cameras added & endepisode altered for actuations and waitime
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using UnityEngine.Assertions;
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using System;
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using Unity.Mathematics;
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public class RagDollAgent : Agent
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{
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@@ -55,6 +56,13 @@ public class RagDollAgent : Agent
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bool _hasAwake = false;
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MocapControllerArtanim _mocapControllerArtanim;
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private float waitTime = 3f;
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private bool waitStarted;
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void Awake()
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{
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@@ -157,6 +165,12 @@ public class RagDollAgent : Agent
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if (ignorActions)
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vectorAction = vectorAction.Select(x=>0f).ToArray();
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int i = 0;
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x += Time.fixedDeltaTime * scale;
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y += Time.fixedDeltaTime * scale;
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foreach (var m in _motors)
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{
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if (m.isRoot)
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@@ -165,12 +179,36 @@ public class RagDollAgent : Agent
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continue;
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Vector3 targetNormalizedRotation = Vector3.zero;
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if (m.twistLock == ArticulationDofLock.LimitedMotion)
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if (m.swingZLock == ArticulationDofLock.LimitedMotion)
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if (m.twistLock == ArticulationDofLock.LimitedMotion && !waitStarted)
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{
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targetNormalizedRotation.x = vectorAction[i++];
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}
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else
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{
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var offset = 7.5f;
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}
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if (m.swingYLock == ArticulationDofLock.LimitedMotion && !waitStarted)
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{
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targetNormalizedRotation.y = vectorAction[i++];
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}
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else
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{
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var offset = 5f;
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targetNormalizedRotation.y = (Mathf.PerlinNoise(x + offset, y + offset) * 2) - 1; ;
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}
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if (m.swingZLock == ArticulationDofLock.LimitedMotion && !waitStarted)
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{
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targetNormalizedRotation.z = vectorAction[i++];
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}
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else
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{
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var offset = 22.3f;
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targetNormalizedRotation.z = (Mathf.PerlinNoise(x + offset, y + offset) * 2) - 1; ;
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}
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UpdateMotor(m, targetNormalizedRotation);
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}
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_dReConObservations.PreviousActions = vectorAction;
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@@ -182,7 +220,23 @@ public class RagDollAgent : Agent
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{
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if (!dontResetOnZeroReward)
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EndEpisode();
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{
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if (!waitStarted)
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{
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waitStarted = true;
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}
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timer += Time.fixedDeltaTime;
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if (timer >= waitTime)
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{
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timer = 0;
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EndEpisode();
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else if (_dReConRewards.Reward <= 0.1f && !dontSnapMocapToRagdoll)
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@@ -194,6 +248,8 @@ public class RagDollAgent : Agent
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AddReward(-.5f);
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}
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}
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float[] GetDebugActions(float[] vectorAction)
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{
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276
Assets/MarathonEnvs/Textures/ground.mat
generated
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276
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generated
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8
Assets/MarathonEnvs/Textures/ground.mat.meta
generated
Normal file
8
Assets/MarathonEnvs/Textures/ground.mat.meta
generated
Normal file
@@ -0,0 +1,8 @@
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Reference in New Issue
Block a user