Add config drive controller. Single agent for both recording and training.

Project/Assets/ML-Agents/Examples/Walker/Demos/ASE/WalkerBoxing.demo.meta

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Project/Assets/ML-Agents/Examples/Walker/Demos/ASE/WalkerSoccerKick.demo.meta

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Project/Assets/ML-Agents/Examples/Walker/Demos/ASE/WalkerWalkCircle.demo.meta

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Project/Assets/ML-Agents/Examples/Walker/Demos/ASE/WalkerWalkNorthW.demo.meta

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Project/Assets/ML-Agents/Examples/Walker/Demos/ASE/WalkerWalkSouthW.demo.meta

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Project/Assets/ML-Agents/Examples/Walker/Demos/ASE/WalkerWalkWest.demo.meta

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Project/Assets/ML-Agents/Examples/Walker/FBX/Walker.fbx.meta

@@ -236,7 +236,7 @@ ModelImporter:
         value: {x: 0, y: 0, z: 0}
         length: 0
         modified: 0
-    - boneName: chest
+    - boneName: spine1
       humanName: Chest
       limit:
         min: {x: 0, y: 0, z: 0}
@@ -284,6 +284,14 @@ ModelImporter:
         value: {x: 0, y: 0, z: 0}
         length: 0
         modified: 0
+    - boneName: chest
+      humanName: UpperChest
+      limit:
+        min: {x: 0, y: 0, z: 0}
+        max: {x: 0, y: 0, z: 0}
+        value: {x: 0, y: 0, z: 0}
+        length: 0
+        modified: 0
     skeleton:
     - name: Walker(Clone)
       parentName: 

Project/Assets/ML-Agents/Examples/Walker/Prefabs/Ragdoll/WalkerASEAgent.prefab.meta

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Project/Assets/ML-Agents/Examples/Walker/Scripts/ConfigurableJointController.cs

@@ -0,0 +1,296 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
+using UnityEngine;
+
+
+[Serializable]
+public struct CJControlSettings
+{
+    public string name;
+    public Vector3 target;
+    public Range3D range;
+    public Vector3 originalPosition;
+    public Quaternion originalRotation;
+
+}
+
+[Serializable]
+public class Range3D
+{
+    public Range xRange;
+    public Range yRange;
+    public Range zRange;
+
+    public Range3D(float xLow, float xHigh, float yLow, float yHigh, float zLow, float zHigh)
+    {
+        xRange = new Range(xLow, xHigh);
+        yRange = new Range(xLow, xHigh);
+        zRange = new Range(xLow, xHigh);
+    }
+}
+
+[Serializable]
+public class Range
+{
+    public float low;
+    public float high;
+
+    public Range(float low, float high)
+    {
+        this.low = low;
+        this.high = high;
+    }
+
+    public float Scale(float input)
+    {
+        var t = (1.0f + input) / 2.0f;
+        return Mathf.Round(Mathf.Lerp(low, high, t));
+
+        // if (input >= 0f)
+        // {
+        //     return Mathf.RoundToInt(Mathf.Lerp(0f, m_High, input));
+        // }
+        // else
+        // {
+        //     return Mathf.RoundToInt(Mathf.Lerp(m_Low, 0f, 1.0f + input));
+        // }
+    }
+
+    public float InverseScale(float input)
+    {
+        var t = Mathf.InverseLerp(low, high, input);
+        return 2.0f * t - 1.0f;
+
+        // if (input >= 0f)
+        // {
+        //     return Mathf.InverseLerp(0f, m_High, input);
+        // }
+        // else
+        // {
+        //     return Mathf.InverseLerp(m_Low, 0f, input) - 1.0f;
+        // }
+    }
+}
+
+public class ConfigurableJointController : MonoBehaviour
+{
+    public float spring = 1000;
+    public float damping = 250;
+    public float forceLimit = 500;
+    public bool kinematicRoot;
+    public float totalMass;
+
+    [SerializeField]
+    public CJControlSettings[] cjControlSettings;
+
+    [Header("Body Parts")]
+    public Transform hips;
+    public Transform spine;
+    public Transform head;
+    public Transform thighL;
+    public Transform shinL;
+    public Transform footL;
+    public Transform thighR;
+    public Transform shinR;
+    public Transform footR;
+    public Transform armL;
+    public Transform forearmL;
+    public Transform handL;
+    public Transform armR;
+    public Transform forearmR;
+    public Transform handR;
+
+    ConfigurableJoint[] m_ConfigurableJointChain;
+    Rigidbody[] m_RigidbodyChain;
+    Agent m_Agent;
+    bool m_IsAgentNull;
+    Vector3 m_RootOriginalPosition;
+    Quaternion m_RootOriginalRotation;
+
+    // Start is called before the first frame update
+    void Start()
+    {
+        m_Agent = GetComponent<Agent>();
+        m_IsAgentNull = m_Agent == null;
+        PopulateParameters();
+        m_ConfigurableJointChain[0].GetComponent<Rigidbody>().isKinematic = kinematicRoot;
+        m_RootOriginalPosition = hips.position;
+        m_RootOriginalRotation = hips.rotation;
+        StartCoroutine(ResetCJointTargetsAndPositions());
+    }
+
+    // Update is called once per frame
+    void FixedUpdate()
+    {
+        if (m_IsAgentNull)
+        {
+            SetCJointTargets();
+        }
+    }
+
+#if UNITY_EDITOR
+    void OnValidate()
+    {
+        PopulateParameters();
+    }
+#endif
+    void PopulateParameters(bool force = false)
+    {
+        if (m_ConfigurableJointChain == null || m_ConfigurableJointChain.Length == 0 || force)
+        {
+            m_ConfigurableJointChain = new[]
+            {
+                hips.GetComponent<ConfigurableJoint>(),
+                spine.GetComponent<ConfigurableJoint>(),
+                head.GetComponent<ConfigurableJoint>(),
+                thighL.GetComponent<ConfigurableJoint>(),
+                shinL.GetComponent<ConfigurableJoint>(),
+                footL.GetComponent<ConfigurableJoint>(),
+                thighR.GetComponent<ConfigurableJoint>(),
+                shinR.GetComponent<ConfigurableJoint>(),
+                footR.GetComponent<ConfigurableJoint>(),
+                armL.GetComponent<ConfigurableJoint>(),
+                forearmL.GetComponent<ConfigurableJoint>(),
+                handL.GetComponent<ConfigurableJoint>(),
+                armR.GetComponent<ConfigurableJoint>(),
+                forearmR.GetComponent<ConfigurableJoint>(),
+                handR.GetComponent<ConfigurableJoint>(),
+            };
+        }
+
+        if (m_RigidbodyChain == null || m_RigidbodyChain.Length == 0 || force)
+        {
+            m_RigidbodyChain = new[]
+            {
+                hips.GetComponent<Rigidbody>(),
+                spine.GetComponent<Rigidbody>(),
+                head.GetComponent<Rigidbody>(),
+                thighL.GetComponent<Rigidbody>(),
+                shinL.GetComponent<Rigidbody>(),
+                footL.GetComponent<Rigidbody>(),
+                thighR.GetComponent<Rigidbody>(),
+                shinR.GetComponent<Rigidbody>(),
+                footR.GetComponent<Rigidbody>(),
+                armL.GetComponent<Rigidbody>(),
+                forearmL.GetComponent<Rigidbody>(),
+                handL.GetComponent<Rigidbody>(),
+                armR.GetComponent<Rigidbody>(),
+                forearmR.GetComponent<Rigidbody>(),
+                handR.GetComponent<Rigidbody>(),
+            };
+        }
+        if (cjControlSettings == null || cjControlSettings.Length == 0 || force)
+        {
+            cjControlSettings = new CJControlSettings[m_ConfigurableJointChain.Length - 1];
+            for (int i = 0; i < cjControlSettings.Length; i++)
+            {
+                cjControlSettings[i].name = m_ConfigurableJointChain[i + 1].name;
+                cjControlSettings[i].target = m_ConfigurableJointChain[i + 1].targetRotation.eulerAngles;
+                cjControlSettings[i].range = new Range3D(
+                    m_ConfigurableJointChain[i + 1].lowAngularXLimit.limit,
+                    m_ConfigurableJointChain[i + 1].highAngularXLimit.limit,
+                    -m_ConfigurableJointChain[i + 1].angularYLimit.limit,
+                    m_ConfigurableJointChain[i + 1].angularYLimit.limit,
+                    -m_ConfigurableJointChain[i + 1].angularZLimit.limit,
+                    m_ConfigurableJointChain[i + 1].angularZLimit.limit
+                );
+                cjControlSettings[i].originalPosition = m_ConfigurableJointChain[i].transform.position;
+                cjControlSettings[i].originalRotation = m_ConfigurableJointChain[i].transform.rotation;
+            }
+        }
+        if (totalMass == 0)
+        {
+            foreach (var rb in m_RigidbodyChain)
+            {
+                totalMass += rb.mass;
+            }
+        }
+    }
+    public void SetCJointTargets(ActionSegment<float> angles)
+    {
+        for (int i = 0; i < cjControlSettings.Length; i++)
+        {
+            var subindex = 3 * i;
+            var xAngle = cjControlSettings[i].range.xRange.Scale(angles[subindex]);
+            var yAngle = cjControlSettings[i].range.yRange.Scale(angles[++subindex]);
+            var zAngle = cjControlSettings[i].range.zRange.Scale(angles[++subindex]);
+            var targetRotation = new Vector3(xAngle, yAngle, zAngle);
+            SetCJointTarget(m_ConfigurableJointChain[i + 1], targetRotation);
+        }
+    }
+
+    public void SetCJointTargets()
+    {
+        for (int i = 0; i < cjControlSettings.Length; i++)
+        {
+            SetCJointTarget(m_ConfigurableJointChain[i + 1], cjControlSettings[i].target);
+        }
+    }
+
+    public void SetCJointTarget(ConfigurableJoint joint, Vector3 target)
+    {
+        joint.targetRotation = Quaternion.Euler(target);
+    }
+
+    public void SetCJointPositionsAndRotations()
+    {
+        for (int i = 0; i < cjControlSettings.Length; i++)
+        {
+            m_RigidbodyChain[i + 1].transform.position = cjControlSettings[i].originalPosition;
+            m_RigidbodyChain[i + 1].transform.rotation = cjControlSettings[i].originalRotation;
+        }
+    }
+
+    public IEnumerator ResetCJointTargetsAndPositions()
+    {
+        m_ConfigurableJointChain[0].GetComponent<Rigidbody>().isKinematic = true;
+        ZeroCJointPhysics();
+        ZeroCJointPhysicsSettings();
+        // yield return new WaitForSeconds(1.0f / 50);
+        SetCJointPositionsAndRotations();
+        SetCJointTargets();
+        SetCJointPhysicsSettings();
+        yield return new WaitForSeconds(1.0f / 50);
+        m_ConfigurableJointChain[0].GetComponent<Rigidbody>().isKinematic = kinematicRoot;
+    }
+    void SetCJointPhysicsSettings()
+    {
+        for (int i = 1; i < m_ConfigurableJointChain.Length; i++)
+        {
+            m_ConfigurableJointChain[i].rotationDriveMode = RotationDriveMode.Slerp;
+            var drive = m_ConfigurableJointChain[i].slerpDrive;
+            drive.positionSpring = spring;
+            drive.positionDamper = damping;
+            drive.maximumForce = forceLimit;
+            m_ConfigurableJointChain[i].slerpDrive = drive;
+        }
+
+    }
+
+    public void ZeroCJointPhysics()
+    {
+        foreach (var rb in m_RigidbodyChain)
+        {
+            rb.velocity = Vector3.zero;
+            rb.angularVelocity = Vector3.zero;
+            rb.Sleep();
+        }
+    }
+
+    public void ZeroCJointPhysicsSettings()
+    {
+        for (int i = 1; i < m_ConfigurableJointChain.Length; i++)
+        {
+            m_ConfigurableJointChain[i].rotationDriveMode = RotationDriveMode.Slerp;
+            var drive = m_ConfigurableJointChain[i].slerpDrive;
+            drive.positionSpring = 0f;
+            drive.positionDamper = 0f;
+            drive.maximumForce = forceLimit;
+            m_ConfigurableJointChain[i].slerpDrive = drive;
+        }
+    }
+
+}

Project/Assets/ML-Agents/Examples/Walker/Scripts/ConfigurableJointController.cs.meta

@@ -0,0 +1,11 @@
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+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerASEAgent.cs

@@ -1,12 +1,14 @@
 using System.Collections;
 using System.Collections.Generic;
+using RootMotion.Dynamics;
 using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;
 using UnityEngine;
 
 public class WalkerASEAgent : Agent
 {
-    public bool RecordingMode;
+    public bool recordingMode;
 
     public Transform root;
     public Rigidbody rootRB;
@@ -14,15 +16,33 @@ public class WalkerASEAgent : Agent
     Vector3 m_OriginalPosition;
     Quaternion m_OriginalRotation;
 
+    ConfigurableJointController m_Controller;
+
     public override void Initialize()
     {
         m_OriginalPosition = root.position;
         m_OriginalRotation = root.rotation;
+        m_Controller = GetComponent<ConfigurableJointController>();
+        if (!recordingMode)
+        {
+            var puppetMaster = GetComponentInChildren<PuppetMaster>();
+            var animator = GetComponentInChildren<Animator>();
+            Destroy(puppetMaster);
+            Destroy(animator.gameObject);
+        }
     }
 
     public override void OnEpisodeBegin()
     {
         ResetAgent();
+        if (recordingMode)
+        {
+            ResetAnimation();
+        }
+    }
+    void ResetAnimation()
+    {
+        // TODO reset animation on an episode reset (nice to have)
     }
 
     void ResetAgent()
@@ -46,7 +66,29 @@ public class WalkerASEAgent : Agent
 
     }
 
-    public float GetRootHeightFromGround()
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+    {
+
+        var continuousActions = actionBuffers.ContinuousActions;
+        m_Controller.SetCJointTargets(continuousActions);
+    }
+
+    public override void Heuristic(in ActionBuffers actionsOut)
+    {
+        var continuousActionsOut = actionsOut.ContinuousActions;
+        // add control from editor component
+        for (int i = 0; i < m_Controller.cjControlSettings.Length; i++)
+        {
+            var target = m_Controller.cjControlSettings[i].target;
+            var subIndex = 3 * i;
+            continuousActionsOut[subIndex] = m_Controller.cjControlSettings[i].range.xRange.InverseScale(target.x);
+            continuousActionsOut[++subIndex] = m_Controller.cjControlSettings[i].range.yRange.InverseScale(target.y);
+            continuousActionsOut[++subIndex] = m_Controller.cjControlSettings[i].range.zRange.InverseScale(target.z);
+        }
+
+    }
+
+    float GetRootHeightFromGround()
     {
         int layerMask = 1 << 3;
         layerMask = ~layerMask;
@@ -54,18 +96,18 @@ public class WalkerASEAgent : Agent
         return raycastHit.distance;
     }
 
-    public float GetRootBalance()
+    float GetRootBalance()
     {
         var agentUp = root.transform.TransformDirection(Vector3.up);
         return Vector3.Dot(agentUp, Vector3.up);
     }
 
-    public Vector3 GetVelocity()
+    Vector3 GetVelocity()
     {
         return rootRB.velocity;
     }
 
-    public Vector3 GetAngularVelocity()
+    Vector3 GetAngularVelocity()
     {
         return rootRB.angularVelocity;
     }