getup model implemented, banana, treadmill

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+      value: ActivateSlipperyChair
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+      value: GroundManager, Assembly-CSharp
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Assets/7_Scripts/Agent/Walker.cs

@@ -166,7 +166,7 @@ public class Walker : Agent
         // Check if model swapper is enabled, and set model if so
         if (m_ModelSwap)
         {
-            m_ModelSwapper.SwitchModel("Walker", this);
+            m_ModelSwapper.SetInitialModel();
         }
 
         m_LastXPosition = (int)GetAverageXPositionFeet();
@@ -391,17 +391,18 @@ public class Walker : Agent
             // If on, check its rotation, and if certain parts are touching the floor
             Vector2 deltaAngle = GetAngleDeltaXZ();
 
-            if ((deltaAngle.y < 0.5 || deltaAngle.x < 0.5) && !m_FinishedSwap)
+            if ((deltaAngle.y < 0.3 || deltaAngle.x < 0.3) && !m_FinishedSwap)
             {
                 // Swap Model
                 m_FinishedSwap = true;
+                m_ModelSwapper.m_PastModel = m_ModelSwapper.m_currentModelName;
                 m_ModelSwapper.SwitchModel("Getup", this);
             }
             else if (deltaAngle.y > 0.8 && deltaAngle.x > 0.8 && m_FinishedSwap)
             {
                 // Swap to Original Model
                 m_FinishedSwap = false;
-                m_ModelSwapper.SwitchModel("Walker", this);
+                m_ModelSwapper.SwitchModel(m_ModelSwapper.m_PastModel, this);
             }
 
         }

Assets/7_Scripts/Interactable Items.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 3a9904a2493a1464e935a38490221bc6
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/7_Scripts/Interactable Items/GroundManager.cs

@@ -0,0 +1,115 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class GroundManager : MonoBehaviour
+{
+    public PhysicMaterial m_Floor;
+    public PhysicMaterial m_Agent;
+    public float m_Timer;
+    public float m_TimerTray;
+    public bool m_HasChanged;
+
+    // Start is called before the first frame update
+    private void OnEnable()
+    {
+        m_Timer = 5f;
+        m_HasChanged = false;
+        m_Floor.staticFriction = 1000f;
+        m_Floor.dynamicFriction = 1000f;
+        m_Agent.staticFriction = 2f;
+        m_Agent.dynamicFriction = 2f;
+    }
+
+    void Start()
+    {
+        if (m_Floor == null || m_Agent == null)
+            Debug.Log($"Physics Material of Floor/Agent was never set in FloorManager");
+    }
+
+    public void ActivateSlipperySurface()
+    {
+        if (!m_HasChanged)
+            Debug.Log($"Starting Cortouine on Banana for {m_Timer} seconds.");
+        StartCoroutine(ChangeSurface());
+    }
+
+    public void ActivateSlipperyChair()
+    {
+        if (!m_HasChanged)
+            Debug.Log($"Starting Cortouine on Chair for {m_Timer} seconds.");
+        StartCoroutine(ChangeChair());
+    }
+
+    public void ActivateSlipperyTray()
+    {
+        if (!m_HasChanged)
+            Debug.Log($"Starting Cortouine on Tray for {m_TimerTray} seconds.");
+        StartCoroutine(IkeaTrayAttach());
+    }
+
+    IEnumerator ChangeSurface()
+    {
+
+        m_HasChanged = true;
+
+        m_Floor.staticFriction = 0f;
+        m_Floor.dynamicFriction = 0f;
+
+        m_Agent.staticFriction = 0f;
+        m_Agent.dynamicFriction = 0f;
+
+        yield return new WaitForSeconds(m_Timer);
+
+        m_Floor.staticFriction = 1000f;
+        m_Floor.dynamicFriction = 1000f;
+
+        m_Agent.staticFriction = 2f;
+        m_Agent.dynamicFriction = 2f;
+
+        m_HasChanged = false;
+        Debug.Log($"Coroutine has ended for Banana");
+    }
+
+    IEnumerator ChangeChair()
+    {
+
+        m_HasChanged = true;
+
+
+
+        yield return new WaitForSeconds(m_Timer / 2);
+
+        m_Agent.staticFriction = 0f;
+        m_Agent.dynamicFriction = 0f;
+
+        yield return new WaitForSeconds(m_Timer / 2);
+
+        m_Agent.staticFriction = 2f;
+        m_Agent.dynamicFriction = 2f;
+
+        m_HasChanged = false;
+        Debug.Log($"Coroutine has ended for Banana");
+    }
+
+    IEnumerator IkeaTrayAttach()
+    {
+        m_HasChanged = true;
+
+        m_Floor.staticFriction = 0f;
+        m_Floor.dynamicFriction = 0f;
+
+        m_Agent.staticFriction = 0f;
+        m_Agent.dynamicFriction = 0f;
+
+        yield return new WaitForSeconds(m_TimerTray);
+
+        m_Floor.staticFriction = 1000f;
+        m_Floor.dynamicFriction = 1000f;
+
+        m_Agent.staticFriction = 2f;
+        m_Agent.dynamicFriction = 2f;
+
+        Debug.Log($"Coroutine has ended for Tray");
+    }
+}

Assets/7_Scripts/Interactable Items/GroundManager.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 458ff8f25e7cfa14a9e197776f252cf6

Assets/7_Scripts/Interactable Items/OnChairContact.cs

@@ -0,0 +1,105 @@
+using System.Collections;
+using System.Collections.Generic;
+using Unity.MLAgents;
+using Unity.MLAgentsExamples;
+using UnityEngine;
+using UnityEngine.Events;
+
+public class OnChairContact : MonoBehaviour
+{
+    public UnityEvent m_CollisionEvent;
+    public UnityEvent m_CollisionStayEvent;
+    public UnityEvent m_CollisionExitEvent;
+
+    public UnityEvent m_TriggerStayEvent;
+    public UnityEvent m_TriggerExitEvent;
+
+    public bool m_IsTouching;
+    public bool m_IsAttached;
+    public float m_TrayTimeout;
+    private string m_Tag = "agent";
+
+    [SerializeField]
+    public FixedJoint m_FixedJoint;
+
+
+    void OnEnable()
+    {
+        m_IsTouching = false;
+        m_IsAttached = false;
+    }
+
+    private void Start()
+    {
+        if (this.TryGetComponent<FixedJoint>(out FixedJoint component))
+        {
+            m_FixedJoint = component;
+        }
+        else
+        {
+            m_FixedJoint = null;
+        }
+    }
+
+    private void OnCollisionEnter(Collision col)
+    {
+        if (col.transform.CompareTag(m_Tag))
+        {
+            if (col.gameObject.GetComponent<GroundContact>().isFoot && m_FixedJoint && !m_IsAttached)
+            {
+                m_IsAttached = true;
+                // Attach Joint
+                Rigidbody rbFoot = col.gameObject.GetComponent<Rigidbody>();
+                Debug.Log($"Attached to {col.gameObject.name}");
+                m_FixedJoint.connectedBody = rbFoot;
+                StartCoroutine(WaitToDetatch());
+            }
+
+            m_IsTouching = true;
+            m_CollisionEvent?.Invoke();
+        }
+    }
+
+    private void OnCollisionStay(Collision col)
+    {
+        if (col.transform.CompareTag(m_Tag))
+        {
+            m_IsTouching = true;
+            m_CollisionStayEvent?.Invoke();
+        }
+    }
+
+    private void OnCollisionExit(Collision other)
+    {
+        if (other.transform.CompareTag(m_Tag))
+        {
+            m_IsTouching = false;
+            m_CollisionExitEvent?.Invoke();
+        }
+    }
+
+    private void OnTriggerStay(Collider other)
+    {
+        if (other.transform.CompareTag(m_Tag))
+        {
+            m_IsTouching = true;
+            m_TriggerStayEvent?.Invoke();
+        }
+    }
+
+    private void OnTriggerExit(Collider other)
+    {
+        if (other.transform.CompareTag(m_Tag))
+        {
+            m_IsTouching = false;
+            m_TriggerExitEvent?.Invoke();
+        }
+    }
+
+    IEnumerator WaitToDetatch()
+    {
+        Debug.Log("Waiting for detatch");
+        yield return new WaitForSeconds(m_TrayTimeout);
+        Destroy(m_FixedJoint);
+    }
+}

Assets/7_Scripts/Interactable Items/OnChairContact.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: fbae295f3eff4ef4ca5fcf6954250d1e

Assets/7_Scripts/Interactable Items/Treadmill.cs

@@ -0,0 +1,41 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class Treadmill : MonoBehaviour
+{
+    public Rigidbody m_Body;
+    private float m_Force;
+    private float m_angleOffset;
+
+    private void OnEnable()
+    {
+        m_Force = 0f;
+        m_angleOffset = 20f;
+    }
+
+    public void ApplyForce()
+    {
+        // m_Force += 0.1f;
+        // float m_ClampedForce = Mathf.Clamp(m_Force, 0f, 100f);
+        m_Force += 0.2f;
+        Debug.Log($"Applying Force {m_Force}");
+        Vector3 forceDirection = Quaternion.Euler(0, -m_angleOffset, 0) * Vector3.back;
+        m_Body.AddForce(forceDirection * m_Force);
+    }
+
+    public void RemoveForce()
+    {
+        Debug.Log("Removing Treadmill Force");
+        m_Force = 0;
+    }
+
+    private void FixedUpdate()
+    {
+        m_Force -= 0.05f;
+        if (m_Force < 0f)
+        {
+            m_Force = 0;
+        }
+    }
+}

Assets/7_Scripts/Interactable Items/Treadmill.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: be3a6d75d30448c428c5f28690b0f96f

Assets/7_Scripts/Model Swapping/ModelSwap.cs

@@ -20,7 +20,8 @@ public class ModelSwap : MonoBehaviour
     [HideInInspector]
     public Walker agent;
     [HideInInspector] public int currentModel = 0;
-    [HideInInspector] public int m_PastModel = 0;
+    [HideInInspector] public string m_currentModelName = string.Empty;
+    [HideInInspector] public string m_PastModel = string.Empty;
 
     // Path to .onnx files
     string m_relPath = string.Empty;
@@ -49,18 +50,22 @@ public class ModelSwap : MonoBehaviour
         if (modelName.Equals("Walker"))
         {
             agent.m_SelectedBrain = Walker.Brain.Walker;
+            m_currentModelName = modelName;
         }
         else if (modelName.Equals("Stairs"))
         {
             agent.m_SelectedBrain = Walker.Brain.DMScrambler;
+            m_currentModelName = modelName;
         }
         else if (modelName.Equals("Climber"))
         {
-            agent.m_SelectedBrain = Walker.Brain.DMScrambler;
+            agent.m_SelectedBrain = Walker.Brain.Climber;
+            m_currentModelName = modelName;
         }
         else if (modelName.Equals("Getup"))
         {
             agent.m_SelectedBrain = Walker.Brain.Getup;
+            m_currentModelName = modelName;
         }
 
         Debug.Log("Current Model: " + nnModelList[currentModel].name);
@@ -84,4 +89,9 @@ public class ModelSwap : MonoBehaviour
     {
         SwitchModel(modelName, agent);
     }
+
+    public void SetInitialModel()
+    {
+        SwitchModel(m_InitialModel.name, agent);
+    }
 };

Assets/ML-Agents/Timers/Beep_timers.json

@@ -1 +1 @@
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+{"count":1,"self":102.3287168,"total":103.5031497,"children":{"InitializeActuators":{"count":1,"self":0.0015086,"total":0.0015086,"children":null},"InitializeSensors":{"count":1,"self":0.0020095,"total":0.0020095,"children":null},"AgentSendState":{"count":4862,"self":0.057065399999999995,"total":0.3548618,"children":{"CollectObservations":{"count":973,"self":0.0172076,"total":0.0172076,"children":null},"WriteActionMask":{"count":973,"self":0.0015118,"total":0.0015118,"children":null},"RequestDecision":{"count":973,"self":0.27907699999999996,"total":0.27907699999999996,"children":null}}},"DecideAction":{"count":4862,"self":0.7736535,"total":0.78123259999999994,"children":{"RayPerceptionSensor.Perceive":{"count":973,"self":0.0075791,"total":0.0075791,"children":null}}},"AgentAct":{"count":4862,"self":0.034820699999999996,"total":0.034820699999999996,"children":null}},"gauges":{"c_Walker.CumulativeReward":{"count":2,"max":26.0910969,"min":-0.8243657,"runningAverage":12.6333656,"value":-0.8243657,"weightedAverage":19.36223}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1708963677","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":"1708963780"}}