;
-
-        // Use this for initialization
-        void Start()
-        {
-            m_Offset = gameObject.transform.position - target.position;
-        }
-
+        Transform m_Target;
+        Vector3   m_Offset = new Vector3(5.0f, 7.0f, 5.0f);
+        
-            // gameObject.transform.position = target.position + offset;
-            var newPosition = new Vector3(target.position.x + m_Offset.x, transform.position.y,
-                target.position.z + m_Offset.z);
-            gameObject.transform.position = newPosition;
-            gameObject.transform.LookAt(target);
+            if (m_Target == null)
+            {
+                var targetGO = GameObject.Find("Body");
+                m_Target = targetGO.transform;
+                
+            }
+            
+            gameObject.transform.position = m_Target.position + m_Offset;
+            gameObject.transform.LookAt(m_Target);
        }
    }
 }
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Prefabs/ArticulatedDynamicPlatform.prefab
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