Add 'old' crawler env (#4171)

* reverted old crawler

* remove crawler prefab

* update Crawler prefabs

* put together prefabs

* old and new crawler envs

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Project/Assets/ML-Agents/Examples/Crawler/Prefabs/DynamicPlatform.prefab

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Project/Assets/ML-Agents/Examples/OldCrawler/Scenes/OldCrawlerStaticTarget.unity.meta

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Project/Assets/ML-Agents/Examples/OldCrawler/Scripts/OldCrawlerAgent.cs

+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgentsExamples;
+using Unity.MLAgents.Sensors;
+
+[RequireComponent(typeof(JointDriveController))] // Required to set joint forces
+public class OldCrawlerAgent : Agent
+{
+    [Header("Target To Walk Towards")]
+    [Space(10)]
+    public Transform target;
+
+    public Transform ground;
+    public bool detectTargets;
+    public bool targetIsStatic;
+    public bool respawnTargetWhenTouched;
+    public float targetSpawnRadius;
+
+    [Header("Body Parts")] [Space(10)] public Transform body;
+    public Transform leg0Upper;
+    public Transform leg0Lower;
+    public Transform leg1Upper;
+    public Transform leg1Lower;
+    public Transform leg2Upper;
+    public Transform leg2Lower;
+    public Transform leg3Upper;
+    public Transform leg3Lower;
+
+    [Header("Joint Settings")] [Space(10)] JointDriveController m_JdController;
+    Vector3 m_DirToTarget;
+    float m_MovingTowardsDot;
+    float m_FacingDot;
+
+    [Header("Reward Functions To Use")]
+    [Space(10)]
+    public bool rewardMovingTowardsTarget; // Agent should move towards target
+
+    public bool rewardFacingTarget; // Agent should face the target
+    public bool rewardUseTimePenalty; // Hurry up
+
+    [Header("Foot Grounded Visualization")]
+    [Space(10)]
+    public bool useFootGroundedVisualization;
+
+    public MeshRenderer foot0;
+    public MeshRenderer foot1;
+    public MeshRenderer foot2;
+    public MeshRenderer foot3;
+    public Material groundedMaterial;
+    public Material unGroundedMaterial;
+
+    Quaternion m_LookRotation;
+    Matrix4x4 m_TargetDirMatrix;
+
+    public override void Initialize()
+    {
+        m_JdController = GetComponent<JointDriveController>();
+        m_DirToTarget = target.position - body.position;
+
+
+        //Setup each body part
+        m_JdController.SetupBodyPart(body);
+        m_JdController.SetupBodyPart(leg0Upper);
+        m_JdController.SetupBodyPart(leg0Lower);
+        m_JdController.SetupBodyPart(leg1Upper);
+        m_JdController.SetupBodyPart(leg1Lower);
+        m_JdController.SetupBodyPart(leg2Upper);
+        m_JdController.SetupBodyPart(leg2Lower);
+        m_JdController.SetupBodyPart(leg3Upper);
+        m_JdController.SetupBodyPart(leg3Lower);
+    }
+
+    /// <summary>
+    /// Add relevant information on each body part to observations.
+    /// </summary>
+    public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
+    {
+        var rb = bp.rb;
+        sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
+
+        var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity);
+        sensor.AddObservation(velocityRelativeToLookRotationToTarget);
+
+        var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
+        sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
+
+        if (bp.rb.transform != body)
+        {
+            var localPosRelToBody = body.InverseTransformPoint(rb.position);
+            sensor.AddObservation(localPosRelToBody);
+            sensor.AddObservation(bp.currentXNormalizedRot); // Current x rot
+            sensor.AddObservation(bp.currentYNormalizedRot); // Current y rot
+            sensor.AddObservation(bp.currentZNormalizedRot); // Current z rot
+            sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
+        }
+    }
+
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        m_JdController.GetCurrentJointForces();
+
+        // Update pos to target
+        m_DirToTarget = target.position - body.position;
+        m_LookRotation = Quaternion.LookRotation(m_DirToTarget);
+        m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one);
+
+        RaycastHit hit;
+        if (Physics.Raycast(body.position, Vector3.down, out hit, 10.0f))
+        {
+            sensor.AddObservation(hit.distance);
+        }
+        else
+            sensor.AddObservation(10.0f);
+
+        // Forward & up to help with orientation
+        var bodyForwardRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.forward);
+        sensor.AddObservation(bodyForwardRelativeToLookRotationToTarget);
+
+        var bodyUpRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.up);
+        sensor.AddObservation(bodyUpRelativeToLookRotationToTarget);
+
+        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        {
+            CollectObservationBodyPart(bodyPart, sensor);
+        }
+    }
+
+    /// <summary>
+    /// Agent touched the target
+    /// </summary>
+    public void TouchedTarget()
+    {
+        AddReward(1f);
+        if (respawnTargetWhenTouched)
+        {
+            GetRandomTargetPos();
+        }
+    }
+
+    /// <summary>
+    /// Moves target to a random position within specified radius.
+    /// </summary>
+    public void GetRandomTargetPos()
+    {
+        var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
+        newTargetPos.y = 5;
+        target.position = newTargetPos + ground.position;
+    }
+
+    public override void OnActionReceived(float[] vectorAction)
+    {
+        // The dictionary with all the body parts in it are in the jdController
+        var bpDict = m_JdController.bodyPartsDict;
+
+        var i = -1;
+        // Pick a new target joint rotation
+        bpDict[leg0Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[leg1Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[leg2Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[leg3Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+        bpDict[leg0Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+        bpDict[leg1Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+        bpDict[leg2Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+        bpDict[leg3Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+
+        // Update joint strength
+        bpDict[leg0Upper].SetJointStrength(vectorAction[++i]);
+        bpDict[leg1Upper].SetJointStrength(vectorAction[++i]);
+        bpDict[leg2Upper].SetJointStrength(vectorAction[++i]);
+        bpDict[leg3Upper].SetJointStrength(vectorAction[++i]);
+        bpDict[leg0Lower].SetJointStrength(vectorAction[++i]);
+        bpDict[leg1Lower].SetJointStrength(vectorAction[++i]);
+        bpDict[leg2Lower].SetJointStrength(vectorAction[++i]);
+        bpDict[leg3Lower].SetJointStrength(vectorAction[++i]);
+    }
+
+    void FixedUpdate()
+    {
+        if (detectTargets)
+        {
+            foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+            {
+                if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget)
+                {
+                    TouchedTarget();
+                }
+            }
+        }
+
+        // If enabled the feet will light up green when the foot is grounded.
+        // This is just a visualization and isn't necessary for function
+        if (useFootGroundedVisualization)
+        {
+            foot0.material = m_JdController.bodyPartsDict[leg0Lower].groundContact.touchingGround
+                ? groundedMaterial
+                : unGroundedMaterial;
+            foot1.material = m_JdController.bodyPartsDict[leg1Lower].groundContact.touchingGround
+                ? groundedMaterial
+                : unGroundedMaterial;
+            foot2.material = m_JdController.bodyPartsDict[leg2Lower].groundContact.touchingGround
+                ? groundedMaterial
+                : unGroundedMaterial;
+            foot3.material = m_JdController.bodyPartsDict[leg3Lower].groundContact.touchingGround
+                ? groundedMaterial
+                : unGroundedMaterial;
+        }
+
+        // Set reward for this step according to mixture of the following elements.
+        if (rewardMovingTowardsTarget)
+        {
+            RewardFunctionMovingTowards();
+        }
+
+        if (rewardFacingTarget)
+        {
+            RewardFunctionFacingTarget();
+        }
+
+        if (rewardUseTimePenalty)
+        {
+            RewardFunctionTimePenalty();
+        }
+    }
+
+    /// <summary>
+    /// Reward moving towards target & Penalize moving away from target.
+    /// </summary>
+    void RewardFunctionMovingTowards()
+    {
+        m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[body].rb.velocity, m_DirToTarget.normalized);
+        AddReward(0.03f * m_MovingTowardsDot);
+    }
+
+    /// <summary>
+    /// Reward facing target & Penalize facing away from target
+    /// </summary>
+    void RewardFunctionFacingTarget()
+    {
+        m_FacingDot = Vector3.Dot(m_DirToTarget.normalized, body.forward);
+        AddReward(0.01f * m_FacingDot);
+    }
+
+    /// <summary>
+    /// Existential penalty for time-contrained tasks.
+    /// </summary>
+    void RewardFunctionTimePenalty()
+    {
+        AddReward(-0.001f);
+    }
+
+    /// <summary>
+    /// Loop over body parts and reset them to initial conditions.
+    /// </summary>
+    public override void OnEpisodeBegin()
+    {
+        if (m_DirToTarget != Vector3.zero)
+        {
+            transform.rotation = Quaternion.LookRotation(m_DirToTarget);
+        }
+        transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
+
+        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        {
+            bodyPart.Reset(bodyPart);
+        }
+        if (!targetIsStatic)
+        {
+            GetRandomTargetPos();
+        }
+    }
+}

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