Update Crawler Ragdoll & Add DirectionIndicator (#4097)

* about to implement orientation cube

* oCube spawining works. ready to train

* working. about to try com

* ready for training

* add random rot on episode start

* feet now alternate but runs backwards

* still running with right leg in front

* increased joint strength to 40k

* removed texture example

* reduced maxAngVel, enabled enhanced determinism, cont spec

* rebuilt walker ragdoll to scale 1

* rebuilt ragdoll ready

* update walker pair prefab

* fixed bp heirarchy

* added trained model, renamed scene, usecollisioncallbacks

* updated dynamic platforms

* added dynamic walker tf file. max speed 5

* DynamicWalker working. has working nn file

* collect local rotations

* added new dynamic nn file

* hip facing reward

* Create WalkerDynamic.yaml

* fix hip rotation

* about to clean up code

* added dirIndicator and orentCubeGizmo

* clean up

* cleanup

* up...

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Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

 [RequireComponent(typeof(JointDriveController))] // Required to set joint forces
 public class CrawlerAgent : Agent
 {
-    [Header("Target To Walk Towards")]
-    [Space(10)]
-    public Transform target;
+    public float maximumWalkingSpeed = 999; //The max walk velocity magnitude an agent will be rewarded for
+    Vector3 m_WalkDir; //Direction to the target
+    Quaternion m_WalkDirLookRot; //Will hold the rotation to our target
-    public Transform ground;
-    public bool detectTargets;
-    public bool targetIsStatic;
-    public bool respawnTargetWhenTouched;
-    public float targetSpawnRadius;
+    [Header("Target To Walk Towards")] [Space(10)]
+    public Transform target; //Target the agent will walk towards.
+
+    public float targetSpawnRadius; //The radius in which a target can be randomly spawned.
+    public bool detectTargets; //Should this agent detect targets
+    public bool respawnTargetWhenTouched; //Should the target respawn to a different position when touched
+
+    public Transform ground; //Ground gameobject. The height will be used for target spawning
 
     [Header("Body Parts")] [Space(10)] public Transform body;
     public Transform leg0Upper;
     public Transform leg3Upper;
     public Transform leg3Lower;
 
-    [Header("Joint Settings")] [Space(10)] JointDriveController m_JdController;
-    Vector3 m_DirToTarget;
-    float m_MovingTowardsDot;
-    float m_FacingDot;
+
+    [Header("Orientation")] [Space(10)]
+    //This will be used as a stable reference point for observations
+    //Because ragdolls can move erratically, using a standalone reference point can significantly improve learning
+    public GameObject orientationCube;
+
+    JointDriveController m_JdController;
-    [Header("Reward Functions To Use")]
-    [Space(10)]
+    [Header("Reward Functions To Use")] [Space(10)]
-    [Header("Foot Grounded Visualization")]
-    [Space(10)]
+    [Header("Foot Grounded Visualization")] [Space(10)]
     public bool useFootGroundedVisualization;
 
     public MeshRenderer foot0;
     public Material groundedMaterial;
     public Material unGroundedMaterial;
 
-    Quaternion m_LookRotation;
-    Matrix4x4 m_TargetDirMatrix;
-
+        UpdateOrientationCube();
+
-        m_DirToTarget = target.position - body.position;
-
 
         //Setup each body part
         m_JdController.SetupBodyPart(body);
     /// </summary>
     public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
     {
-        var rb = bp.rb;
-        var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity);
-        sensor.AddObservation(velocityRelativeToLookRotationToTarget);
+        //Get velocities in the context of our orientation cube's space
+        //Note: You can get these velocities in world space as well but it may not train as well.
+        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.velocity));
+        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.angularVelocity));
-        var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
-        sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
+        //Get position relative to hips in the context of our orientation cube's space
+        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.position - body.position));
-            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.rb.transform.localRotation);
+    /// <summary>
+    /// Loop over body parts to add them to observation.
+    /// </summary>
-        m_JdController.GetCurrentJointForces();
+        sensor.AddObservation(Quaternion.FromToRotation(body.forward, orientationCube.transform.forward));
-        // 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);
+        //Add pos of target relative to orientation cube
+        sensor.AddObservation(orientationCube.transform.InverseTransformPoint(target.position));
-        if (Physics.Raycast(body.position, Vector3.down, out hit, 10.0f))
+        float maxRaycastDist = 10;
+        if (Physics.Raycast(body.position, Vector3.down, out hit, maxRaycastDist))
-            sensor.AddObservation(hit.distance);
+            sensor.AddObservation(hit.distance / maxRaycastDist);
-            sensor.AddObservation(10.0f);
-
-        // Forward & up to help with orientation
-        var bodyForwardRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.forward);
-        sensor.AddObservation(bodyForwardRelativeToLookRotationToTarget);
+            sensor.AddObservation(1);
-        var bodyUpRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.up);
-        sensor.AddObservation(bodyUpRelativeToLookRotationToTarget);
-
-        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        foreach (var bodyPart in m_JdController.bodyPartsList)
         {
             CollectObservationBodyPart(bodyPart, sensor);
         }
         bpDict[leg3Lower].SetJointStrength(vectorAction[++i]);
     }
 
+    void UpdateOrientationCube()
+    {
+        //FACING DIR
+        m_WalkDir = target.position - orientationCube.transform.position;
+        m_WalkDir.y = 0; //flatten dir on the y
+        m_WalkDirLookRot = Quaternion.LookRotation(m_WalkDir); //get our look rot to the target
+
+        //UPDATE ORIENTATION CUBE POS & ROT
+        orientationCube.transform.position = body.position;
+        orientationCube.transform.rotation = m_WalkDirLookRot;
+    }
+
-            foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+            foreach (var bodyPart in m_JdController.bodyPartsList)
             {
                 if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget)
                 {
         }
+
+        UpdateOrientationCube();
 
         // If enabled the feet will light up green when the foot is grounded.
         // This is just a visualization and isn't necessary for function
     /// </summary>
     void RewardFunctionMovingTowards()
     {
-        m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[body].rb.velocity, m_DirToTarget.normalized);
-        AddReward(0.03f * m_MovingTowardsDot);
+        var movingTowardsDot = Vector3.Dot(orientationCube.transform.forward,
+            Vector3.ClampMagnitude(m_JdController.bodyPartsDict[body].rb.velocity, maximumWalkingSpeed));
+        ;
+        AddReward(0.03f * movingTowardsDot);
     }
 
     /// <summary>
     {
-        m_FacingDot = Vector3.Dot(m_DirToTarget.normalized, body.forward);
-        AddReward(0.01f * m_FacingDot);
+        AddReward(0.01f * Vector3.Dot(orientationCube.transform.forward, body.forward));
     }
 
     /// <summary>
     /// </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));
-
-        if (!targetIsStatic)
+
+        //Random start rotation to help generalize
+        transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
+
+        UpdateOrientationCube();
+
+        if (detectTargets && respawnTargetWhenTouched)
+        }
+    }
+
+    private void OnDrawGizmosSelected()
+    {
+        if (Application.isPlaying)
+        {
+            Gizmos.color = Color.green;
+            Gizmos.matrix = orientationCube.transform.localToWorldMatrix;
+            Gizmos.DrawWireCube(Vector3.zero, orientationCube.transform.localScale);
+            Gizmos.DrawRay(Vector3.zero, Vector3.forward);
         }
     }
 }

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Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs

     Quaternion m_WalkDirLookRot; //Will hold the rotation to our target
     
     [Header("Target To Walk Towards")] [Space(10)]
-    public float targetSpawnRadius; //The radius in which a target can be randomly spawned.
-
-    public Transform ground; //Ground gameobject. The height will be used for target spawning
+    public float targetSpawnRadius; //The radius in which a target can be randomly spawned.
+
+    public Transform ground; //Ground gameobject. The height will be used for target spawning
 
     [Header("Body Parts")] [Space(10)] public Transform hips;
     public Transform chest;

docs/Learning-Environment-Examples.md

 - Goal: The agents must move its body toward the goal direction without falling.
   - `CrawlerStaticTarget` - Goal direction is always forward.
   - `CrawlerDynamicTarget`- Goal direction is randomized.
-- Agents: The environment contains 3 agent with same Behavior Parameters.
+- Agents: The environment contains 10 agents with same Behavior Parameters.
-  - Vector Observation space: 117 variables corresponding to position, rotation,
+  - Vector Observation space: 138 variables corresponding to position, rotation,
     velocity, and angular velocities of each limb plus the acceleration and
     angular acceleration of the body.
   - Vector Action space: (Continuous) Size of 20, corresponding to target
-- Benchmark Mean Reward for `CrawlerStaticTarget`: 2000
-- Benchmark Mean Reward for `CrawlerDynamicTarget`: 400
+- Benchmark Mean Reward for `CrawlerStaticTarget`: 1600
+- Benchmark Mean Reward for `CrawlerDynamicTarget`: 800
 
 ## Worm
 

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