add new demos and do more cleanup.

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Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticVariableSpeed.unity.meta

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+guid: 6111538d9260345beac563c22076f6ec
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 licenseType: Free
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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
 {
+    //The type of crawler behavior we want to use.
+    //This setting will determine how the agent is set up during initialization.
-        CrawlerDynamic, CrawlerDynamicVariableSpeed, CrawlerStatic, CrawlerStaticVariableSpeed
+        CrawlerDynamic,
+        CrawlerDynamicVariableSpeed,
+        CrawlerStatic,
+        CrawlerStaticVariableSpeed
     }
 
     public CrawlerAgentBehaviorType typeOfCrawler;
     //Crawler Brains
     //A different brain will be used depending on the CrawlerAgentBehaviorType selected
-    [Header("NN Models")]
-    public NNModel crawlerDyBrain;
+    [Header("NN Models")] public NNModel crawlerDyBrain;
-    [Header("Walk Speed")]
-    [Range(0.1f, m_maxWalkingSpeed)]
-    [SerializeField]
+    [Header("Walk Speed")] [Range(0.1f, m_maxWalkingSpeed)] [SerializeField]
-
-    public float TargetWalkingSpeed // property
+    //The current target walking speed. Clamped because a value of zero will cause NaNs
+    public float TargetWalkingSpeed
-
 
     //Should the agent sample a new goal velocity each episode?
     //If true, walkSpeed will be randomly set between zero and m_maxWalkingSpeed in OnEpisodeBegin()
     //The direction an agent will walk during training.
-    private Vector3 m_WorldDirToWalk = Vector3.right;
-    [Header("Target To Walk Towards")]
-    public Transform dynamicTargetPrefab; //Target prefab
+    [Header("Target To Walk Towards")] public Transform dynamicTargetPrefab; //Target prefab
     public Transform staticTargetPrefab; //Target prefab
     private Transform m_Target; //Target the agent will walk towards during training.
 
     public Transform leg2Lower;
     public Transform leg3Upper;
     public Transform leg3Lower;
-
 
     //This will be used as a stabilized model space reference point for observations
     //Because ragdolls can move erratically during training, using a stabilized reference transform improves learning
 
     public override void Initialize()
     {
-
-            case CrawlerAgentBehaviorType.CrawlerDynamic :
+            case CrawlerAgentBehaviorType.CrawlerDynamic:
-                if(crawlerDyBrain)
+                if (crawlerDyBrain)
-            case CrawlerAgentBehaviorType.CrawlerDynamicVariableSpeed :
+            case CrawlerAgentBehaviorType.CrawlerDynamicVariableSpeed:
-                if(crawlerDyVSBrain)
+                if (crawlerDyVSBrain)
-            case CrawlerAgentBehaviorType.CrawlerStatic :
+            case CrawlerAgentBehaviorType.CrawlerStatic:
-                if(crawlerStBrain)
+                if (crawlerStBrain)
                     m_BehaviorParams.Model = crawlerStBrain;
                 var targetSpawnPos = transform.TransformPoint(new Vector3(0, 0, 1000));
                 m_Target = Instantiate(staticTargetPrefab, targetSpawnPos, Quaternion.identity, transform);
-            case CrawlerAgentBehaviorType.CrawlerStaticVariableSpeed :
+            case CrawlerAgentBehaviorType.CrawlerStaticVariableSpeed:
-                if(crawlerStVSBrain)
+                if (crawlerStVSBrain)
                     m_BehaviorParams.Model = crawlerStVSBrain;
                 var targetSpawnPos = transform.TransformPoint(new Vector3(0, 0, 1000));
                 m_Target = Instantiate(staticTargetPrefab, targetSpawnPos, Quaternion.identity, transform);
         //Set our goal walking speed
         TargetWalkingSpeed =
             randomizeWalkSpeedEachEpisode ? Random.Range(0.1f, m_maxWalkingSpeed) : TargetWalkingSpeed;
-
     }
 
     /// <summary>
         }
 
         AddReward(matchSpeedReward * lookAtTargetReward);
-
-        m_WorldDirToWalk = m_Target.position - body.position;
         m_OrientationCube.UpdateOrientation(body, m_Target);
         if (m_DirectionIndicator)
         {

Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerDynamic.nn.meta

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Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerStatic.unity

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