updating prefabs

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

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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
-{
+{    
+    public enum CrawlerAgentBehaviorType
+    {
+        CrawlerDynamic, CrawlerDynamicVariableSpeed, CrawlerStatic, CrawlerStaticVariableSpeed
+    }
+
+    public CrawlerAgentBehaviorType typeOfCrawler;
     [Header("Walk Speed")]
     [Range(0.1f, 10)]
     [SerializeField]
 
     //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 OrientationCubeController m_OrientationCube;
+    OrientationCubeController m_OrientationCube;
-    public DirectionIndicator m_DirectionIndicator;
+    DirectionIndicator m_DirectionIndicator;
     JointDriveController m_JdController;
 
     [Header("Foot Grounded Visualization")] [Space(10)]
     public MeshRenderer foot3;
     public Material groundedMaterial;
     public Material unGroundedMaterial;
+    private Unity.MLAgents.Policies.BehaviorParameters m_BehaviorParams;
+
+        
+        m_BehaviorParams = GetComponent<Unity.MLAgents.Policies.BehaviorParameters>();
+        switch (typeOfCrawler)
+        {
+            case CrawlerAgentBehaviorType.CrawlerDynamic :
+            {
+                m_BehaviorParams.BehaviorName = "CrawlerDynamic";
+                randomizeWalkSpeedEachEpisode = false;
+                break;
+            }
+            case CrawlerAgentBehaviorType.CrawlerDynamicVariableSpeed :
+            {
+                m_BehaviorParams.BehaviorName = "CrawlerDynamicVariableSpeed";
+                randomizeWalkSpeedEachEpisode = true;
+                break;
+            }
+            case CrawlerAgentBehaviorType.CrawlerStatic :
+            {
+                m_BehaviorParams.BehaviorName = "CrawlerStatic";
+                randomizeWalkSpeedEachEpisode = false;
+                break;
+            }
+            case CrawlerAgentBehaviorType.CrawlerStaticVariableSpeed :
+            {
+                m_BehaviorParams.BehaviorName = "CrawlerStaticVariableSpeed";
+                randomizeWalkSpeedEachEpisode = true;
+                break;
+            }
+        }
+        
-
+        
         //Setup each body part
         m_JdController.SetupBodyPart(body);
         m_JdController.SetupBodyPart(leg0Upper);

com.unity.ml-agents/Runtime/Actuators/ActionSegment.cs

         /// be set to 0 and the <see cref="Length"/> will be set to `actionArray.Length`.
         /// </summary>
         /// <param name="actionArray">The action array to use for the this segment.</param>
-        public ActionSegment(T[] actionArray) : this(actionArray, 0, actionArray.Length) { }
+        public ActionSegment(T[] actionArray)
+            : this(actionArray ?? System.Array.Empty<T>(), 0, actionArray?.Length ?? 0) { }
 
         /// <summary>
         /// Construct an <see cref="ActionSegment{T}"/> with an underlying array
         public ActionSegment(T[] actionArray, int offset, int length)
         {
 #if DEBUG
-            CheckParameters(actionArray, offset, length);
+            CheckParameters(actionArray ?? System.Array.Empty<T>(), offset, length);
-            Array = actionArray;
+            Array = actionArray ?? System.Array.Empty<T>();
             Offset = offset;
             Length = length;
         }

Project/Assets/ML-Agents/Examples/Crawler/Prefabs/Ragdoll/CrawlerBase.prefab

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