Skip to content

Commit d9e6198

Browse files
author
Ervin T
authored
Revert "[add-fire] Merge post-0.19.0 master into add-fire (#4328)" (#4330)
This reverts commit 9913e71.
1 parent 9913e71 commit d9e6198

File tree

91 files changed

+344
-2526
lines changed

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

91 files changed

+344
-2526
lines changed

‎.pre-commit-config.yaml

Lines changed: 1 addition & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -44,12 +44,7 @@ repos:
4444
hooks:
4545
- id: pyupgrade
4646
args: [--py3-plus, --py36-plus]
47-
exclude: >
48-
(?x)^(
49-
.*barracuda.py|
50-
.*_pb2.py|
51-
.*_pb2_grpc.py
52-
)$
47+
exclude: .*barracuda.py
5348

5449
- repo: https://github.com/pre-commit/pre-commit-hooks
5550
rev: v2.5.0

‎.yamato/com.unity.ml-agents-performance.yml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@ Run_Mac_Perfomance_Tests{{ editor.version }}:
1212
variables:
1313
UNITY_VERSION: {{ editor.version }}
1414
commands:
15-
- python -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
15+
- python -m pip install unity-downloader-cli --extra-index-url https://artifactory.eu-cph-1.unityops.net/api/pypi/common-python/simple
1616
- unity-downloader-cli -u {{ editor.version }} -c editor --wait --fast
1717
- curl -s https://artifactory.internal.unity3d.com/core-automation/tools/utr-standalone/utr --output utr
1818
- chmod +x ./utr

‎.yamato/com.unity.ml-agents-test.yml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -113,7 +113,7 @@ test_{{ package.name }}_{{ platform.name }}_trunk:
113113
image: {{ platform.image }}
114114
flavor: {{ platform.flavor}}
115115
commands:
116-
- python -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
116+
- python -m pip install unity-downloader-cli --extra-index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/unity-pypi-local/simple --upgrade
117117
- unity-downloader-cli -u trunk -c editor --wait --fast
118118
- npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
119119
- upm-ci project test -u {{ editor.version }} --project-path Project --package-filter {{ package.name }} {{ coverageOptions }}

‎.yamato/gym-interface-test.yml

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -11,7 +11,7 @@ test_gym_interface_{{ editor.version }}:
1111
variables:
1212
UNITY_VERSION: {{ editor.version }}
1313
commands:
14-
- pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
14+
- pip install pyyaml
1515
- python -u -m ml-agents.tests.yamato.setup_venv
1616
- ./venv/bin/python ml-agents/tests/yamato/scripts/run_gym.py --env=artifacts/testPlayer-Basic
1717
dependencies:
@@ -21,12 +21,12 @@ test_gym_interface_{{ editor.version }}:
2121
expression: |
2222
(pull_request.target eq "master" OR
2323
pull_request.target match "release.+") AND
24-
NOT pull_request.draft AND
25-
(pull_request.changes.any match "com.unity.ml-agents/**" OR
26-
pull_request.changes.any match "Project/**" OR
27-
pull_request.changes.any match "ml-agents/**" OR
28-
pull_request.changes.any match "ml-agents-envs/**" OR
29-
pull_request.changes.any match "gym-unity/**" OR
24+
NOT pull_request.draft AND
25+
(pull_request.changes.any match "com.unity.ml-agents/**" OR
26+
pull_request.changes.any match "Project/**" OR
27+
pull_request.changes.any match "ml-agents/**" OR
28+
pull_request.changes.any match "ml-agents-envs/**" OR
29+
pull_request.changes.any match "gym-unity/**" OR
3030
pull_request.changes.any match ".yamato/gym-interface-test.yml") AND
3131
NOT pull_request.changes.all match "**/*.md"
3232
{% endfor %}

‎.yamato/protobuf-generation-test.yml

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -13,8 +13,9 @@ test_mac_protobuf_generation:
1313
nuget install Grpc.Tools -Version $GRPC_VERSION -OutputDirectory protobuf-definitions/
1414
python3 -m venv venv
1515
. venv/bin/activate
16-
pip install --upgrade pip --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
17-
pip install grpcio==1.28.1 grpcio-tools==1.13.0 protobuf==3.11.3 six==1.14.0 mypy-protobuf==1.16.0 --progress-bar=off --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
16+
pip install --upgrade pip
17+
pip install grpcio-tools==1.13.0 --progress-bar=off
18+
pip install mypy-protobuf==1.16.0 --progress-bar=off
1819
cd protobuf-definitions
1920
chmod +x Grpc.Tools.$GRPC_VERSION/tools/macosx_x64/protoc
2021
chmod +x Grpc.Tools.$GRPC_VERSION/tools/macosx_x64/grpc_csharp_plugin

‎.yamato/python-ll-api-test.yml

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -11,9 +11,9 @@ test_mac_ll_api_{{ editor.version }}:
1111
variables:
1212
UNITY_VERSION: {{ editor.version }}
1313
commands:
14-
- pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
14+
- pip install pyyaml
1515
- python -u -m ml-agents.tests.yamato.setup_venv
16-
- ./venv/bin/python ml-agents/tests/yamato/scripts/run_llapi.py
16+
- ./venv/bin/python ml-agents/tests/yamato/scripts/run_llapi.py
1717
- ./venv/bin/python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Basic
1818
- ./venv/bin/python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-WallJump
1919
- ./venv/bin/python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Bouncer
@@ -24,11 +24,11 @@ test_mac_ll_api_{{ editor.version }}:
2424
expression: |
2525
(pull_request.target eq "master" OR
2626
pull_request.target match "release.+") AND
27-
NOT pull_request.draft AND
28-
(pull_request.changes.any match "com.unity.ml-agents/**" OR
29-
pull_request.changes.any match "Project/**" OR
30-
pull_request.changes.any match "ml-agents/**" OR
31-
pull_request.changes.any match "ml-agents-envs/**" OR
27+
NOT pull_request.draft AND
28+
(pull_request.changes.any match "com.unity.ml-agents/**" OR
29+
pull_request.changes.any match "Project/**" OR
30+
pull_request.changes.any match "ml-agents/**" OR
31+
pull_request.changes.any match "ml-agents-envs/**" OR
3232
pull_request.changes.any match ".yamato/python-ll-api-test.yml") AND
3333
NOT pull_request.changes.all match "**/*.md"
3434
{% endfor %}

‎.yamato/standalone-build-test.yml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@ test_mac_standalone_{{ editor.version }}:
1212
variables:
1313
UNITY_VERSION: {{ editor.version }}
1414
commands:
15-
- pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
15+
- pip install pyyaml
1616
- python -u -m ml-agents.tests.yamato.standalone_build_tests
1717
- python -u -m ml-agents.tests.yamato.standalone_build_tests --scene=Assets/ML-Agents/Examples/Basic/Scenes/Basic.unity
1818
- python -u -m ml-agents.tests.yamato.standalone_build_tests --scene=Assets/ML-Agents/Examples/Bouncer/Scenes/Bouncer.unity

‎.yamato/training-int-tests.yml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@ test_mac_training_int_{{ editor.version }}:
1212
variables:
1313
UNITY_VERSION: {{ editor.version }}
1414
commands:
15-
- pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
15+
- pip install pyyaml
1616
- python -u -m ml-agents.tests.yamato.training_int_tests
1717
# Backwards-compatibility tests.
1818
# If we make a breaking change to the communication protocol, these will need

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

Lines changed: 2 additions & 33 deletions
Original file line numberDiff line numberDiff line change
@@ -2742,7 +2742,6 @@ GameObject:
27422742
- component: {fileID: 4845971001715176662}
27432743
- component: {fileID: 4845971001715176663}
27442744
- component: {fileID: 4845971001715176660}
2745-
- component: {fileID: 4622120667686875944}
27462745
m_Layer: 0
27472746
m_Name: Crawler
27482747
m_TagString: Untagged
@@ -2780,7 +2779,7 @@ MonoBehaviour:
27802779
m_Name:
27812780
m_EditorClassIdentifier:
27822781
m_BrainParameters:
2783-
VectorObservationSize: 21
2782+
VectorObservationSize: 138
27842783
NumStackedVectorObservations: 1
27852784
VectorActionSize: 14000000
27862785
VectorActionDescriptions: []
@@ -2873,30 +2872,6 @@ MonoBehaviour:
28732872
m_Name:
28742873
m_EditorClassIdentifier:
28752874
debugCommandLineOverride:
2876-
--- !u!114 &4622120667686875944
2877-
MonoBehaviour:
2878-
m_ObjectHideFlags: 0
2879-
m_CorrespondingSourceObject: {fileID: 0}
2880-
m_PrefabInstance: {fileID: 0}
2881-
m_PrefabAsset: {fileID: 0}
2882-
m_GameObject: {fileID: 4845971001715176661}
2883-
m_Enabled: 1
2884-
m_EditorHideFlags: 0
2885-
m_Script: {fileID: 11500000, guid: df0f8be9a37d6486498061e2cbc4cd94, type: 3}
2886-
m_Name:
2887-
m_EditorClassIdentifier:
2888-
RootBody: {fileID: 4845971001588102145}
2889-
VirtualRoot: {fileID: 2270141184585723037}
2890-
Settings:
2891-
UseModelSpaceTranslations: 1
2892-
UseModelSpaceRotations: 1
2893-
UseLocalSpaceTranslations: 0
2894-
UseLocalSpaceRotations: 1
2895-
UseModelSpaceLinearVelocity: 1
2896-
UseLocalSpaceLinearVelocity: 0
2897-
UseJointPositionsAndAngles: 0
2898-
UseJointForces: 0
2899-
sensorName:
29002875
--- !u!1 &4845971001730692034
29012876
GameObject:
29022877
m_ObjectHideFlags: 0
@@ -3043,12 +3018,6 @@ PrefabInstance:
30433018
objectReference: {fileID: 0}
30443019
m_RemovedComponents: []
30453020
m_SourcePrefab: {fileID: 100100000, guid: 72f745913c5a34df5aaadd5c1f0024cb, type: 3}
3046-
--- !u!1 &2270141184585723037 stripped
3047-
GameObject:
3048-
m_CorrespondingSourceObject: {fileID: 2591864627249999519, guid: 72f745913c5a34df5aaadd5c1f0024cb,
3049-
type: 3}
3050-
m_PrefabInstance: {fileID: 4357529801223143938}
3051-
m_PrefabAsset: {fileID: 0}
30523021
--- !u!4 &2270141184585723026 stripped
30533022
Transform:
30543023
m_CorrespondingSourceObject: {fileID: 2591864627249999504, guid: 72f745913c5a34df5aaadd5c1f0024cb,
@@ -3061,7 +3030,7 @@ MonoBehaviour:
30613030
type: 3}
30623031
m_PrefabInstance: {fileID: 4357529801223143938}
30633032
m_PrefabAsset: {fileID: 0}
3064-
m_GameObject: {fileID: 2270141184585723037}
3033+
m_GameObject: {fileID: 0}
30653034
m_Enabled: 1
30663035
m_EditorHideFlags: 0
30673036
m_Script: {fileID: 11500000, guid: 771e78c5e980e440e8cd19716b55075f, type: 3}

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

Lines changed: 0 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -392,11 +392,6 @@ PrefabInstance:
392392
propertyPath: targetToLookAt
393393
value:
394394
objectReference: {fileID: 2673081981996998229}
395-
- target: {fileID: 4622120667686875944, guid: 0456c89e8c9c243d595b039fe7aa0bf9,
396-
type: 3}
397-
propertyPath: Settings.UseLocalSpaceLinearVelocity
398-
value: 1
399-
objectReference: {fileID: 0}
400395
- target: {fileID: 4845971000000621469, guid: 0456c89e8c9c243d595b039fe7aa0bf9,
401396
type: 3}
402397
propertyPath: m_ConnectedAnchor.x

‎Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

Lines changed: 12 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -91,8 +91,17 @@ public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
9191
//GROUND CHECK
9292
sensor.AddObservation(bp.groundContact.touchingGround); // Is this bp touching the ground
9393

94+
//Get velocities in the context of our orientation cube's space
95+
//Note: You can get these velocities in world space as well but it may not train as well.
96+
sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.velocity));
97+
sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.angularVelocity));
98+
99+
//Get position relative to hips in the context of our orientation cube's space
100+
sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.position - body.position));
101+
94102
if (bp.rb.transform != body)
95103
{
104+
sensor.AddObservation(bp.rb.transform.localRotation);
96105
sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
97106
}
98107
}
@@ -102,6 +111,9 @@ public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
102111
/// </summary>
103112
public override void CollectObservations(VectorSensor sensor)
104113
{
114+
//Add body rotation delta relative to orientation cube
115+
sensor.AddObservation(Quaternion.FromToRotation(body.forward, orientationCube.transform.forward));
116+
105117
//Add pos of target relative to orientation cube
106118
sensor.AddObservation(orientationCube.transform.InverseTransformPoint(target.transform.position));
107119

‎Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerDynamic.nn

-18.1 KB
Binary file not shown.

‎Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerStatic.nn

-72.3 KB
Binary file not shown.

‎Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockVisualArea.prefab

Lines changed: 17 additions & 20 deletions
Original file line numberDiff line numberDiff line change
@@ -859,18 +859,17 @@ MonoBehaviour:
859859
m_Name:
860860
m_EditorClassIdentifier:
861861
m_BrainParameters:
862-
VectorObservationSize: 0
863-
NumStackedVectorObservations: 1
864-
VectorActionSize: 07000000
865-
VectorActionDescriptions: []
866-
VectorActionSpaceType: 0
862+
vectorObservationSize: 0
863+
numStackedVectorObservations: 1
864+
vectorActionSize: 07000000
865+
vectorActionDescriptions: []
866+
vectorActionSpaceType: 0
867867
m_Model: {fileID: 0}
868868
m_InferenceDevice: 0
869869
m_BehaviorType: 0
870-
m_BehaviorName: VisualPushBlock
871-
TeamId: 0
872-
m_UseChildSensors: 1
873-
m_ObservableAttributeHandling: 0
870+
m_BehaviorName: VisualHallway
871+
m_TeamID: 0
872+
m_useChildSensors: 1
874873
--- !u!114 &114812843792483960
875874
MonoBehaviour:
876875
m_ObjectHideFlags: 0
@@ -883,10 +882,7 @@ MonoBehaviour:
883882
m_Script: {fileID: 11500000, guid: dea8c4f2604b947e6b7b97750dde87ca, type: 3}
884883
m_Name:
885884
m_EditorClassIdentifier:
886-
agentParameters:
887-
maxStep: 0
888-
hasUpgradedFromAgentParameters: 1
889-
MaxStep: 5000
885+
maxStep: 5000
890886
ground: {fileID: 1913379827958244}
891887
area: {fileID: 1632733799967290}
892888
areaBounds:
@@ -921,12 +917,12 @@ MonoBehaviour:
921917
m_Script: {fileID: 11500000, guid: 282f342c2ab144bf38be65d4d0c4e07d, type: 3}
922918
m_Name:
923919
m_EditorClassIdentifier:
924-
m_Camera: {fileID: 20961401228419460}
925-
m_SensorName: CameraSensor
926-
m_Width: 84
927-
m_Height: 84
928-
m_Grayscale: 0
929-
m_Compression: 1
920+
camera: {fileID: 20961401228419460}
921+
sensorName: CameraSensor
922+
width: 84
923+
height: 84
924+
grayscale: 0
925+
compression: 1
930926
--- !u!114 &9049837659352187721
931927
MonoBehaviour:
932928
m_ObjectHideFlags: 0
@@ -940,7 +936,8 @@ MonoBehaviour:
940936
m_Name:
941937
m_EditorClassIdentifier:
942938
DecisionPeriod: 5
943-
TakeActionsBetweenDecisions: 1
939+
RepeatAction: 1
940+
offsetStep: 0
944941
--- !u!1 &1626651094211584
945942
GameObject:
946943
m_ObjectHideFlags: 0

‎Project/ProjectSettings/ProjectVersion.txt

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1 +1 @@
1-
m_EditorVersion: 2018.4.24f1
1+
m_EditorVersion: 2018.4.20f1

‎README.md

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@
22

33
# Unity ML-Agents Toolkit
44

5-
[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_5_docs/docs/)
5+
[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_4_docs/docs/)
66

77
[![license badge](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE)
88

@@ -48,8 +48,8 @@ descriptions of all these features.
4848

4949
## Releases & Documentation
5050

51-
**Our latest, stable release is `Release 5`. Click
52-
[here](https://github.com/Unity-Technologies/ml-agents/tree/release_5_docs/docs/Readme.md)
51+
**Our latest, stable release is `Release 4`. Click
52+
[here](https://github.com/Unity-Technologies/ml-agents/tree/release_4_docs/docs/Readme.md)
5353
to get started with the latest release of ML-Agents.**
5454

5555
The table below lists all our releases, including our `master` branch which is
@@ -67,13 +67,13 @@ under active development and may be unstable. A few helpful guidelines:
6767
| **Version** | **Release Date** | **Source** | **Documentation** | **Download** |
6868
|:-------:|:------:|:-------------:|:-------:|:------------:|
6969
| **master (unstable)** | -- | [source](https://github.com/Unity-Technologies/ml-agents/tree/master) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/master/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/master.zip) |
70-
| **Release 5** | **July 31, 2020** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_5)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_5_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_5.zip)** |
71-
| **Release 4** | July 15, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_4) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_4_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_4.zip) |
70+
| **Release 4** | **July 15, 2020** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_4)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_4_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_4.zip)** |
7271
| **Release 3** | June 10, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_3) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_3_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_3.zip) |
7372
| **Release 2** | May 20, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_2) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_2_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_2.zip) |
7473
| **Release 1** | April 30, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_1) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_1_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_1.zip) |
7574
| **0.15.1** | March 30, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.15.1) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.15.1/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.15.1.zip) |
7675
| **0.15.0** | March 18, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.15.0) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.15.0/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.15.0.zip) |
76+
| **0.14.1** | February 26, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.14.1) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.14.1/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.14.1.zip) |
7777

7878
## Citation
7979

‎com.unity.ml-agents.extensions/README.md

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,3 @@
11
# ML-Agents Extensions
22

33
This is a source-only package for new features based on ML-Agents.
4-
5-
More details coming soon.

‎com.unity.ml-agents.extensions/Runtime/AssemblyInfo.cs

Lines changed: 0 additions & 3 deletions
This file was deleted.

‎com.unity.ml-agents.extensions/Runtime/AssemblyInfo.cs.meta

Lines changed: 0 additions & 11 deletions
This file was deleted.

‎com.unity.ml-agents.extensions/Runtime/Sensors/ArticulationBodyPoseExtractor.cs

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -54,17 +54,17 @@ public ArticulationBodyPoseExtractor(ArticulationBody rootBody)
5454
parentIndices[i] = bodyToIndex[parentArticBody];
5555
}
5656

57-
Setup(parentIndices);
57+
SetParentIndices(parentIndices);
5858
}
5959

6060
/// <inheritdoc/>
61-
protected internal override Vector3 GetLinearVelocityAt(int index)
61+
protected override Vector3 GetLinearVelocityAt(int index)
6262
{
6363
return m_Bodies[index].velocity;
6464
}
6565

6666
/// <inheritdoc/>
67-
protected internal override Pose GetPoseAt(int index)
67+
protected override Pose GetPoseAt(int index)
6868
{
6969
var body = m_Bodies[index];
7070
var go = body.gameObject;

0 commit comments

Comments
 (0)