Fixed bugs in joint anchor point axis and positions. Fixed various other in code. Trains. Still something wrong: cumulative reward of 25 is reached and when it falls down to zero. Camera follow doesn't work.

5 年前 · cc4316a0
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Prefabs/ArticulatedCrawler.prefab
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--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Prefabs/ArticulatedFixedPlatform.prefab
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--- 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 override void CollectObservations()
    {
-        m_JdController.GetCurrentJointForces();
-
        // Update pos to target
        m_DirToTarget = target.position - body.position;
        m_LookRotation = Quaternion.LookRotation(m_DirToTarget);

            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[leg0Upper].SetJointTargetRotation(0, vectorAction[++i], vectorAction[++i]);
+            bpDict[leg1Upper].SetJointTargetRotation(0, vectorAction[++i], vectorAction[++i]);
+            bpDict[leg2Upper].SetJointTargetRotation(0, vectorAction[++i], vectorAction[++i]);
+            bpDict[leg3Upper].SetJointTargetRotation(0, vectorAction[++i], vectorAction[++i]);
            bpDict[leg0Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
            bpDict[leg1Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
            bpDict[leg2Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedJointDriveController.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedJointDriveController.cs
        public float currentYNormalizedRot;
        public float currentZNormalizedRot;

-        [Header("Other Debug Info")][Space(10)]
-        public Vector3 currentJointForce;
-
-        public float currentJointForceSqrMag;
-        public Vector3 currentJointTorque;
-        public float currentJointTorqueSqrMag;
-        public AnimationCurve jointForceCurve = new AnimationCurve();
-        public AnimationCurve jointTorqueCurve = new AnimationCurve();
-
        /// <summary>
        /// Reset body part to initial configuration.
        /// </summary>
            bp.thisJdController = this;
            bodyPartsDict.Add(t, bp);
            bodyPartsList.Add(bp);
-        }
-
-        public void GetCurrentJointForces()
-        {
-            /*
-            foreach (var bodyPart in bodyPartsDict.Values)
-            {
-                if (!bodyPart.arb.isRoot)
-                {
-                    // Why do we need a force here ?
-                    //bodyPart.currentJointForce = bodyPart.arb;
-                    bodyPart.currentJointForceSqrMag = bodyPart.joint.currentForce.magnitude;
-                    bodyPart.currentJointTorque = bodyPart.joint.currentTorque;
-                    bodyPart.currentJointTorqueSqrMag = bodyPart.joint.currentTorque.magnitude;
-                    if (Application.isEditor)
-                    {
-                        if (bodyPart.jointForceCurve.length > 1000)
-                        {
-                            bodyPart.jointForceCurve = new AnimationCurve();
-                        }
-
-                        if (bodyPart.jointTorqueCurve.length > 1000)
-                        {
-                            bodyPart.jointTorqueCurve = new AnimationCurve();
-                        }
-
-                        bodyPart.jointForceCurve.AddKey(Time.time, bodyPart.currentJointForceSqrMag);
-                        bodyPart.jointTorqueCurve.AddKey(Time.time, bodyPart.currentJointTorqueSqrMag);
-                    }
-                }
-            }
-            */
        }
    }
 }
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAcademy.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAcademy.cs
    public override void InitializeAcademy()
    {
        Monitor.verticalOffset = 1f;
-        // Not needed for articulations
-        //Physics.defaultSolverIterations = 12;
-        //Physics.defaultSolverVelocityIterations = 12;
+        Physics.defaultSolverIterations = 12;
+        Physics.defaultSolverVelocityIterations = 12;
        Time.fixedDeltaTime = 0.01333f; // (75fps). default is .2 (60fps)
        Time.maximumDeltaTime = .15f; // Default is .33
    }