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layer changes, camera added

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This commit is contained in:
Cailean Finn
2024-03-22 13:43:57 +00:00
parent ea73e8b0db
commit 4765189c21
7 changed files with 138 additions and 75 deletions
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2
Assets/ML-Agents/Timers/DreconDemo_timers.json
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@@ -1 +1 @@
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{"count":1,"self":1714.3368704,"total":1809.0330984999998,"children":{"InitializeActuators":{"count":1,"self":0.0019619999999999998,"total":0.0019619999999999998,"children":null},"InitializeSensors":{"count":1,"self":0.0019390999999999998,"total":0.0019390999999999998,"children":null},"AgentSendState":{"count":143826,"self":1.4402523999999999,"total":32.4746783,"children":{"CollectObservations":{"count":71913,"self":30.4117632,"total":30.4117642,"children":null},"WriteActionMask":{"count":71913,"self":0.174433,"total":0.174433,"children":null},"RequestDecision":{"count":71913,"self":0.4482287,"total":0.4482287,"children":null}}},"DecideAction":{"count":143826,"self":39.5388288,"total":39.5388276,"children":null},"AgentAct":{"count":143826,"self":22.677847999999997,"total":22.6778475,"children":null}},"gauges":{"DReCon-v0.CumulativeReward":{"count":96,"max":1691.42554,"min":34.2285233,"runningAverage":846.3525,"value":1443.46228,"weightedAverage":944.87915}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1711113183","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 b9bb4f89-6ebb-4174-8dd7-232c198f283f -accessToken 3bKq64kDohwvzBedRQa064i5VQbRQJvsqbs_u4eNH0g005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"DreconDemo","end_time_seconds":"1711114992"}}

29
Assets/MarathonEnvs/Scripts/Ragdoll004/MocapControllerArtanim.cs
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@@ -74,9 +74,11 @@ public class MocapControllerArtanim : MonoBehaviour, IOnSensorCollision
bool _hasLazyInitialized;
private List<GameObject> allChildObjects = new List<GameObject>();
void SetOffsetSourcePose2RBInProceduralWorld() {
void SetOffsetSourcePose2RBInProceduralWorld() {
_transforms = GetComponentsInChildren<Transform>().ToList();
@@ -339,19 +341,17 @@ public class MocapControllerArtanim : MonoBehaviour, IOnSensorCollision
// set the layers
ragdollForMocap.layer = this.gameObject.layer;
FindAllChildObjects(ragdollForMocap.transform);
foreach (Transform child in ragdollForMocap.transform)
foreach (var obj in allChildObjects)
{
child.gameObject.layer = this.gameObject.layer;
obj.layer = this.gameObject.layer;
}
// setup HandleOverlap
foreach (var rb in clone.GetComponentsInChildren<Rigidbody>())
{
// remove cloned HandledOverlap
Transform t = rb.GetComponent<Transform>();
t.gameObject.layer = 3;
var oldHandleOverlap = rb.GetComponent<HandleOverlap>();
DestroyImmediate(oldHandleOverlap);
var handleOverlap = rb.gameObject.AddComponent<HandleOverlap>();
@@ -368,7 +368,20 @@ public class MocapControllerArtanim : MonoBehaviour, IOnSensorCollision
//Debug.Log(children.Count);
}
void SetupSensors()
// Function to recursively find all child game objects
private void FindAllChildObjects(Transform parent)
{
foreach (Transform child in parent)
{
// Add the child to the list
allChildObjects.Add(child.gameObject);
// Recursively call this function for each child's children
FindAllChildObjects(child);
}
}
void SetupSensors()
{
_sensors = GetComponentsInChildren<SensorBehavior>()
.Select(x=>x.gameObject)

140
Assets/Scenes/DreconDemo.unity generated
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Assets/Scenes/DreconDemo/Volume Profile.asset generated
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1
Packages/manifest.json
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@@ -7,6 +7,7 @@
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9
Packages/packages-lock.json
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@@ -122,6 +122,15 @@
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