Browse Source

cameras added & endepisode altered for actuations and waitime

master
Cailean Finn 9 months ago
parent
commit
5a566fb98a
  1. 8
      Assets/HDRPDefaultResources.meta
  2. 259
      Assets/HDRPDefaultResources/DefaultLookDevProfile.asset
  3. 2
      Assets/HDRPDefaultResources/DefaultLookDevProfile.asset.meta
  4. 740
      Assets/HDRPDefaultResources/DefaultSettingsVolumeProfile.asset
  5. 8
      Assets/HDRPDefaultResources/DefaultSettingsVolumeProfile.asset.meta
  6. 494
      Assets/HDRPDefaultResources/HDRenderPipelineAsset.asset
  7. 8
      Assets/HDRPDefaultResources/HDRenderPipelineAsset.asset.meta
  8. 106
      Assets/HDRPDefaultResources/HDRenderPipelineGlobalSettings 1.asset
  9. 8
      Assets/HDRPDefaultResources/HDRenderPipelineGlobalSettings 1.asset.meta
  10. 107
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  11. 8
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  12. 2
      Assets/ML-Agents/Timers/DreconDemo_timers.json
  13. 235
      Assets/MarathonEnvs/Agents/Characters/MarathonMan004/BlueJoints.mat
  14. 235
      Assets/MarathonEnvs/Agents/Characters/MarathonMan004/BlueSurface.mat
  15. 62
      Assets/MarathonEnvs/Scripts/Ragdoll004/RagDollAgent.cs
  16. 276
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  17. 8
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  18. 839
      Assets/Scenes/DreconDemo.unity
  19. 603
      Assets/Scenes/DreconDemo/HDRP.asset
  20. 8
      Assets/Scenes/DreconDemo/HDRP.asset.meta
  21. 64
      Assets/Scenes/DreconDemo/Volume Profile.asset
  22. 283
      Assets/Scenes/DreconDemo/cubemap.mat
  23. 8
      Assets/Scenes/DreconDemo/cubemap.mat.meta
  24. BIN
      Assets/Scenes/DreconDemo/industrial_sunset_puresky_1k.exr
  25. 127
      Assets/Scenes/DreconDemo/industrial_sunset_puresky_1k.exr.meta
  26. 41
      Assets/UniversalRenderPipelineGlobalSettings.asset
  27. 2
      Packages/manifest.json
  28. 29
      Packages/packages-lock.json
  29. 2
      ProjectSettings/EditorSettings.asset
  30. 13
      ProjectSettings/GraphicsSettings.asset
  31. 29
      ProjectSettings/HDRPProjectSettings.asset
  32. 14
      ProjectSettings/ProjectSettings.asset
  33. 58
      ProjectSettings/QualitySettings.asset
  34. 13
      ProjectSettings/VFXManager.asset

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m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
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m_Texture: {fileID: 0} m_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1} m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0} m_Offset: {x: 0, y: 0}
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m_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
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m_Texture: {fileID: 0} m_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1} m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0} 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_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
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m_Texture: {fileID: 0} m_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1} m_Scale: {x: 1, y: 1}
@ -81,6 +139,34 @@ Material:
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m_Scale: {x: 1, y: 1} m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0} m_Offset: {x: 0, y: 0}
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m_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
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m_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
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m_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
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m_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
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m_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
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m_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
- _TransmittanceColorMap:
m_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1}
m_Offset: {x: 0, y: 0}
- unity_Lightmaps: - unity_Lightmaps:
m_Texture: {fileID: 0} m_Texture: {fileID: 0}
m_Scale: {x: 1, y: 1} m_Scale: {x: 1, y: 1}
@ -95,41 +181,176 @@ Material:
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62
Assets/MarathonEnvs/Scripts/Ragdoll004/RagDollAgent.cs

@ -9,6 +9,7 @@ using ManyWorlds;
using UnityEngine.Assertions; using UnityEngine.Assertions;
using System; using System;
using Unity.Mathematics;
public class RagDollAgent : Agent public class RagDollAgent : Agent
{ {
@ -55,6 +56,13 @@ public class RagDollAgent : Agent
bool _hasAwake = false; bool _hasAwake = false;
MocapControllerArtanim _mocapControllerArtanim; MocapControllerArtanim _mocapControllerArtanim;
private float timer = 0f;
private float waitTime = 3f;
private bool waitStarted;
private float x = 0;
private float y = 100;
void Awake() void Awake()
{ {
if (RequestCamera && CameraTarget != null) if (RequestCamera && CameraTarget != null)
@ -157,6 +165,12 @@ public class RagDollAgent : Agent
if (ignorActions) if (ignorActions)
vectorAction = vectorAction.Select(x=>0f).ToArray(); vectorAction = vectorAction.Select(x=>0f).ToArray();
int i = 0; int i = 0;
var scale = 1f;
x += Time.fixedDeltaTime * scale;
y += Time.fixedDeltaTime * scale;
foreach (var m in _motors) foreach (var m in _motors)
{ {
if (m.isRoot) if (m.isRoot)
@ -165,12 +179,36 @@ public class RagDollAgent : Agent
continue; continue;
Vector3 targetNormalizedRotation = Vector3.zero; Vector3 targetNormalizedRotation = Vector3.zero;
if (m.twistLock == ArticulationDofLock.LimitedMotion) if (m.twistLock == ArticulationDofLock.LimitedMotion && !waitStarted)
{
targetNormalizedRotation.x = vectorAction[i++]; targetNormalizedRotation.x = vectorAction[i++];
if (m.swingYLock == ArticulationDofLock.LimitedMotion) }
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++]; targetNormalizedRotation.y = vectorAction[i++];
if (m.swingZLock == ArticulationDofLock.LimitedMotion) }
else
{
var offset = 5f;
targetNormalizedRotation.y = (Mathf.PerlinNoise(x + offset, y + offset) * 2) - 1; ;
}
if (m.swingZLock == ArticulationDofLock.LimitedMotion && !waitStarted)
{
targetNormalizedRotation.z = vectorAction[i++]; targetNormalizedRotation.z = vectorAction[i++];
}
else
{
var offset = 22.3f;
targetNormalizedRotation.z = (Mathf.PerlinNoise(x + offset, y + offset) * 2) - 1; ;
}
UpdateMotor(m, targetNormalizedRotation); UpdateMotor(m, targetNormalizedRotation);
} }
_dReConObservations.PreviousActions = vectorAction; _dReConObservations.PreviousActions = vectorAction;
@ -182,8 +220,24 @@ public class RagDollAgent : Agent
{ {
if (!dontResetOnZeroReward) if (!dontResetOnZeroReward)
{
if (!waitStarted)
{
waitStarted = true;
}
timer += Time.fixedDeltaTime;
if (timer >= waitTime)
{
timer = 0;
waitStarted = false;
EndEpisode(); EndEpisode();
} }
}
}
// else if (_dReConRewards.HeadDistance > 1.5f) // else if (_dReConRewards.HeadDistance > 1.5f)
else if (_dReConRewards.Reward <= 0.1f && !dontSnapMocapToRagdoll) else if (_dReConRewards.Reward <= 0.1f && !dontSnapMocapToRagdoll)
{ {
@ -194,6 +248,8 @@ public class RagDollAgent : Agent
AddReward(-.5f); AddReward(-.5f);
} }
} }
float[] GetDebugActions(float[] vectorAction) float[] GetDebugActions(float[] vectorAction)
{ {
var debugActions = new List<float>(); var debugActions = new List<float>();

276
Assets/MarathonEnvs/Textures/ground.mat

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