Experiment with joint drive in Crawler.

5 年前 · dfc08082
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerAgent.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerAgent.cs
    public Transform leg3Upper;
    public Transform leg3Lower;

-    [Header("Joint Settings")][Space(10)] JointDriveController m_JdController;
+    [Header("Joint Settings")][Space(10)] ArticulatedJointDriveController m_JdController;
    Vector3 m_DirToTarget;
    float m_MovingTowardsDot;
    float m_FacingDot;

    public override void InitializeAgent()
    {
-        m_JdController = GetComponent<JointDriveController>();
+        m_JdController = GetComponent<ArticulatedJointDriveController>();
        m_CurrentDecisionStep = 1;
        m_DirToTarget = target.position - body.position;

    /// <summary>
    /// Add relevant information on each body part to observations.
    /// </summary>
-    public void CollectObservationBodyPart(BodyPart bp)
+    public void CollectObservationBodyPart(ArticulationBodyPart bp)
-        var rb = bp.rb;
+        var arb = bp.arb;
-        var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity);
+        var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(arb.velocity);
-        var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
+        var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(arb.angularVelocity);
-        if (bp.rb.transform != body)
+        if (bp.arb.transform != body)
-            var localPosRelToBody = body.InverseTransformPoint(rb.position);
-            AddVectorObs(localPosRelToBody);
+            // Will need to rewrite this because body parts are in hiearchy, not flat like in RigidBody case
+            //var localPosRelToBody = body.InverseTransformPoint(arb.position);
+            //AddVectorObs(localPosRelToBody);
            AddVectorObs(bp.currentXNormalizedRot); // Current x rot
            AddVectorObs(bp.currentYNormalizedRot); // Current y rot
            AddVectorObs(bp.currentZNormalizedRot); // Current z rot
    /// </summary>
    void RewardFunctionMovingTowards()
    {
-        m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[body].rb.velocity, m_DirToTarget.normalized);
+        m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[body].arb.velocity, m_DirToTarget.normalized);
        AddReward(0.03f * m_MovingTowardsDot);
    }

--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedJointDriveController.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedJointDriveController.cs
        {
            bp.arb.transform.position = bp.startingPos;
            bp.arb.transform.rotation = bp.startingRot;
-            bp.arb.velocity = Vector3.zero;
-            bp.arb.angularVelocity = Vector3.zero;
+            
+            // Can't assigned articulation body velocitys/angularVelocities
+            //bp.arb.velocity = Vector3.zero;
+            //bp.arb.angularVelocity = Vector3.zero;
            if (bp.groundContact)
            {
                bp.groundContact.touchingGround = false;

        public void SetJointStrength(float strength)
        {
-            ArticulationDrive drive = arb.xDrive;
-             
-            
+            var xDrive = arb.xDrive;
+            var yDrive = arb.yDrive;
+            var zDrive = arb.zDrive;
+                
-            drive.stiffness = thisJdController.maxJointSpring;
-            drive.damping = thisJdController.jointDampen;
-            drive.forceLimit = rawVal;
+            xDrive.stiffness = yDrive.stiffness = zDrive.stiffness = thisJdController.maxJointSpring;
+            xDrive.damping = yDrive.damping = zDrive.damping = thisJdController.jointDampen;
+            xDrive.forceLimit = yDrive.forceLimit = zDrive.forceLimit = rawVal;
-            arb.xDrive = drive;
-            arb.yDrive = drive;
-            arb.zDrive = drive;
+            arb.xDrive = xDrive;
+            arb.yDrive = yDrive;
+            arb.zDrive = zDrive;
            //joint.slerpDrive = jd;
            currentStrength = rawVal;
        }

        public void GetCurrentJointForces()
        {
+            /*
-                    bodyPart.currentJointForce = bodyPart.arb;
+                    // 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;
                    }
                }
            }
+            */
        }
    }
 }
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Prefabs/ArticulatedCrawler.prefab
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Prefabs/ArticulatedCrawler.prefab
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--- 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.meta
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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/Scenes/ArticulatedCrawlerStaticTarget.unity.meta
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--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerManualControl.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerManualControl.cs
+using System;
+using UnityEngine;
+
+namespace MLAgents
+{
+    public class ArticulatedCrawlerManualControl : MonoBehaviour
+    {
+        public GameObject upperLeg;
+        public GameObject foreLeg;
+        private ArticulationBody m_AbUpper;
+        private ArticulationBody m_AbFore;
+
+        private Vector3 m_rotationUpper;
+        private Vector3 m_rotationFore;
+
+        public bool useAlternativeKeySetForInput = false;
+        public float maxJointForceLimit = 1000;
+        public float maxJointSpring = 40;
+        public float jointDampen = 3000;
+
+        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()
+        {
+            m_AbUpper = upperLeg.GetComponent<ArticulationBody>();
+            m_AbFore = foreLeg.GetComponent<ArticulationBody>();
+
+
+            m_rotationUpper = m_rotationFore = Vector3.zero;
+        }
+
+        /// <summary>
+        /// Resets the position and velocity of the agent and the goal.
+        /// </summary>
+        public void AgentReset()
+        {
+            m_rotationUpper = Vector3.zero;
+            m_rotationFore = Vector3.zero;
+
+            /*
+            m_AbUpper.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
+            m_AbFore.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
+    
+            pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position;
+            pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
+            */
+        }
+
+        public void FixedUpdate()
+        {
+            //float maxTorque = 1000f;
+            float deltaRotation = 0.01f;
+            
+            
+            // upper arm
+            if (Input.GetKey(KeyCode.A))
+                m_rotationUpper.x += deltaRotation;
+            if (Input.GetKey(KeyCode.Z))
+                m_rotationUpper.x -= deltaRotation;
+            if (Input.GetKey(KeyCode.S))
+                m_rotationUpper.y += deltaRotation;
+            if (Input.GetKey(KeyCode.X))
+                m_rotationUpper.y -= deltaRotation;
+            if (Input.GetKey(KeyCode.D))
+                m_rotationUpper.z += deltaRotation;
+            if (Input.GetKey(KeyCode.C))
+                m_rotationUpper.z -= deltaRotation;
+
+            
+            m_rotationUpper.x = Mathf.Clamp(m_rotationUpper.x, -Mathf.PI * 0.5f, Mathf.PI * 0.5f);
+            m_rotationUpper.y = Mathf.Clamp(m_rotationUpper.y, -Mathf.PI * 0.5f, Mathf.PI * 0.5f);
+            m_rotationUpper.z = Mathf.Clamp(m_rotationUpper.z, -Mathf.PI * 0.5f, Mathf.PI * 0.5f);
+
+            
+            // lower arm
+            if (Input.GetKey(KeyCode.F))
+                m_rotationFore.x += deltaRotation;
+            if (Input.GetKey(KeyCode.V))
+                m_rotationFore.x -= deltaRotation;
+            if (Input.GetKey(KeyCode.G))
+                m_rotationFore.y += deltaRotation;
+            if (Input.GetKey(KeyCode.B))
+                m_rotationFore.y -= deltaRotation;
+            if (Input.GetKey(KeyCode.H))
+                m_rotationFore.z += deltaRotation;
+            if (Input.GetKey(KeyCode.N))
+                m_rotationFore.z -= deltaRotation;
+
+            m_rotationFore.x = Mathf.Clamp(m_rotationFore.x, -Mathf.PI * 0.5f, Mathf.PI * 0.5f);
+            m_rotationFore.y = Mathf.Clamp(m_rotationFore.y, -Mathf.PI * 0.5f, Mathf.PI * 0.5f);
+            m_rotationFore.z = Mathf.Clamp(m_rotationFore.z, -Mathf.PI * 0.5f, Mathf.PI * 0.5f);
+
+            
+            SetJointTargetRotation(m_AbUpper, m_rotationUpper.x, m_rotationUpper.y, m_rotationUpper.z);
+            SetJointStrength(m_AbUpper, 0.0001f);
+            
+            SetJointTargetRotation(m_AbFore, m_rotationFore.x, m_rotationFore.y, m_rotationFore.z);
+            SetJointStrength(m_AbFore, 0.0001f);
+
+
+            if (Input.GetKey(KeyCode.Escape))
+                AgentReset();
+        }
+
+        public void SetJointTargetRotation(ArticulationBody arb, float x, float y, float z)
+        {
+            /*
+            // Incoming values need to be in [-1,1] interval
+            x = (x + 1f) * 0.5f;
+            y = (y + 1f) * 0.5f;
+            z = (z + 1f) * 0.5f;
+            */
+            var xDrive = arb.xDrive;
+            var yDrive = arb.yDrive;
+            var zDrive = arb.zDrive;
+            
+            
+            /*
+            var xRot = Mathf.Lerp(xDrive.lowerLimit, xDrive.upperLimit, x);
+            var yRot = Mathf.Lerp(yDrive.lowerLimit, yDrive.upperLimit, y);
+            var zRot = Mathf.Lerp(zDrive.lowerLimit, zDrive.upperLimit, z);
+
+            var currentXNormalizedRot =
+                Mathf.InverseLerp(xDrive.lowerLimit, xDrive.upperLimit, xRot);
+            
+            // What is this ? Vilmantas Why lowerLimit is not used ?
+            var currentYNormalizedRot = Mathf.InverseLerp(yDrive.lowerLimit, yDrive.upperLimit, yRot);
+            var currentZNormalizedRot = Mathf.InverseLerp(zDrive.lowerLimit, zDrive.upperLimit, zRot);
+
+            //joint.targetRotation = Quaternion.Euler(xRot, yRot, zRot); // Original code
+            */
+            var xRot = x;
+            var yRot = y;
+            var zRot = z;
+            
+            xDrive.target = xRot; yDrive.target = yRot; zDrive.target = zRot;
+
+            arb.xDrive = xDrive; arb.yDrive = yDrive; arb.zDrive = zDrive;
+            
+            var currentEularJointRotation = new Vector3(xRot, yRot, zRot);
+        }
+
+        public void SetJointStrength(ArticulationBody arb, float strength)
+        {
+            var xDrive = arb.xDrive;
+            var yDrive = arb.yDrive;
+            var zDrive = arb.zDrive;
+                
+            var rawVal = (strength + 1f) * 0.5f * maxJointForceLimit;
+            
+            xDrive.stiffness = yDrive.stiffness = zDrive.stiffness = maxJointSpring;
+            xDrive.damping = yDrive.damping = zDrive.damping = jointDampen;
+            xDrive.forceLimit = yDrive.forceLimit = zDrive.forceLimit = rawVal;
+
+            // Slerp drive does not exist, so we try to set strength for each axis individually
+            arb.xDrive = xDrive;
+            arb.yDrive = yDrive;
+            arb.zDrive = zDrive;
+            //joint.slerpDrive = jd;
+            currentStrength = rawVal;
+        }
+    }
+}
--- a/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerManualControl.cs.meta
+++ b/UnitySDK/Assets/ML-Agents/Examples/Crawler/Scripts/ArticulatedCrawlerManualControl.cs.meta
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