waypoints and getup model added

Assets/2_Chair/Brains/Getup.onnx.meta

@@ -0,0 +1,16 @@
+fileFormatVersion: 2
+guid: 4564a8c073c3e134b96ce1698dbae60b
+ScriptedImporter:
+  internalIDToNameTable: []
+  externalObjects: {}
+  serializedVersion: 2
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 683b6cb6d0a474744822c888b46772c9, type: 3}
+  optimizeModel: 1
+  forceArbitraryBatchSize: 1
+  treatErrorsAsWarnings: 0
+  importMode: 1
+  weightsTypeMode: 0
+  activationTypeMode: 0

Assets/2_Chair/Chair.prefab

@@ -2063,12 +2063,12 @@ MonoBehaviour:
     maxStep: 0
   hasUpgradedFromAgentParameters: 1
   MaxStep: 5000
-  m_SelectedBrain: 4
+  m_SelectedBrain: 0
   m_TargetWalkingSpeed: 8
   rWalkSpeedEachEpisode: 0
   m_RandomiseYRotation: 0
   m_RandomiseXYZRotation: 0
-  m_ModelSwap: 0
+  m_ModelSwap: 1
   m_ProximitySwapper: 0
   m_SwitchModelAfterFalling: 0
   m_StepCountAtLastMeter: 0
@@ -2127,14 +2127,19 @@ MonoBehaviour:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 5777259271730693716}
-  m_Enabled: 0
+  m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 4d4f1f9b90b1b3949a25ccabbf8429d4, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  m_InitialModel: {fileID: 5022602860645237092, guid: 6c625593ea946484995cf5e4ec762dc7,
+  m_InitialModel: {fileID: 5022602860645237092, guid: 1dc2dd8bd62c1ce47b13f1740b15e522,
     type: 3}
-  nnModelList: []
+  nnModelList:
+  - {fileID: 5022602860645237092, guid: 1dc2dd8bd62c1ce47b13f1740b15e522, type: 3}
+  - {fileID: 5022602860645237092, guid: 00d0acaeb52a3894a9b8ca8c664b12db, type: 3}
+  - {fileID: 5022602860645237092, guid: 4e2e22c8058641f4f943af2d50b147f6, type: 3}
+  - {fileID: 5022602860645237092, guid: 4564a8c073c3e134b96ce1698dbae60b, type: 3}
+  agent: {fileID: 0}
   currentModel: 0
   m_PastModel: 0
 --- !u!1 &6163716254022380080
@@ -2566,7 +2571,6 @@ GameObject:
   - component: {fileID: 7445707003514573868}
   - component: {fileID: 9100050631348364745}
   - component: {fileID: 1550985650543268760}
-  - component: {fileID: 2576851963027223328}
   m_Layer: 0
   m_Name: Seat
   m_TagString: agent
@@ -2582,8 +2586,8 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 6794064008694923825}
   serializedVersion: 2
-  m_LocalRotation: {x: -0, y: -0.017973283, z: -0, w: 0.99983853}
-  m_LocalPosition: {x: 0.59, y: -0.6, z: 13.58}
+  m_LocalRotation: {x: 0, y: -0.4407226, z: 0, w: 0.8976434}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children:
@@ -2666,22 +2670,6 @@ MonoBehaviour:
   touchingObject: 0
   touchingGround: 0
   touchingStairs: 0
---- !u!114 &2576851963027223328
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 6794064008694923825}
-  m_Enabled: 0
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 5c07b818612782c47bc265efc0b072dd, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  m_BalanceSwap: swap_Balance
-  m_WalkerSwap: swap_Walker
-  m_SloperSwap: swap_Sloper
-  m_GetupSwap: swap_Getup
 --- !u!1 &7331846505223066426
 GameObject:
   m_ObjectHideFlags: 0

Assets/2_Chair/Target_Cube.prefab

@@ -13,7 +13,6 @@ GameObject:
   - component: {fileID: 6907201076630297306}
   - component: {fileID: 9113762406916612572}
   - component: {fileID: 2286595338307215377}
-  - component: {fileID: 8854810986365377144}
   m_Layer: 0
   m_Name: Target_Cube
   m_TagString: target
@@ -48,16 +47,12 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 688132802d6546041aea7c1df9d5073d, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  m_Reward: 1
-  m_EndEpisodeOnTouch: 1
-  modelToChange: {fileID: 6907201076630297306}
-  modelToUse: {fileID: -6446594586776062275, guid: 0c8f92e6c54a42b4d833d2ace7898bae,
-    type: 3}
-  yellow: {fileID: 2100000, guid: 40300f88299ebd94f943e2b83f8f681e, type: 2}
+  m_Reward: 50
+  m_EndEpisodeOnTouch: 0
   tagToDetect: agent
   spawnRadius: 30
   respawnIfTouched: 0
-  respawnIfFallsOffPlatform: 1
+  respawnIfFallsOffPlatform: 0
   fallDistance: 20
   chair: {fileID: 0}
   onTriggerEnterEvent:
@@ -93,7 +88,7 @@ MeshRenderer:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 7830662089278843852}
-  m_Enabled: 1
+  m_Enabled: 0
   m_CastShadows: 1
   m_ReceiveShadows: 1
   m_DynamicOccludee: 1
@@ -145,36 +140,9 @@ BoxCollider:
     serializedVersion: 2
     m_Bits: 0
   m_LayerOverridePriority: 0
-  m_IsTrigger: 0
+  m_IsTrigger: 1
   m_ProvidesContacts: 0
   m_Enabled: 1
   serializedVersion: 3
   m_Size: {x: 1, y: 1, z: 1}
   m_Center: {x: 0, y: 0, z: 0}
---- !u!54 &8854810986365377144
-Rigidbody:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 7830662089278843852}
-  serializedVersion: 4
-  m_Mass: 100
-  m_Drag: 0.05
-  m_AngularDrag: 0.05
-  m_CenterOfMass: {x: 0, y: 0, z: 0}
-  m_InertiaTensor: {x: 1, y: 1, z: 1}
-  m_InertiaRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_IncludeLayers:
-    serializedVersion: 2
-    m_Bits: 0
-  m_ExcludeLayers:
-    serializedVersion: 2
-    m_Bits: 0
-  m_ImplicitCom: 1
-  m_ImplicitTensor: 1
-  m_UseGravity: 0
-  m_IsKinematic: 1
-  m_Interpolate: 0
-  m_Constraints: 0
-  m_CollisionDetection: 3

Assets/6_Scenes/Beep.unity

@@ -226,17 +226,17 @@ PrefabInstance:
     - target: {fileID: 3364236482078802793, guid: 263d8cea838224448bdfd0e71bc2dce4,
         type: 3}
       propertyPath: m_LocalPosition.x
-      value: -224.23
+      value: -222.66632
       objectReference: {fileID: 0}
     - target: {fileID: 3364236482078802793, guid: 263d8cea838224448bdfd0e71bc2dce4,
         type: 3}
       propertyPath: m_LocalPosition.y
-      value: 5.06
+      value: 5.73497
       objectReference: {fileID: 0}
     - target: {fileID: 3364236482078802793, guid: 263d8cea838224448bdfd0e71bc2dce4,
         type: 3}
       propertyPath: m_LocalPosition.z
-      value: 455.59
+      value: 457.45187
       objectReference: {fileID: 0}
     - target: {fileID: 3364236482078802793, guid: 263d8cea838224448bdfd0e71bc2dce4,
         type: 3}
@@ -1465,6 +1465,77 @@ MonoBehaviour:
   m_FocusTarget: {fileID: 3413039205880321923}
   m_FocusOffset: 0
   m_Profile: {fileID: 11400000, guid: 250442763ac254c8882298f619398df9, type: 2}
+--- !u!1 &1201075075
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1201075076}
+  - component: {fileID: 1201075077}
+  - component: {fileID: 1201075078}
+  m_Layer: 0
+  m_Name: Waypoint
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &1201075076
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1201075075}
+  serializedVersion: 2
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 10.43, y: 0, z: -15.49}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 1518800082}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &1201075077
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1201075075}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: a5c81c2052c91a74a8d9fae388fca038, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_WaypointPosition: {fileID: 1201075076}
+  m_WaitTime: 0
+  m_ModelName: Getup
+  m_Index: 0
+  m_Touched: 0
+--- !u!65 &1201075078
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1201075075}
+  m_Material: {fileID: 0}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_LayerOverridePriority: 0
+  m_IsTrigger: 1
+  m_ProvidesContacts: 0
+  m_Enabled: 1
+  serializedVersion: 3
+  m_Size: {x: 1, y: 1, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
 --- !u!1 &1303368148
 GameObject:
   m_ObjectHideFlags: 0
@@ -1590,41 +1661,6 @@ PrefabInstance:
       propertyPath: m_LocalEulerAnglesHint.z
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 5732046185206465305, guid: f03606b436da1d94e977c8ffa2825bd9,
-        type: 3}
-      propertyPath: m_LocalPosition.x
-      value: 0
-      objectReference: {fileID: 0}
-    - target: {fileID: 5732046185206465305, guid: f03606b436da1d94e977c8ffa2825bd9,
-        type: 3}
-      propertyPath: m_LocalPosition.y
-      value: 0
-      objectReference: {fileID: 0}
-    - target: {fileID: 5732046185206465305, guid: f03606b436da1d94e977c8ffa2825bd9,
-        type: 3}
-      propertyPath: m_LocalPosition.z
-      value: 0
-      objectReference: {fileID: 0}
-    - target: {fileID: 5732046185206465305, guid: f03606b436da1d94e977c8ffa2825bd9,
-        type: 3}
-      propertyPath: m_LocalRotation.w
-      value: 0.8976434
-      objectReference: {fileID: 0}
-    - target: {fileID: 5732046185206465305, guid: f03606b436da1d94e977c8ffa2825bd9,
-        type: 3}
-      propertyPath: m_LocalRotation.x
-      value: 0
-      objectReference: {fileID: 0}
-    - target: {fileID: 5732046185206465305, guid: f03606b436da1d94e977c8ffa2825bd9,
-        type: 3}
-      propertyPath: m_LocalRotation.y
-      value: -0.4407226
-      objectReference: {fileID: 0}
-    - target: {fileID: 5732046185206465305, guid: f03606b436da1d94e977c8ffa2825bd9,
-        type: 3}
-      propertyPath: m_LocalRotation.z
-      value: 0
-      objectReference: {fileID: 0}
     - target: {fileID: 5732046185206465305, guid: f03606b436da1d94e977c8ffa2825bd9,
         type: 3}
       propertyPath: m_LocalEulerAnglesHint.y
@@ -1794,6 +1830,57 @@ Transform:
     type: 3}
   m_PrefabInstance: {fileID: 1503240170}
   m_PrefabAsset: {fileID: 0}
+--- !u!1 &1518800080
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1518800082}
+  - component: {fileID: 1518800081}
+  m_Layer: 0
+  m_Name: Waypoints
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!114 &1518800081
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1518800080}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 1f83b258daac8e846bed96ffebb253e3, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_WaypointList:
+  - {fileID: 1201075077}
+  - {fileID: 2070452029}
+  m_Target: {fileID: 387060610}
+  m_CurrentWaypoint: {fileID: 1201075077}
+--- !u!4 &1518800082
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1518800080}
+  serializedVersion: 2
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: -232.9, y: 38.5, z: 423.46}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children:
+  - {fileID: 1201075076}
+  - {fileID: 2070452028}
+  m_Father: {fileID: 0}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &1665610482
 GameObject:
   m_ObjectHideFlags: 0
@@ -1961,6 +2048,37 @@ Transform:
   - {fileID: 1915961234679171070}
   m_Father: {fileID: 547380827529143388}
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &1956142036
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1956142037}
+  m_Layer: 0
+  m_Name: '============================ '
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &1956142037
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1956142036}
+  serializedVersion: 2
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0.19631481, y: 32.76503, z: -49.481876}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 0}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &2024103100
 GameObject:
   m_ObjectHideFlags: 0
@@ -1992,6 +2110,77 @@ Transform:
   m_Children: []
   m_Father: {fileID: 0}
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &2070452027
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 2070452028}
+  - component: {fileID: 2070452029}
+  - component: {fileID: 2070452030}
+  m_Layer: 0
+  m_Name: Waypoint (1)
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &2070452028
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2070452027}
+  serializedVersion: 2
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: -16.44}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 1518800082}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &2070452029
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2070452027}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: a5c81c2052c91a74a8d9fae388fca038, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_WaypointPosition: {fileID: 2070452028}
+  m_WaitTime: 0
+  m_ModelName: 
+  m_Index: 1
+  m_Touched: 0
+--- !u!65 &2070452030
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2070452027}
+  m_Material: {fileID: 0}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_LayerOverridePriority: 0
+  m_IsTrigger: 1
+  m_ProvidesContacts: 0
+  m_Enabled: 1
+  serializedVersion: 3
+  m_Size: {x: 1, y: 1, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
 --- !u!1 &2081823899
 GameObject:
   m_ObjectHideFlags: 0
@@ -16534,3 +16723,5 @@ SceneRoots:
   - {fileID: 799276790}
   - {fileID: 2024103101}
   - {fileID: 479999559}
+  - {fileID: 1956142037}
+  - {fileID: 1518800082}

Assets/7_Scripts/Agent/TargetControllerWalker.cs

@@ -23,17 +23,6 @@ namespace Unity.MLAgentsExamples
         [Header("End Episode After Touch")]
         public bool m_EndEpisodeOnTouch = false;
 
-        [Header("Mesh Settings")]
-        [SerializeField]
-        private MeshFilter modelToChange;
-
-        [SerializeField]
-        private Mesh modelToUse;
-
-        [SerializeField]
-        [Header("Controller Colour")]
-        Material yellow;
-
         [Header("Collider Tag To Detect")]
         public string tagToDetect = "agent"; //collider tag to detect 
 
@@ -94,7 +83,7 @@ namespace Unity.MLAgentsExamples
         /// Moves target to a random position within specified radius.
         /// </summary>
         public void MoveTargetToRandomPosition()
-        { 
+        {
             var newTargetPos = m_startingPos + (Random.insideUnitSphere * spawnRadius);
             newTargetPos.y = m_startingPos.y;
             transform.position = newTargetPos;
@@ -113,7 +102,7 @@ namespace Unity.MLAgentsExamples
 
                 if (m_EndEpisodeOnTouch)
                 {
-                        chair.EndEpisode();
+                    chair.EndEpisode();
                 }
 
                 onCollisionEnterEvent.Invoke(col);
@@ -148,6 +137,18 @@ namespace Unity.MLAgentsExamples
         {
             if (col.CompareTag(tagToDetect))
             {
+                chair.SetReward(m_Reward);
+
+                if (respawnIfTouched)
+                {
+                    MoveTargetToRandomPosition();
+                }
+
+                if (m_EndEpisodeOnTouch)
+                {
+                    chair.EndEpisode();
+                }
+
                 onTriggerStayEvent.Invoke(col);
             }
         }

Assets/7_Scripts/Agent/Walker.cs

@@ -15,7 +15,7 @@ using System.Xml.Linq;
 public class Walker : Agent
 {
 
-    
+
 
     public enum Brain
     {
@@ -108,10 +108,13 @@ public class Walker : Agent
 
         var parent = gameObject.transform.parent;
 
-        try{
+        try
+        {
             m_Terrain = parent.GetComponentInChildren<Terrain>();
-        }catch{
-            m_Terrain = null; 
+        }
+        catch
+        {
+            m_Terrain = null;
         }
 
         // Setup each Body Part
@@ -144,16 +147,16 @@ public class Walker : Agent
         {
             //this.GetComponent<DMTerrain>().Reset();
         }
-        
+
         foreach (var bodyPart in m_JointDriveController.bodyPartsDict.Values)
         {
             bodyPart.Reset(bodyPart);
         }
 
         // Apply Random Rotation to Seat
-        if (m_SelectedBrain == Brain.Getup) { if(m_RandomiseXYZRotation) seat.rotation = Quaternion.Euler(Random.Range(0.0f, 360f), Random.Range(0.0f, 360f), Random.Range(0.0f, 360f)); }
-        else { if (m_RandomiseYRotation) seat.rotation = Quaternion.Euler(0f, Random.Range(0.0f, 360f), 0f);  }
-        
+        if (m_SelectedBrain == Brain.Getup) { if (m_RandomiseXYZRotation) seat.rotation = Quaternion.Euler(Random.Range(0.0f, 360f), Random.Range(0.0f, 360f), Random.Range(0.0f, 360f)); }
+        else { if (m_RandomiseYRotation) seat.rotation = Quaternion.Euler(0f, Random.Range(0.0f, 360f), 0f); }
+
         UpdateOrientationObject();
 
         // Set our Walking Speed goal
@@ -163,13 +166,13 @@ public class Walker : Agent
         // Check if model swapper is enabled, and set model if so
         if (m_ModelSwap)
         {
-            m_ModelSwapper.SwitchModel(3, this);
+            m_ModelSwapper.SwitchModel("Walker", this);
         }
 
         m_LastXPosition = (int)GetAverageXPositionFeet();
-        
+
     }
-    
+
     /* Add relevant information for each body part (observations)
      */
     public void CollectObservationsBP(BodyPart bp, VectorSensor sensor)
@@ -223,7 +226,7 @@ public class Walker : Agent
 
         // Distance of the target relative to the Cube
         //sensor.AddObservation(Vector3.Distance(m_OrientationCube.transform.position, target.transform.position));
-    
+
         foreach (var bodyPart in m_JointDriveController.bodyPartsList)
         {
             CollectObservationsBP(bodyPart, sensor);
@@ -280,16 +283,6 @@ public class Walker : Agent
 
     void FixedUpdate()
     {
-
-        if (m_SelectedBrain == Brain.DMScrambler)
-        {
-            if (seat.position.y < -15f)
-            {
-                SetReward(-1f);
-                EndEpisode();
-            }
-        }
-
         // Check if model swapper is on
         if (m_ModelSwap)
         {
@@ -306,22 +299,23 @@ public class Walker : Agent
 
         // (3) Distance from ground
         // var distFromGround = Mathf.Pow(Mathf.Clamp(Vector3.Distance(seat.transform.position, GameObject.Find("Ground").transform.position) + 0.2f, 0, 1), 2);
-        
+
         if (m_SelectedBrain == Brain.Getup)
         {
 
             Vector2 deltaAngle = GetAngleDeltaXZ();
-            AddReward(deltaAngle.x * deltaAngle.y);
-           
-        } 
-        else if(m_SelectedBrain == Brain.Balance)
+            //Debug.Log($"{Mathf.Pow((deltaAngle.x * deltaAngle.y), 2)}");
+            AddReward(Mathf.Pow((deltaAngle.x * deltaAngle.y), 2) * 0.02f);
+
+        }
+        else if (m_SelectedBrain == Brain.Balance)
         {
             // Sets reward for the agent based on its stableness, while moving towards a target
             Vector2 deltaAngle = GetAngleDeltaXZ();
             AddReward(matchSpeedReward * lookAtTargetReward * (deltaAngle.x * deltaAngle.y));
-            
+
         }
-        else if(m_SelectedBrain == Brain.DMScrambler)
+        else if (m_SelectedBrain == Brain.DMScrambler)
         {
             // Normalised Velocity in a certain direciton.
             //var seatVelocity = GetAvgVelocitySeat();
@@ -356,11 +350,11 @@ public class Walker : Agent
 
             //Debug.Log(DistanceFromTarget(20f));
         }
-       else if(m_SelectedBrain == Brain.Walker)
+        else if (m_SelectedBrain == Brain.Walker)
         {
             AddReward(matchSpeedReward * lookAtTargetReward);
         }
-        else if(m_SelectedBrain == Brain.Climber)
+        else if (m_SelectedBrain == Brain.Climber)
         {
             //AddReward(matchSpeedReward * lookAtTargetReward * DistanceFromTarget(20f));
             AddReward(-0.002f);
@@ -372,21 +366,21 @@ public class Walker : Agent
     {
         if (m_ModelSwap)
         {
-            InputSwitchModel();
+            //InputSwitchModel();
         }
-        
+
     }
 
     private void InputSwitchModel()
     {
         if (Input.GetKeyDown(KeyCode.O))
         {
-            m_ModelSwapper.SwitchModel(0, this);
+            m_ModelSwapper.SwitchModel("Walker", this);
         }
 
         if (Input.GetKeyDown(KeyCode.P))
         {
-            m_ModelSwapper.SwitchModel(1, this);
+            m_ModelSwapper.SwitchModel("Stairs", this);
         }
     }
 
@@ -407,15 +401,15 @@ public class Walker : Agent
             {
                 // Swap to Original Model
                 m_FinishedSwap = false;
-                m_ModelSwapper.SwitchModel(4, this);
+                m_ModelSwapper.SwitchModel("Walker", this);
             }
 
         }
     }
-    float DistanceFromTarget(float maxDistance) 
+    float DistanceFromTarget(float maxDistance)
     {
-        float dist =  Vector3.Distance(seat.transform.position, target.transform.position);
-        float normalisedValue = 1- Mathf.InverseLerp(0f, maxDistance, dist);
+        float dist = Vector3.Distance(seat.transform.position, target.transform.position);
+        float normalisedValue = 1 - Mathf.InverseLerp(0f, maxDistance, dist);
         return Mathf.Pow(normalisedValue, 2);
     }
 
@@ -438,10 +432,10 @@ public class Walker : Agent
     {
         Vector3 velSum = Vector3.zero;
 
-        
+
         foreach (var item in m_JointDriveController.bodyPartsList)
         {
-            if(item.rb.transform == seat)
+            if (item.rb.transform == seat)
             {
                 velSum = item.rb.velocity;
                 break;
@@ -473,8 +467,8 @@ public class Walker : Agent
 
     float DistanceFromGround()
     {
-        float normalizedValue = Mathf.Clamp01( (seat.position.y) / 3.0f);
-        Debug.Log(seat.position.y/3.0f);
+        float normalizedValue = Mathf.Clamp01((seat.position.y) / 3.0f);
+        Debug.Log(seat.position.y / 3.0f);
         return Mathf.Pow(normalizedValue, 2);
     }
 

Assets/7_Scripts/Model Swapping/ModelSwap.cs

@@ -16,117 +16,54 @@ public class ModelSwap : MonoBehaviour
     public NNModel m_InitialModel;
     // public Agent agent;
 
-    [HideInInspector] public List<NNModel> nnModelList;
+    public List<NNModel> nnModelList;
+    [HideInInspector]
+    public Walker agent;
     [HideInInspector] public int currentModel = 0;
     [HideInInspector] public int m_PastModel = 0;
 
     // Path to .onnx files
     string m_relPath = string.Empty;
 
-    private void Start()
+    private void OnEnable()
     {
-        // Load Models From Dir
-        NNFileList();
+        Waypoint.SwapModelOnWaypointReached += SwapModelOnReachingWaypoint;
     }
 
-
-    public void NNFileList()
+    private void OnDisable()
     {
-        m_relPath = Application.dataPath;
-        m_relPath = Path.GetDirectoryName(m_relPath);
-        m_relPath = m_relPath + "\\ModelSwaper\\ModelList";
-        DirectoryInfo dirInfo = new DirectoryInfo(m_relPath);
-        FileInfo[] nnList = dirInfo.GetFiles("*.onnx");
-
-        // Sort files by creation date
-        Array.Sort(nnList, delegate (FileInfo x, FileInfo y) { return DateTime.Compare(x.CreationTime, y.CreationTime); });
-
-        ConvertNNModels(nnList);
+        Waypoint.SwapModelOnWaypointReached -= SwapModelOnReachingWaypoint;
     }
 
-    public void ConvertNNModels(FileInfo[] nnList)
+    private void Start()
     {
-        foreach (FileInfo element in nnList) 
-        {
-            var converter = new ONNXModelConverter(true);
-            byte[] modelData = File.ReadAllBytes(element.FullName.ToString());
-            Model model = converter.Convert(modelData);
-            NNModelData modelD = ScriptableObject.CreateInstance<NNModelData>();
-            using (var memoryStream = new MemoryStream())
-            using (var writer = new BinaryWriter(memoryStream))
-            {
-                ModelWriter.Save(writer, model);
-                modelD.Value = memoryStream.ToArray();
-            }
-            modelD.name = "Data";
-            modelD.hideFlags = HideFlags.HideInHierarchy;
-            NNModel result = ScriptableObject.CreateInstance<NNModel>();
-            result.modelData = modelD;
-            result.name = element.Name;
-            // Add Model to Model List
-            nnModelList.Add(result);
-        }
-
-        Debug.Log("Total Number of Models: " + nnModelList.Count);
-        // Set the inital model to 0
-        m_InitialModel = nnModelList[currentModel];
-        // Removed for import errors
-        //GlobalVars.g_CurrentModel = nnModelList[currentModel].name;
+        agent = this.GetComponent<Walker>();
     }
 
-    public void SwitchModel(int modelActive, Agent inst)
+    // Set Model by name
+    public void SwitchModel(string modelName, Agent inst)
     {
-        /*
-         0 = -1 on the model list
-         1 = +1 on the model list
-         3 = Starting model
-         4 = Return to last model active
-         */
+        FindModelByName(modelName);
+        inst.SetModel("c_Walker", nnModelList[currentModel]);
 
-        if (modelActive == 0)
+        if (modelName.Equals("Walker"))
         {
-            currentModel -= 1;
-            if(currentModel < 0)
-            {
-                currentModel = 0;
-            }
-
-            inst.SetModel("Swap", nnModelList[currentModel]);
-            //GlobalVars.g_CurrentModel = nnModelList[currentModel].name;
+            agent.m_SelectedBrain = Walker.Brain.Walker;
         }
-
-        else if (modelActive == 3)
+        else if (modelName.Equals("Stairs"))
         {
-            inst.SetModel("Swap", m_InitialModel);
+            agent.m_SelectedBrain = Walker.Brain.DMScrambler;
         }
-        else if (modelActive == 1) 
+        else if (modelName.Equals("Climber"))
         {
-            currentModel += 1;
-            if (currentModel > nnModelList.Count - 1)
-            {
-                currentModel = nnModelList.Count - 1;
-            }
-
-            inst.SetModel("Swap", nnModelList[currentModel]);
-            //GlobalVars.g_CurrentModel = nnModelList[currentModel].name;
+            agent.m_SelectedBrain = Walker.Brain.DMScrambler;
         }
-        else if (modelActive == 4)
+        else if (modelName.Equals("Getup"))
         {
-            currentModel = m_PastModel;
-            inst.SetModel("Swap", nnModelList[currentModel]);
-            //GlobalVars.g_CurrentModel = nnModelList[currentModel].name;
+            agent.m_SelectedBrain = Walker.Brain.Getup;
         }
-        //Debug.Log("Current Model: " + GlobalVars.g_CurrentModel);
-    }
 
-    // Set Model by name
-    public void SwitchModel(string modelName, Agent inst)
-    {
-        m_PastModel = currentModel;
-        FindModelByName(modelName);
-        inst.SetModel("Swap", nnModelList[currentModel]);
-        //GlobalVars.g_CurrentModel = nnModelList[currentModel].name;
-        //Debug.Log("Current Model: " + GlobalVars.g_CurrentModel);
+        Debug.Log("Current Model: " + nnModelList[currentModel].name);
     }
 
     private void FindModelByName(string modelName)
@@ -134,11 +71,17 @@ public class ModelSwap : MonoBehaviour
         int i = 0;
         foreach (NNModel element in nnModelList)
         {
-            if(element.name.Equals(modelName+".onnx"))
+            if (element.name.Equals(modelName))
             {
                 currentModel = i;
                 return;
             }
+            i++;
         }
     }
+
+    private void SwapModelOnReachingWaypoint(string modelName)
+    {
+        SwitchModel(modelName, agent);
+    }
 };

Assets/7_Scripts/Model Swapping/SwapModelOnContact.cs

@@ -1,64 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using UnityEngine;
-using Unity.MLAgents;
-
-
-namespace Unity.MLAgentsExamples
-{
-    [DisallowMultipleComponent]
-    public class SwapModelOnContact : MonoBehaviour
-    {
-        [Header("List of Collision Types & Models")]
-        public string m_BalanceSwap = "swap_Balance";
-        public string m_WalkerSwap = "swap_Walker";
-        public string m_SloperSwap = "swap_Sloper";
-        public string m_GetupSwap = "swap_Getup";
-
-        private ModelSwap m_ModelSwapper;
-        private Agent m_Agent;
-
-        void OnEnable()
-        {
-            m_ModelSwapper = GetComponentInParent<ModelSwap>();
-            m_Agent = GetComponentInParent<Agent>();
-        }
-        private void OnTriggerEnter(Collider col)
-        {
-            
-            if (col.gameObject.CompareTag(m_GetupSwap))
-            {
-                // Swap Model to this
-                m_ModelSwapper.SwitchModel("Getup", m_Agent);
-            }
-
-            if (col.gameObject.CompareTag(m_WalkerSwap))
-            {
-                // Swap Model to this
-                m_ModelSwapper.SwitchModel("Walker", m_Agent);
-            }
-
-            if (col.gameObject.CompareTag(m_BalanceSwap))
-            {
-                // Swap Model to this
-                m_ModelSwapper.SwitchModel("Balance", m_Agent);
-            }
-
-            if (col.gameObject.CompareTag(m_SloperSwap))
-            {
-                // Swap Model to this
-                m_ModelSwapper.SwitchModel("Sloper", m_Agent);
-            }
-
-
-        }
-
-        void OnTriggerExit(Collider col)
-        {
-            if (col.gameObject.CompareTag(m_GetupSwap))
-            {
-                m_ModelSwapper.SwitchModel(4, m_Agent);
-            }
-        }
-    }
-}

Assets/7_Scripts/Model Swapping/SwapModelOnContact.cs.meta

@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: 5c07b818612782c47bc265efc0b072dd
-MonoImporter:
-  externalObjects: {}
-  serializedVersion: 2
-  defaultReferences: []
-  executionOrder: 0
-  icon: {instanceID: 0}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 

Assets/7_Scripts/Waypoint.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 3ff613cd7a2113b478921209cc2a6bda
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/7_Scripts/Waypoint/Waypoint.cs

@@ -0,0 +1,53 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Events;
+
+[ExecuteInEditMode]
+public class Waypoint : MonoBehaviour
+{
+
+
+    [HideInInspector]
+    public Transform m_WaypointPosition;
+
+    public float m_WaitTime;
+
+    public string m_ModelName;
+
+    public float m_Index;
+
+    public bool m_Touched;
+
+    public delegate void WaypointReached(float index);
+
+    public static event WaypointReached OnWaypointReached;
+
+    public delegate void SwapModelOnReachingWaypoint(string modelName);
+
+    public static event SwapModelOnReachingWaypoint SwapModelOnWaypointReached;
+
+    private void OnEnable()
+    {
+        m_WaypointPosition = this.transform;
+    }
+
+    void OnTriggerEnter(Collider other)
+    {
+        if (other.transform.CompareTag("agent") && !m_Touched)
+        {
+            if (OnWaypointReached != null)
+            {
+                m_Touched = true;
+                OnWaypointReached(m_Index);
+
+                if (!string.IsNullOrEmpty(m_ModelName))
+                {
+                    SwapModelOnWaypointReached(m_ModelName);
+                }
+
+            }
+
+        }
+    }
+}

Assets/7_Scripts/Waypoint/Waypoint.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: a5c81c2052c91a74a8d9fae388fca038

Assets/7_Scripts/Waypoint/WaypointManager.cs

@@ -0,0 +1,109 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+
+[ExecuteInEditMode]
+public class WaypointManager : MonoBehaviour
+{
+
+
+    [SerializeField]
+    public List<Waypoint> m_WaypointList;
+
+    [SerializeField]
+    public Transform m_Target;
+
+    [SerializeField]
+    public Waypoint m_CurrentWaypoint;
+
+    private void OnEnable()
+    {
+        m_WaypointList = new List<Waypoint>();
+        Waypoint.OnWaypointReached += SetNextWaypoint;
+    }
+
+    private void OnDisable()
+    {
+        Waypoint.OnWaypointReached -= SetNextWaypoint;
+    }
+
+    private void Start()
+    {
+        SortWaypointsInChildren();
+        m_CurrentWaypoint = m_WaypointList[0];
+        MoveTargetToWaypoint();
+    }
+
+    private void FixedUpdate()
+    {
+        MoveTargetToWaypoint();
+    }
+
+    private void MoveTargetToWaypoint()
+    {
+        Vector3 wpPosition = m_CurrentWaypoint.m_WaypointPosition.position;
+        m_Target.position = wpPosition;
+    }
+
+    private void SetNextWaypoint(float index)
+    {
+        if (index == m_CurrentWaypoint.m_Index)
+        {
+            Debug.Log($"Waypoint reached {index}");
+            MoveToNextWaypoint(index);
+        }
+        else
+        {
+            Debug.Log($"Wrong Waypoint reached {index}");
+        }
+    }
+
+    private void MoveToNextWaypoint(float index)
+    {
+        StartCoroutine(WaypointTimeout(m_CurrentWaypoint.m_WaitTime, index));
+    }
+
+    IEnumerator WaypointTimeout(float seconds, float index)
+    {
+        yield return new WaitForSeconds(seconds);
+        if (m_CurrentWaypoint.m_Index < m_WaypointList.Count - 1)
+        {
+            m_CurrentWaypoint = m_WaypointList[(int)index + 1];
+            MoveTargetToWaypoint();
+            //Debug.Log($"Next waypoint {m_CurrentWaypoint.m_Index}");
+        }
+        else
+        {
+            Debug.Log($"Reached Last Position {m_CurrentWaypoint.m_Index}");
+        }
+    }
+
+    private void SortWaypointsInChildren()
+    {
+        foreach (Transform t in transform)
+        {
+            m_WaypointList.Add(t.GetComponent<Waypoint>());
+        }
+
+        m_WaypointList = m_WaypointList.OrderBy(waypoint => waypoint.m_Index).ToList();
+    }
+
+    void OnDrawGizmos()
+    {
+#if UNITY_EDITOR
+        Gizmos.color = Color.red;
+        foreach (Waypoint waypoint in m_WaypointList)
+        {
+            Gizmos.DrawWireSphere(waypoint.m_WaypointPosition.position, 1f);
+        }
+
+        Gizmos.color = Color.red;
+        for (int i = 0; i < m_WaypointList.Count - 1; i++)
+        {
+            Gizmos.DrawLine(m_WaypointList[i].m_WaypointPosition.position, m_WaypointList[i + 1].m_WaypointPosition.position);
+        }
+#endif
+    }
+}

Assets/7_Scripts/Waypoint/WaypointManager.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 1f83b258daac8e846bed96ffebb253e3

Assets/ML-Agents/Timers/Beep_timers.json

@@ -1 +1 @@
-{"count":1,"self":20.310344,"total":20.5002641,"children":{"InitializeActuators":{"count":1,"self":0.0020023,"total":0.0020023,"children":null},"InitializeSensors":{"count":1,"self":0.0010042,"total":0.0010042,"children":null},"AgentSendState":{"count":736,"self":0.0115652,"total":0.0332494,"children":{"CollectObservations":{"count":148,"self":0.0050284,"total":0.0050284,"children":null},"WriteActionMask":{"count":148,"self":0,"total":0,"children":null},"RequestDecision":{"count":148,"self":0.0166558,"total":0.0166558,"children":null}}},"DecideAction":{"count":736,"self":0.1456081,"total":0.1456081,"children":{"RayPerceptionSensor.Perceive":{"count":148,"self":0,"total":0,"children":null}}},"AgentAct":{"count":736,"self":0.0080564,"total":0.0080564,"children":null}},"gauges":{"c_Walker.CumulativeReward":{"count":2,"max":31.4808464,"min":29.9941273,"runningAverage":30.7374878,"value":31.4808464,"weightedAverage":30.3658066}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1708955771","unity_version":"2023.2.8f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2023.2.8f1\\Editor\\Unity.exe -projectpath C:\\Users\\caile\\Desktop\\Projects\\24_02-Beep\\4_Unity\\Beep Final -useHub -hubIPC -cloudEnvironment production","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.3.0-exp.3","scene_name":"Beep","end_time_seconds":"1708955792"}}
+{"count":1,"self":18.9057456,"total":19.3335361,"children":{"InitializeActuators":{"count":1,"self":0.001511,"total":0.001511,"children":null},"InitializeSensors":{"count":1,"self":0.0020118,"total":0.0020118,"children":null},"AgentSendState":{"count":667,"self":0.0075721,"total":0.2773386,"children":{"CollectObservations":{"count":134,"self":0.0045404,"total":0.0045404,"children":null},"WriteActionMask":{"count":134,"self":0,"total":0,"children":null},"RequestDecision":{"count":134,"self":0.26522609999999996,"total":0.26522609999999996,"children":null}}},"DecideAction":{"count":667,"self":0.1403981,"total":0.1403981,"children":{"RayPerceptionSensor.Perceive":{"count":134,"self":0,"total":0,"children":null}}},"AgentAct":{"count":667,"self":0.0065305,"total":0.0065305,"children":null}},"gauges":{},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1708957870","unity_version":"2023.2.8f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2023.2.8f1\\Editor\\Unity.exe -projectpath C:\\Users\\caile\\Desktop\\Projects\\24_02-Beep\\4_Unity\\Beep Final -useHub -hubIPC -cloudEnvironment production","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.3.0-exp.3","scene_name":"Beep","end_time_seconds":"1708957889"}}