added splooting

7 months ago · 9f193da92c
7 changed files with 62 additions and 17 deletions
--- a/Assets/2_Chair/Brains/Sitting.onnx
+++ b/Assets/2_Chair/Brains/Sitting.onnx
--- a/Assets/2_Chair/Brains/Sitting.onnx.meta
+++ b/Assets/2_Chair/Brains/Sitting.onnx.meta
@ -0,0 +1,16 @@
+fileFormatVersion: 2
+guid: 873bd5685b6fba74da8024c42ff3f0e6
+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
--- a/Assets/2_Chair/Chair.prefab
+++ b/Assets/2_Chair/Chair.prefab
@ -2037,7 +2037,7 @@ MonoBehaviour:
    VectorActionDescriptions: []
    VectorActionSpaceType: 1
    hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 5022602860645237092, guid: 00d0acaeb52a3894a9b8ca8c664b12db, type: 3}
+  m_Model: {fileID: 5022602860645237092, guid: 873bd5685b6fba74da8024c42ff3f0e6, type: 3}
  m_InferenceDevice: 1
  m_BehaviorType: 2
  m_BehaviorName: c_Walker
@ -2062,14 +2062,14 @@ MonoBehaviour:
    maxStep: 0
  hasUpgradedFromAgentParameters: 1
  MaxStep: 0
-  m_SelectedBrain: 4
+  m_SelectedBrain: 5
  m_TargetWalkingSpeed: 8
  rWalkSpeedEachEpisode: 0
  m_RandomiseYRotation: 0
  m_RandomiseXYZRotation: 0
-  m_ModelSwap: 1
+  m_ModelSwap: 0
  m_ProximitySwapper: 0
-  m_SwitchModelAfterFalling: 1
+  m_SwitchModelAfterFalling: 0
  m_StepCountAtLastMeter: 0
  m_LastXPosition: 0
  m_FinishedSwap: 0
@ -2131,13 +2131,14 @@ MonoBehaviour:
  m_Script: {fileID: 11500000, guid: 4d4f1f9b90b1b3949a25ccabbf8429d4, type: 3}
  m_Name: 
  m_EditorClassIdentifier: 
-  m_InitialModel: {fileID: 5022602860645237092, guid: 00d0acaeb52a3894a9b8ca8c664b12db,
+  m_InitialModel: {fileID: 5022602860645237092, guid: 873bd5685b6fba74da8024c42ff3f0e6,
    type: 3}
  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}
+  - {fileID: 5022602860645237092, guid: 873bd5685b6fba74da8024c42ff3f0e6, type: 3}
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  currentModel: 0
  m_currentModelName: 
--- a/Assets/6_Scenes/Beep.unity
+++ b/Assets/6_Scenes/Beep.unity
@ -305,7 +305,7 @@ Transform:
  m_PrefabAsset: {fileID: 0}
  m_GameObject: {fileID: 83569712}
  serializedVersion: 2
-  m_LocalRotation: {x: 0.08817883, y: 0.62572265, z: -0.07149482, w: 0.771741}
+  m_LocalRotation: {x: 0.08817881, y: 0.62572265, z: -0.07149482, w: 0.77174103}
  m_LocalPosition: {x: 0, y: 0, z: 0}
  m_LocalScale: {x: 1, y: 1, z: 1}
  m_ConstrainProportionsScale: 0
@ -870,7 +870,7 @@ MonoBehaviour:
    LensShift: {x: 0, y: 0}
    GateFit: 1
    FocusDistance: 8.93528
-    m_SensorSize: {x: 36, y: 24}
+    m_SensorSize: {x: 1, y: 1}
    Iso: 50
    ShutterSpeed: 0.0005
    Aperture: 2.2
@ -913,7 +913,7 @@ Transform:
  m_PrefabAsset: {fileID: 0}
  m_GameObject: {fileID: 377437129}
  serializedVersion: 2
-  m_LocalRotation: {x: -0.03783878, y: 0.8817097, z: -0.071784794, w: -0.46476156}
+  m_LocalRotation: {x: -0.037838772, y: 0.8817097, z: -0.071784794, w: -0.46476156}
  m_LocalPosition: {x: -128.4, y: 13, z: -248.6}
  m_LocalScale: {x: 1, y: 1, z: 1}
  m_ConstrainProportionsScale: 0
@ -951,7 +951,7 @@ MonoBehaviour:
    LensShift: {x: 0, y: 0}
    GateFit: 1
    FocusDistance: 10
-    m_SensorSize: {x: 36, y: 24}
+    m_SensorSize: {x: 1, y: 1}
    Iso: 50
    ShutterSpeed: 0.0005
    Aperture: 1.9
@ -1345,7 +1345,7 @@ Transform:
  m_PrefabAsset: {fileID: 0}
  m_GameObject: {fileID: 470663197}
  serializedVersion: 2
-  m_LocalRotation: {x: 0.11851885, y: 0.6224197, z: -0.09609434, w: 0.7676672}
+  m_LocalRotation: {x: 0.118518844, y: 0.6224197, z: -0.096094325, w: 0.7676672}
  m_LocalPosition: {x: -1.3505859, y: -4.517355, z: -13.63147}
  m_LocalScale: {x: 1, y: 1, z: 1}
  m_ConstrainProportionsScale: 0
@ -2875,7 +2875,7 @@ Transform:
  m_PrefabAsset: {fileID: 0}
  m_GameObject: {fileID: 1178814724}
  serializedVersion: 2
-  m_LocalRotation: {x: 0.11851883, y: 0.6224197, z: -0.0960943, w: 0.76766723}
+  m_LocalRotation: {x: 0.11851882, y: 0.6224197, z: -0.09609432, w: 0.7676672}
  m_LocalPosition: {x: 0, y: 0, z: 0}
  m_LocalScale: {x: 1, y: 1, z: 1}
  m_ConstrainProportionsScale: 0
--- a/Assets/7_Scripts/Agent/Walker.cs
+++ b/Assets/7_Scripts/Agent/Walker.cs
@ -23,7 +23,9 @@ public class Walker : Agent
        Getup,
        Climber,
        Balance,
-        DMScrambler
+        DMScrambler,
+        Sitting,
+        Treadmill
    }

    public Brain m_SelectedBrain;
@ -359,6 +361,18 @@ public class Walker : Agent
            //AddReward(matchSpeedReward * lookAtTargetReward * DistanceFromTarget(20f));
            AddReward(-0.002f);
        }
+        else if (m_SelectedBrain == Brain.Sitting)
+        {
+            var height = CheckHeightRaycast();
+            var clampedHeight = Mathf.Pow((1 - height), 2);
+            //Debug.Log($"Clamped Height: {Mathf.Pow(clampedHeight,2)}");
+            AddReward(clampedHeight);
+        }
+        else if (m_SelectedBrain == Brain.Treadmill)
+        {
+            Debug.Log(DistanceFromTarget(5f));
+            AddReward(matchSpeedReward * lookAtTargetReward * DistanceFromTarget(5f));
+        }
    }

    // Use regular update to listen for keypresses
@ -466,11 +480,20 @@ public class Walker : Agent
        return new Vector2(DeltaAngle(seat.eulerAngles.x), DeltaAngle(seat.eulerAngles.z));
    }

-    float DistanceFromGround()
+    float CheckHeightRaycast()
    {
-        float normalizedValue = Mathf.Clamp01((seat.position.y) / 3.0f);
-        Debug.Log(seat.position.y / 3.0f);
-        return Mathf.Pow(normalizedValue, 2);
+        RaycastHit hit;
+
+        if (Physics.Raycast(seat.transform.position, transform.TransformDirection(Vector3.down), out hit, Mathf.Infinity))
+        {
+            Debug.DrawRay(transform.position, transform.TransformDirection(Vector3.forward) * hit.distance, Color.red);
+            return hit.distance / 2;
+        }
+        else
+        {
+            Debug.DrawRay(transform.position, transform.TransformDirection(Vector3.forward), Color.blue);
+            return 1;
+        }
    }

    float GetAverageXPositionFeet()
--- a/Assets/7_Scripts/Model
+++ b/Assets/7_Scripts/Model
@ -69,6 +69,11 @@ public class ModelSwap : MonoBehaviour
            agent.m_SelectedBrain = Walker.Brain.Getup;
            m_currentModelName = modelName;
        }
+        else if (modelName.Equals("Sitting"))
+        {
+            agent.m_SelectedBrain = Walker.Brain.Sitting;
+            m_currentModelName = modelName;
+        }

        Debug.Log("Current Model: " + nnModelList[currentModel].name);
    }
--- a/Assets/ML-Agents/Timers/Beep_timers.json
+++ b/Assets/ML-Agents/Timers/Beep_timers.json
@ -1 +1 @@
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+{"count":1,"self":13.661582399999999,"total":25.3009114,"children":{"InitializeActuators":{"count":1,"self":0,"total":0,"children":null},"InitializeSensors":{"count":1,"self":0.0025104,"total":0.0025104,"children":null},"AgentSendState":{"count":935,"self":0.0075565999999999993,"total":0.0362207,"children":{"CollectObservations":{"count":187,"self":0.0089777,"total":0.0089777,"children":null},"WriteActionMask":{"count":187,"self":0,"total":0,"children":null},"RequestDecision":{"count":187,"self":0.0196864,"total":0.0196864,"children":null}}},"DecideAction":{"count":935,"self":0.9864811,"total":11.5925809,"children":{"RayPerceptionSensor.Perceive":{"count":187,"self":10.6061,"total":10.606099799999999,"children":null}}},"AgentAct":{"count":935,"self":0.0070177,"total":0.0070177,"children":null}},"gauges":{},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1710174516","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 Git\\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":"1710174542"}}