actuations demo added

Assets/5_Scenes/DreconDemo.unity

@@ -1320,6 +1320,84 @@ Transform:
   - {fileID: 1601195943}
   m_Father: {fileID: 0}
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1001 &705277292
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    serializedVersion: 3
+    m_TransformParent: {fileID: 0}
+    m_Modifications:
+    - target: {fileID: 725708368551456178, guid: 59e55294465c533428f9c418e3b29a89,
+        type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 0.40447474
+      objectReference: {fileID: 0}
+    - target: {fileID: 725708368551456178, guid: 59e55294465c533428f9c418e3b29a89,
+        type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0.6
+      objectReference: {fileID: 0}
+    - target: {fileID: 725708368551456178, guid: 59e55294465c533428f9c418e3b29a89,
+        type: 3}
+      propertyPath: m_LocalPosition.z
+      value: -1.5552711
+      objectReference: {fileID: 0}
+    - target: {fileID: 725708368551456178, guid: 59e55294465c533428f9c418e3b29a89,
+        type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 725708368551456178, guid: 59e55294465c533428f9c418e3b29a89,
+        type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 725708368551456178, guid: 59e55294465c533428f9c418e3b29a89,
+        type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 725708368551456178, guid: 59e55294465c533428f9c418e3b29a89,
+        type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 725708368551456178, guid: 59e55294465c533428f9c418e3b29a89,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 725708368551456178, guid: 59e55294465c533428f9c418e3b29a89,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 725708368551456178, guid: 59e55294465c533428f9c418e3b29a89,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 1770780657798152667, guid: 59e55294465c533428f9c418e3b29a89,
+        type: 3}
+      propertyPath: m_Name
+      value: SMPLXcfjActuations
+      objectReference: {fileID: 0}
+    - target: {fileID: 2589419581028157696, guid: 59e55294465c533428f9c418e3b29a89,
+        type: 3}
+      propertyPath: m_UseGravity
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2589419581028157696, guid: 59e55294465c533428f9c418e3b29a89,
+        type: 3}
+      propertyPath: m_IsKinematic
+      value: 1
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+    m_RemovedGameObjects: []
+    m_AddedGameObjects: []
+    m_AddedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: 59e55294465c533428f9c418e3b29a89, type: 3}
 --- !u!1 &709210744
 GameObject:
   m_ObjectHideFlags: 0
@@ -1761,7 +1839,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 882491594}
   serializedVersion: 2
-  m_LocalRotation: {x: 0.52918464, y: -0.000000026320045, z: 0.000000016414912, w: 0.8485067}
+  m_LocalRotation: {x: 0.52918464, y: 0.000000026320038, z: -0.000000016414909, w: 0.8485067}
   m_LocalPosition: {x: 18.113062, y: 9.285504, z: -0.5535152}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
@@ -14913,3 +14991,4 @@ SceneRoots:
   - {fileID: 709210745}
   - {fileID: 951379159}
   - {fileID: 1080375957}
+  - {fileID: 705277292}

Assets/8_Scripts/2_General/Body.cs

@@ -1,5 +1,6 @@
 using System.Collections;
 using System.Collections.Generic;
+using Unity.Collections.LowLevel.Unsafe;
 using UnityEngine;
 using UnityEngine.Pool;
 
@@ -10,6 +11,12 @@ public class Body : MonoBehaviour
     public int m_DespawnTimer;
 
 	public bool m_JDActive;
+	public bool m_RandomActuations;
+
+	private float m_Noise;
+	private float m_NoiseX;
+	private float m_NoiseY;
+	private float m_NoiseZ;
 
 	[Header("Body Parts")]
 	public Transform m_Head;
@@ -25,6 +32,8 @@ public class Body : MonoBehaviour
 	public Transform m_Right_Arm;
 	public Transform m_Right_Forearm;
 
+	[Range(-1, 1)]
+	public float t;
 
 	private JointDriveController m_JDController;
 
@@ -51,7 +60,13 @@ public class Body : MonoBehaviour
 			m_JDController.SetupBodyPart(m_Right_Forearm);
 		}
 
-        StartCoroutine(DespawnTimer());
+		m_NoiseX = Random.Range(-200, 200);
+		m_NoiseY = Random.Range(-200, 200);
+		m_NoiseZ = Random.Range(-200, 200);
+		
+		if(!m_RandomActuations)
+			StartCoroutine(DespawnTimer());
+        //StartCoroutine(DespawnTimer());
     }
 
 
@@ -66,4 +81,24 @@ public class Body : MonoBehaviour
         m_Pool.Release(this);
     }
 
+	private void FixedUpdate(){
+		if(m_RandomActuations)
+			RandomActutations();
+	}
+
+	public void RandomActutations(){
+		var bpDict = m_JDController.bodyPartsDict;
+		m_Noise += Time.fixedDeltaTime * 2;
+		var counter = 0;
+		
+		foreach (var bodyPart in bpDict.Values){
+			m_NoiseX = Random.Range(-2, 2);
+			m_NoiseY = Random.Range(-2, 2);
+			m_NoiseZ = Random.Range(-2, 2);
+			bodyPart.SetJointTargetRotation(m_NoiseX, m_NoiseY, m_NoiseZ);
+			//bodyPart.SetJointStrength(1);
+			counter++;
+		}
+	}
+
 }

Assets/8_Scripts/2_General/JointDriveController.cs

@@ -60,6 +60,7 @@ using UnityEngine;
             currentZNormalizedRot = Mathf.InverseLerp(-joint.angularZLimit.limit, joint.angularZLimit.limit, zRot);
 
             joint.targetRotation = Quaternion.Euler(xRot, yRot, zRot);
+			//Debug.Log($"y{y}, limit{-joint.angularYLimit.limit}, target{joint.targetRotation}");
             currentEularJointRotation = new Vector3(xRot, yRot, zRot);
         }
 
@@ -82,7 +83,6 @@ using UnityEngine;
         [Header("Joint Drive Settings")]
         [Space(10)]
         public float maxJointSpring;
-
         public float jointDampen;
         public float maxJointForceLimit;
 
@@ -148,5 +148,5 @@ using UnityEngine;
                     }
                 }
             }
-        }
+		}
     }

Assets/9_Models/Humanoid/SMPLX/SMPLXcfj.prefab

@@ -365,6 +365,7 @@ MonoBehaviour:
   m_Pelvis: {fileID: 4895783841800412640}
   m_DespawnTimer: 45
   m_JDActive: 0
+  m_RandomActuations: 0
   m_Head: {fileID: 3084171519954960708}
   m_Spine: {fileID: 9008230995607606429}
   m_Left_Thigh: {fileID: 6147050757370940292}
@@ -377,6 +378,7 @@ MonoBehaviour:
   m_Left_Forearm: {fileID: 7447345369338858421}
   m_Right_Arm: {fileID: 3430350035868801998}
   m_Right_Forearm: {fileID: 1751176754825644261}
+  t: 0
 --- !u!114 &4008916333058776879
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -390,7 +392,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   maxJointSpring: 0
-  jointDampen: 40000
+  jointDampen: 400000
   maxJointForceLimit: 3.402823e+38
   bodyPartsList: []
 --- !u!1 &2317700900345097672
@@ -492,7 +494,7 @@ ConfigurableJoint:
   m_AutoConfigureConnectedAnchor: 1
   m_ConnectedAnchor: {x: 0, y: 0, z: 0}
   serializedVersion: 3
-  m_SecondaryAxis: {x: 0, y: 0, z: 0}
+  m_SecondaryAxis: {x: 0, y: 0, z: -1}
   m_XMotion: 0
   m_YMotion: 0
   m_ZMotion: 0
@@ -510,11 +512,11 @@ ConfigurableJoint:
     spring: 0
     damper: 0
   m_LowAngularXLimit:
-    limit: -90
+    limit: -150
     bounciness: 0
     contactDistance: 0
   m_HighAngularXLimit:
-    limit: 90
+    limit: 0
     bounciness: 0
     contactDistance: 0
   m_AngularYZLimitSpring:
@@ -760,11 +762,11 @@ ConfigurableJoint:
     spring: 0
     damper: 0
   m_LowAngularXLimit:
-    limit: -25
+    limit: -76
     bounciness: 0
     contactDistance: 0
   m_HighAngularXLimit:
-    limit: 55
+    limit: 70
     bounciness: 0
     contactDistance: 0
   m_AngularYZLimitSpring:
@@ -1292,7 +1294,7 @@ ConfigurableJoint:
   m_AutoConfigureConnectedAnchor: 1
   m_ConnectedAnchor: {x: -0.0025533193, y: -0.00015649231, z: -0.00022946484}
   serializedVersion: 3
-  m_SecondaryAxis: {x: 0, y: 0, z: 0}
+  m_SecondaryAxis: {x: 0, y: 0, z: 1}
   m_XMotion: 0
   m_YMotion: 0
   m_ZMotion: 0
@@ -1310,11 +1312,11 @@ ConfigurableJoint:
     spring: 0
     damper: 0
   m_LowAngularXLimit:
-    limit: -90
+    limit: 0
     bounciness: 0
     contactDistance: 0
   m_HighAngularXLimit:
-    limit: 90
+    limit: 150
     bounciness: 0
     contactDistance: 0
   m_AngularYZLimitSpring:
@@ -2205,11 +2207,11 @@ ConfigurableJoint:
   m_ConnectedBody: {fileID: 4975426484968991098}
   m_ConnectedArticulationBody: {fileID: 0}
   m_Anchor: {x: 0, y: 0, z: 0}
-  m_Axis: {x: 0, y: 0, z: 1}
+  m_Axis: {x: 0, y: 1, z: 0}
   m_AutoConfigureConnectedAnchor: 1
   m_ConnectedAnchor: {x: 0, y: 0, z: 0}
   serializedVersion: 3
-  m_SecondaryAxis: {x: 0, y: 1, z: 0}
+  m_SecondaryAxis: {x: 0, y: 0, z: 1}
   m_XMotion: 0
   m_YMotion: 0
   m_ZMotion: 0
@@ -2414,11 +2416,11 @@ ConfigurableJoint:
     spring: 0
     damper: 0
   m_LowAngularXLimit:
-    limit: -25
+    limit: -76
     bounciness: 0
     contactDistance: 0
   m_HighAngularXLimit:
-    limit: 55
+    limit: 70
     bounciness: 0
     contactDistance: 0
   m_AngularYZLimitSpring:
@@ -2815,11 +2817,11 @@ ConfigurableJoint:
     spring: 0
     damper: 0
   m_LowAngularXLimit:
-    limit: -31.522825
+    limit: -21.477825
     bounciness: 0
     contactDistance: 0
   m_HighAngularXLimit:
-    limit: 27.674957
+    limit: 23.161743
     bounciness: 0
     contactDistance: 0
   m_AngularYZLimitSpring:

Assets/9_Models/Humanoid/SMPLX/SMPLXcfjActuations.prefab.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 59e55294465c533428f9c418e3b29a89
+PrefabImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Assets/ML-Agents/Timers/DreconDemo_timers.json

@@ -1 +1 @@
-{"count":1,"self":169.173824,"total":175.70866619999998,"children":{"InitializeActuators":{"count":1,"self":0.0017232999999999999,"total":0.0017232999999999999,"children":null},"InitializeSensors":{"count":1,"self":0.0015046,"total":0.0015046,"children":null},"AgentSendState":{"count":9952,"self":0.0856932,"total":2.6710059999999998,"children":{"CollectObservations":{"count":4976,"self":2.546122,"total":2.546122,"children":null},"WriteActionMask":{"count":4976,"self":0.0101377,"total":0.0101377,"children":null},"RequestDecision":{"count":4976,"self":0.0290531,"total":0.0290531,"children":null}}},"DecideAction":{"count":9952,"self":2.6619052,"total":2.6619051,"children":null},"AgentAct":{"count":9952,"self":1.1982021,"total":1.1982021,"children":null}},"gauges":{"DReCon-v0.CumulativeReward":{"count":2,"max":485.7487,"min":60.126297,"runningAverage":272.9375,"value":485.7487,"weightedAverage":166.531891}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1712925795","unity_version":"2022.3.5f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2022.3.5f1\\Editor\\Unity.exe -projectpath C:\\Users\\caile\\Desktop\\drecon-unity -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-cail -hubSessionId 3fbdf177-9b94-4cc1-adfd-c08277a8eede -accessToken odeT9cSeLBQY3FrA1yA0599oEegUBhCWJkhIJG2gUmk005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"DreconDemo","end_time_seconds":"1712925970"}}
+{"count":1,"self":343.2649728,"total":356.2922359,"children":{"InitializeActuators":{"count":1,"self":0.0015141999999999998,"total":0.0015141999999999998,"children":null},"InitializeSensors":{"count":1,"self":0.0015138999999999999,"total":0.0015138999999999999,"children":null},"AgentSendState":{"count":20695,"self":0.150388,"total":3.4469627,"children":{"CollectObservations":{"count":10348,"self":3.2364884,"total":3.2364884999999997,"children":null},"WriteActionMask":{"count":10348,"self":0.010846,"total":0.010846,"children":null},"RequestDecision":{"count":10348,"self":0.0492402,"total":0.0492402,"children":null}}},"DecideAction":{"count":20695,"self":7.0784232,"total":7.0784232,"children":null},"AgentAct":{"count":20695,"self":2.494808,"total":2.494808,"children":null}},"gauges":{"DReCon-v0.CumulativeReward":{"count":2,"max":583.8104,"min":56.8946228,"runningAverage":320.352539,"value":583.8104,"weightedAverage":188.623566}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1712939083","unity_version":"2022.3.5f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2022.3.5f1\\Editor\\Unity.exe -projectpath C:\\Users\\caile\\Desktop\\drecon-unity -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-cail -hubSessionId 3fbdf177-9b94-4cc1-adfd-c08277a8eede -accessToken odeT9cSeLBQY3FrA1yA0599oEegUBhCWJkhIJG2gUmk005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"DreconDemo","end_time_seconds":"1712939440"}}