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Add Dynamic Walker. Improved Ragdoll Stability/Performance (#4037)
* 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 * updated WalkerStatic scene with new ragdoll * cleanup * updated walker dynamic demo file. cleanup * iterate through list not dict to collect observations * increase gravity to 1.5 * try 100M steps on walkerdynamic * 100M steps * add dir vector obsv * 2e7 steps * testing new nn models * testing bigger batch size * try 8x mem for cloud * 8x batch size for cloud test * epoch 10 * hyptest * cp * increase timescale for cloudtraining * cp * try new cluster * cp * 200k buff cloud * cleanup & put direction indicator in separate script * update configs * 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 * updated WalkerStatic scene with new ragdoll * cleanup * updated walker dynamic demo file. cleanup * iterate through list not dict to collect observations * increase gravity to 1.5 * try 100M steps on walkerdynamic * 100M steps * add dir vector obsv * 2e7 steps * testing new nn models * testing bigger batch size * try 8x mem for cloud * 8x batch size for cloud test * epoch 10 * hyptest * cp * increase timescale for cloudtraining * cp * try new cluster * cp * 200k buff cloud * cleanup & put direction indicator in separate script * update configs * update configs to new class format * added final nn files * more cleanup * new walker image for docs * Update walker docs * remove old gitignore item * cleanup * Delete trainer_config.yaml * Update CHANGELOG.md * remove code comment * changed property to float * rename variable * remove header * rename function * added code comment and consolidated similar properties * removed unused asset * make maxAngularVelocity a constant * cleeanup remove tab * cleanup - remove unneeded header attr * added code comments * auto-format doc to remove unwanted tabs * add new trained model. increase max step for dynamic * add code comments. update oCube system. cleanup * move orientation cube to shared prefabs * refactored reward function variables * removed header * add SAC configs * added new dynamic walker nn file * remove old config * add new config * fix project ver
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‎Project/Assets/ExpertWalkerDyn.demo

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‎Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo.meta renamed to ‎Project/Assets/ExpertWalkerDyn.demo.meta

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‎Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/OrientationCube.prefab

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‎Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/OrientationCube.prefab.meta

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‎Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/DirectionIndicator.cs

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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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namespace Unity.MLAgentsExamples
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{
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public class DirectionIndicator : MonoBehaviour
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{
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public Transform transformToFollow; //ex: hips or body
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public Transform targetToLookAt; //target in the scene the indicator will point to
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public float heightOffset;
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private float m_StartingYPos;
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void OnEnable()
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{
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m_StartingYPos = transform.position.y;
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}
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void Update()
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{
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transform.position = new Vector3(transformToFollow.position.x, m_StartingYPos + heightOffset, transformToFollow.position.z);
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Vector3 walkDir = targetToLookAt.position - transform.position;
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walkDir.y = 0; //flatten dir on the y
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transform.rotation = Quaternion.LookRotation(walkDir);
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}
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}
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}

‎Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/DirectionIndicator.cs.meta

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‎Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/JointDriveController.cs

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[HideInInspector] public Dictionary<Transform, BodyPart> bodyPartsDict = new Dictionary<Transform, BodyPart>();
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[HideInInspector] public List<BodyPart> bodyPartsList = new List<BodyPart>();
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const float k_MaxAngularVelocity = 50.0f;
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/// <summary>
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/// Create BodyPart object and add it to dictionary.
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startingPos = t.position,
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startingRot = t.rotation
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};
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bp.rb.maxAngularVelocity = 100;
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bp.rb.maxAngularVelocity = k_MaxAngularVelocity;
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// Add & setup the ground contact script
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bp.groundContact = t.GetComponent<GroundContact>();

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