cameras added & endepisode altered for actuations and waitime

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Assets/MarathonEnvs/Agents/Characters/MarathonMan004/BlueSurface.mat

@@ -21,34 +21,64 @@ Material:
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   m_PrefabAsset: {fileID: 0}
   m_Name: BlueSurface
-  m_Shader: {fileID: 4800000, guid: 933532a4fcc9baf4fa0491de14d08ed7, type: 3}
+  m_Shader: {fileID: 4800000, guid: 6e4ae4064600d784cac1e41a9e6f2e59, type: 3}
   m_Parent: {fileID: 0}
   m_ModifiedSerializedProperties: 0
-  m_ValidKeywords: []
+  m_ValidKeywords:
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+  - _NORMALMAP_TANGENT_SPACE
   m_InvalidKeywords: []
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   m_EnableInstancingVariants: 0
   m_DoubleSidedGI: 0
-  m_CustomRenderQueue: -1
-  stringTagMap:
-    RenderType: Opaque
-  disabledShaderPasses: []
+  m_CustomRenderQueue: 2225
+  stringTagMap: {}
+  disabledShaderPasses:
+  - TransparentDepthPrepass
+  - TransparentDepthPostpass
+  - TransparentBackface
+  - RayTracingPrepass
+  - MOTIONVECTORS
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     - _BumpMap:
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         m_Scale: {x: 1, y: 1}
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     - _DetailAlbedoMap:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
+    - _DetailMap:
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+        m_Offset: {x: 0, y: 0}
     - _DetailMask:
         m_Texture: {fileID: 0}
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@@ -61,14 +91,42 @@ Material:
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         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
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+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
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+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _IridescenceThicknessMap:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
     - _MainTex:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
+    - _MaskMap:
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+        m_Offset: {x: 0, y: 0}
     - _MetallicGlossMap:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
+    - _NormalMap:
+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _NormalMapOS:
+        m_Texture: {fileID: 0}
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+        m_Offset: {x: 0, y: 0}
     - _OcclusionMap:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
@@ -81,6 +139,34 @@ Material:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
+    - _SpecularColorMap:
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+        m_Scale: {x: 1, y: 1}
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+        m_Texture: {fileID: 0}
+        m_Scale: {x: 1, y: 1}
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+        m_Offset: {x: 0, y: 0}
+    - _ThicknessMap:
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+        m_Scale: {x: 1, y: 1}
+        m_Offset: {x: 0, y: 0}
+    - _TransmittanceColorMap:
+        m_Texture: {fileID: 0}
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+        m_Offset: {x: 0, y: 0}
     - unity_Lightmaps:
         m_Texture: {fileID: 0}
         m_Scale: {x: 1, y: 1}
@@ -95,41 +181,176 @@ Material:
         m_Offset: {x: 0, y: 0}
     m_Ints: []
     m_Floats:
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+    - _AORemapMin: 0
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     - _Cutoff: 0.5
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     - _DetailAlbedoMapScale: 1
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     - _EnvironmentReflections: 1
     - _GlossMapScale: 1
     - _Glossiness: 0.5
     - _GlossyReflections: 1
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Assets/MarathonEnvs/Scripts/Ragdoll004/RagDollAgent.cs

@@ -9,6 +9,7 @@ using ManyWorlds;
 using UnityEngine.Assertions;
 
 using System;
+using Unity.Mathematics;
 
 public class RagDollAgent : Agent 
 {
@@ -55,6 +56,13 @@ public class RagDollAgent : Agent
     bool _hasAwake = false;
     MocapControllerArtanim _mocapControllerArtanim;
 
+    private float timer = 0f;
+    private float waitTime = 3f;
+    private bool waitStarted;
+
+    private float x = 0;
+    private float y = 100;
+
     void Awake()
     {
 		if (RequestCamera && CameraTarget != null)
@@ -157,6 +165,12 @@ public class RagDollAgent : Agent
         if (ignorActions)
             vectorAction = vectorAction.Select(x=>0f).ToArray();
 		int i = 0;
+
+        var scale = 1f;
+
+        x += Time.fixedDeltaTime * scale;
+        y += Time.fixedDeltaTime * scale;
+       
 		foreach (var m in _motors)
 		{
             if (m.isRoot)
@@ -165,12 +179,36 @@ public class RagDollAgent : Agent
                 continue;
             Vector3 targetNormalizedRotation = Vector3.zero;
 
-			if (m.twistLock == ArticulationDofLock.LimitedMotion)
-				targetNormalizedRotation.x = vectorAction[i++];
-            if (m.swingYLock == ArticulationDofLock.LimitedMotion)
-				targetNormalizedRotation.y = vectorAction[i++];
-            if (m.swingZLock == ArticulationDofLock.LimitedMotion)
-				targetNormalizedRotation.z = vectorAction[i++];
+			if (m.twistLock == ArticulationDofLock.LimitedMotion && !waitStarted)
+            {
+                targetNormalizedRotation.x = vectorAction[i++];
+            }
+            else
+            {
+                var offset = 7.5f;
+                targetNormalizedRotation.x = (Mathf.PerlinNoise(x + offset, y + offset) * 2) - 1; ;
+            }
+
+            if (m.swingYLock == ArticulationDofLock.LimitedMotion && !waitStarted)
+            {
+                targetNormalizedRotation.y = vectorAction[i++];
+            }
+            else
+            {
+                var offset = 5f;
+                targetNormalizedRotation.y = (Mathf.PerlinNoise(x + offset, y + offset) * 2) - 1; ;
+            }
+
+            if (m.swingZLock == ArticulationDofLock.LimitedMotion && !waitStarted)
+            {
+                targetNormalizedRotation.z = vectorAction[i++];
+            } 
+            else
+            {
+                var offset = 22.3f;
+                targetNormalizedRotation.z = (Mathf.PerlinNoise(x + offset, y + offset) * 2) - 1; ;
+            }
+				
             UpdateMotor(m, targetNormalizedRotation);
         }
         _dReConObservations.PreviousActions = vectorAction;
@@ -182,7 +220,23 @@ public class RagDollAgent : Agent
 
         {
             if (!dontResetOnZeroReward)
-                EndEpisode();
+            {
+                if (!waitStarted)
+                {
+                    waitStarted = true;
+                }
+
+                timer += Time.fixedDeltaTime;
+
+                if (timer >= waitTime)
+                {
+                    timer = 0;
+                    waitStarted = false;
+                    EndEpisode();
+                }
+            }
+
+                
         }
         // else if (_dReConRewards.HeadDistance > 1.5f)
         else if (_dReConRewards.Reward <= 0.1f && !dontSnapMocapToRagdoll)
@@ -194,6 +248,8 @@ public class RagDollAgent : Agent
             AddReward(-.5f);
         }
     }
+
+
     float[] GetDebugActions(float[] vectorAction)
     {
         var debugActions = new List<float>();

Assets/MarathonEnvs/Textures/ground.mat

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@@ -210,6 +224,15 @@
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ProjectSettings/EditorSettings.asset

@@ -32,7 +32,7 @@ EditorSettings:
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-  m_DisableCookiesInLightmapper: 1
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ProjectSettings/GraphicsSettings.asset

@@ -3,7 +3,7 @@
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@@ -13,9 +13,6 @@ GraphicsSettings:
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@@ -51,6 +48,7 @@ GraphicsSettings:
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   m_LightmapKeepDynamicPlain: 1
@@ -66,5 +64,10 @@ GraphicsSettings:
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   m_LogWhenShaderIsCompiled: 0
   m_SRPDefaultSettings:
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+  m_CameraRelativeLightCulling: 0
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ProjectSettings/HDRPProjectSettings.asset

@@ -0,0 +1,29 @@
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ProjectSettings/ProjectSettings.asset

@@ -505,7 +505,10 @@ PlayerSettings:
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       m_Kind: 1
       m_SubKind: 
-  m_BuildTargetBatching: []
+  m_BuildTargetBatching:
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   m_BuildTargetGraphicsJobMode: []
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+  - m_BuildTarget: WindowsStandaloneSupport
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@@ -529,7 +535,11 @@ PlayerSettings:
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   m_BuildTargetGroupLightmapEncodingQuality:
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-    m_EncodingQuality: 1
+    m_EncodingQuality: 2
+  - m_BuildTarget: Standalone
+    m_EncodingQuality: 2
+  - m_BuildTarget: Windows Store Apps
+    m_EncodingQuality: 2
   m_BuildTargetGroupHDRCubemapEncodingQuality:
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ProjectSettings/QualitySettings.asset

@@ -6,7 +6,7 @@ QualitySettings:
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   m_CurrentQuality: 2
   m_QualitySettings:
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     softVegetation: 0
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+    terrainTreeDistance: 5000
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     realtimeReflectionProbes: 0
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+    terrainTreeDistance: 5000
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+    terrainMaxTrees: 50
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-    Lumin: 2
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     GameCoreXboxOne: 2
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     PS5: 2

ProjectSettings/VFXManager.asset

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