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Warn if no joints on Root Body #5387

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Merged
merged 3 commits into from
May 24, 2021
Merged

Warn if no joints on Root Body #5387

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8928008
Warn if no joints on Root Body
May 24, 2021
68e5ba9
changelog
May 24, 2021
26efa23
handle null RB, tests
May 24, 2021
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10 changes: 10 additions & 0 deletions com.unity.ml-agents.extensions/Editor/RigidBodySensorComponentEditor.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,16 @@ public override void OnInspectorGUI()
so.Update();

var rbSensorComp = so.targetObject as RigidBodySensorComponent;
if (rbSensorComp.IsTrivial())
{
EditorGUILayout.HelpBox(
"The Root Body has no Joints, and the Virtual Root is null or the same as the " +
"Root Body's GameObject. This will not generate any useful observations; they will always " +
"be the identity values. Consider removing this component since it won't help the Agent.",
MessageType.Warning
);
}

bool requireExtractorUpdate;

EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
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18 changes: 18 additions & 0 deletions com.unity.ml-agents.extensions/Runtime/Sensors/RigidBodySensorComponent.cs
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Expand Up @@ -91,6 +91,24 @@ internal void SetPoseEnabled(int index, bool enabled)
{
GetPoseExtractor().SetPoseEnabled(index, enabled);
}

internal bool IsTrivial()
{
if (ReferenceEquals(RootBody, null))
{
// It *is* trivial, but this will happen when the sensor is being set up, so don't warn then.
return false;
}
var joints = RootBody.GetComponentsInChildren<Joint>();
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either need to null check RootBody, or if it's null maybe we just transform.GetComponentsInChildren<Joint>();

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Added the null-check above, so RootBody will always be non-null here.

if (joints.Length == 0)
{
if (ReferenceEquals(VirtualRoot, null) || ReferenceEquals(VirtualRoot, RootBody.gameObject))
{
return true;
}
}
return false;
}
}

}
3 changes: 3 additions & 0 deletions com.unity.ml-agents.extensions/Tests/Runtime/Sensors/RigidBodySensorTests.cs
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Expand Up @@ -31,6 +31,7 @@ public void TestNullRootBody()
var gameObj = new GameObject();

var sensorComponent = gameObj.AddComponent<RigidBodySensorComponent>();
Assert.IsFalse(sensorComponent.IsTrivial());
var sensor = sensorComponent.CreateSensors()[0];
SensorTestHelper.CompareObservation(sensor, new float[0]);
}
Expand All @@ -48,6 +49,7 @@ public void TestSingleRigidbody()
UseLocalSpaceTranslations = true,
UseLocalSpaceRotations = true
};
Assert.IsTrue(sensorComponent.IsTrivial());

var sensor = sensorComponent.CreateSensors()[0];
sensor.Update();
Expand Down Expand Up @@ -93,6 +95,7 @@ public void TestBodiesWithJoint()
UseLocalSpaceLinearVelocity = true
};
sensorComponent.VirtualRoot = virtualRoot;
Assert.IsFalse(sensorComponent.IsTrivial());

var sensor = sensorComponent.CreateSensors()[0];
sensor.Update();
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1 change: 1 addition & 0 deletions com.unity.ml-agents/CHANGELOG.md
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Expand Up @@ -14,6 +14,7 @@ and this project adheres to
#### ml-agents / ml-agents-envs / gym-unity (Python)
- Added a fully connected visual encoder for environments with very small image inputs. (#5351)
### Bug Fixes
- RigidBodySensorComponent now displays a warning if it's used in a way that won't generate useful observations. (#5387)


## [2.0.0-exp.1] - 2021-04-22
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