model swap manager added

Assets/3_MarathonEnvs/Scripts/Ragdoll004/RagDollAgent.cs

@@ -67,6 +67,9 @@ public class RagDollAgent : Agent
     public LayerMask m_ExcludeLayer;
     public LayerMask m_Temp;
 
+    public delegate void OnMoveToNextModelDelegate();
+    public static OnMoveToNextModelDelegate m_MoveToNextModel;
+
     void Awake()
     {
 		if (RequestCamera && CameraTarget != null)
@@ -244,6 +247,7 @@ public class RagDollAgent : Agent
                     timer = 0;
                     waitStarted = false;
                     m_TerrainCollider.excludeLayers = m_Temp;
+                    m_MoveToNextModel?.Invoke();
                     EndEpisode();
                 }
             }

Assets/5_Scenes/DreconDemo.unity

@@ -594,7 +594,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 153031623}
   serializedVersion: 2
-  m_LocalRotation: {x: -0.000010761081, y: 0.9982297, z: 0.059476666, w: -0.000077618104}
+  m_LocalRotation: {x: -0.00001076108, y: 0.9982297, z: 0.059476666, w: -0.000077618104}
   m_LocalPosition: {x: 18.101631, y: 8.540332, z: 4.4995093}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
@@ -918,7 +918,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 320225263}
   serializedVersion: 2
-  m_LocalRotation: {x: 0.38916236, y: 0.5932106, z: -0.58294636, w: 0.39601454}
+  m_LocalRotation: {x: 0.38916615, y: 0.59320796, z: -0.58294386, w: 0.3960183}
   m_LocalPosition: {x: 17.78, y: 21.78, z: 3.06}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
@@ -1000,7 +1000,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 326736459}
   serializedVersion: 2
-  m_LocalRotation: {x: -0.07396109, y: 0.9066138, z: 0.17882524, w: 0.37497023}
+  m_LocalRotation: {x: -0.073961094, y: 0.9066138, z: 0.17882526, w: 0.3749702}
   m_LocalPosition: {x: 17.7008, y: 8.655965, z: -0.081218004}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
@@ -1188,11 +1188,11 @@ Camera:
     y: 0
     width: 1
     height: 1
-  near clip plane: 0.01
+  near clip plane: 0.1
   far clip plane: 5000
-  field of view: 31.1
-  orthographic: 0
-  orthographic size: 0.53
+  field of view: 40
+  orthographic: 1
+  orthographic size: -0.34
   m_Depth: -1
   m_CullingMask:
     serializedVersion: 2
@@ -1216,8 +1216,8 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 330585543}
   serializedVersion: 2
-  m_LocalRotation: {x: -0.254152, y: 0.69070727, z: -0.6135771, w: -0.28610036}
-  m_LocalPosition: {x: 22.891924, y: 9.244215, z: 4.6990404}
+  m_LocalRotation: {x: 0.38916615, y: 0.59320796, z: -0.58294386, w: 0.3960183}
+  m_LocalPosition: {x: 17.78, y: 21.78, z: 3.06}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
@@ -2196,6 +2196,7 @@ MonoBehaviour:
   - {fileID: 45273097}
   - {fileID: 446294241}
   - {fileID: 405810719}
+  m_ModelNameText: {fileID: 1261636063}
 --- !u!4 &635122736 stripped
 Transform:
   m_CorrespondingSourceObject: {fileID: 7722778103894512693, guid: 248e74dcdf41731459e829be7f230e47,
@@ -3905,7 +3906,7 @@ RectTransform:
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
   m_AnchorMin: {x: 0.5, y: 0.5}
   m_AnchorMax: {x: 0.5, y: 0.5}
-  m_AnchoredPosition: {x: 75.5, y: 916.7}
+  m_AnchoredPosition: {x: 808.4, y: 916.7}
   m_SizeDelta: {x: 1800, y: 0}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &1261636063
@@ -3928,7 +3929,7 @@ MonoBehaviour:
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
-  m_text: 0
+  m_text: 500,000
   m_isRightToLeft: 0
   m_fontAsset: {fileID: 11400000, guid: e43a431f01118124d8d1cf15a46635c3, type: 2}
   m_sharedMaterial: {fileID: -966069743490610113, guid: e43a431f01118124d8d1cf15a46635c3,
@@ -7975,6 +7976,7 @@ GameObject:
   - component: {fileID: 4153003204276630831}
   - component: {fileID: 3541975130338892481}
   - component: {fileID: 7412007325377876319}
+  - component: {fileID: 7412007325377876320}
   m_Layer: 6
   m_Name: MarathonMan004
   m_TagString: Untagged
@@ -13142,6 +13144,22 @@ MonoBehaviour:
   info2store: {fileID: 0}
   debugWithLargestROM: 0
   extraoffset: 10
+--- !u!114 &7412007325377876320
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1973854533754064255}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: af36152b9449197449b578448c25b741, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  m_ModelName: 
+  m_InitialModel: {fileID: 5022602860645237092, guid: 0e791689cf0300c4fbe8be76f09fccff,
+    type: 3}
+  m_DirectoryPath: '../nnmodels '
 --- !u!4 &7431187848490878806
 Transform:
   m_ObjectHideFlags: 0

Assets/8_Scripts/1_Managers/Model Manager.cs

@@ -1,5 +1,9 @@
+using System;
 using System.Collections;
 using System.Collections.Generic;
+using System.IO;
+using Unity.Barracuda;
+using Unity.Barracuda.ONNX;
 using Unity.MLAgents.Policies;
 using UnityEngine;
 
@@ -8,22 +12,96 @@ public class ModelManager : MonoBehaviour
     [SerializeField]
     public string m_ModelName;
 
+    [Header("Model Settings")]
+    public NNModel m_InitialModel;
+    public string m_DirectoryPath;
+
+    private List<NNModel> m_ModelList = new List<NNModel>();
+    private int m_CurrentModel = 0;
+
     private BehaviorParameters m_Parameters;
+    private RagDollAgent m_Agent;
 
     // Unity Events //
-    public delegate void onUpdateModelNameDelegate(string modelName);
+    public delegate void onUpdateModelNameDelegate(float modelName);
     public static onUpdateModelNameDelegate m_UpdateModelName;
     private void OnEnable()
     {
+        RagDollAgent.m_MoveToNextModel += SwapModel;
         m_Parameters = GetComponent<BehaviorParameters>();
+        m_Agent = GetComponent<RagDollAgent>();
+    }
+
+    private void OnDisable()
+    {
+        RagDollAgent.m_MoveToNextModel -= SwapModel;
+    }
+
+    private void Start()
+    {
+        LoadLocalModels();
+        SetModel(m_ModelList[m_CurrentModel]);
+    }
+
+    private void SwapModel()
+    {
+        m_CurrentModel++;
+        if (m_CurrentModel >= m_ModelList.Count)
+            m_CurrentModel = 0;
+        SetModel(m_ModelList[m_CurrentModel]);
+    }
+
+    private void SetModel(NNModel model)
+    {
+        m_Agent.SetModel("DReCon-v0", model, InferenceDevice.Burst);
+        UpdateModelName();
+    }
+
+    private void LoadLocalModels()
+    {
+        DirectoryInfo dirInfo = new DirectoryInfo(Path.Combine(Application.dataPath, m_DirectoryPath));
+        FileInfo[] nnList = dirInfo.GetFiles("*.onnx");
+        // Sort files by filename (assuming filenames are numeric)
+        Array.Sort(nnList, (x, y) => {
+            int num1 = int.Parse(Path.GetFileNameWithoutExtension(x.Name));
+            int num2 = int.Parse(Path.GetFileNameWithoutExtension(y.Name));
+            return num1.CompareTo(num2);
+        });
+
+        ConvertNNModels(nnList);
+    }
+
+    private void ConvertNNModels(FileInfo[] nnList)
+    {
+        foreach (FileInfo element in nnList)
+        {
+            
+            var converter = new ONNXModelConverter(true);
+            byte[] modelData = File.ReadAllBytes(element.FullName.ToString());
+            Model model = converter.Convert(modelData);
+            NNModelData modelD = ScriptableObject.CreateInstance<NNModelData>();
+            using (var memoryStream = new MemoryStream())
+            using (var writer = new BinaryWriter(memoryStream))
+            {
+                ModelWriter.Save(writer, model);
+                modelD.Value = memoryStream.ToArray();
+            }
+            modelD.name = "Data";
+            modelD.hideFlags = HideFlags.HideInHierarchy;
+            NNModel result = ScriptableObject.CreateInstance<NNModel>();
+            result.modelData = modelD;
+            result.name = element.Name;
+            // Add Model to Model List
+            m_ModelList.Add(result);
+        }
     }
 
-    private void FixedUpdate()
+    private void UpdateModelName()
     {
         if (m_Parameters != null)
         {
-            m_ModelName = m_Parameters.Model.name;
-            m_UpdateModelName?.Invoke(m_ModelName);
+            m_ModelName = Path.GetFileNameWithoutExtension(m_Parameters.Model.name);
+            m_UpdateModelName?.Invoke(float.Parse(m_ModelName));
         }
     }
 }

Assets/8_Scripts/1_Managers/UIManager.cs

@@ -34,11 +34,11 @@ public class UIManager : MonoBehaviour
         }
     }
 
-    private void UpdateModelName(string modelName)
+    private void UpdateModelName(float modelName)
     {
         if( m_ModelNameText != null )
         {
-            m_ModelNameText.text = modelName;
+            m_ModelNameText.text = modelName.ToString("N0");
         }
     }
 }

Assets/ML-Agents/Timers/DreconDemo_timers.json

@@ -1 +1 @@
-{"count":1,"self":69.959808,"total":71.912097899999992,"children":{"InitializeActuators":{"count":1,"self":0.0009989,"total":0.0009989,"children":null},"InitializeSensors":{"count":1,"self":0.0010052,"total":0.0010052,"children":null},"AgentSendState":{"count":3942,"self":0.0166721,"total":0.4865961,"children":{"CollectObservations":{"count":1971,"self":0.45088469999999997,"total":0.45088469999999997,"children":null},"WriteActionMask":{"count":1971,"self":0.0030042999999999997,"total":0.0030042999999999997,"children":null},"RequestDecision":{"count":1971,"self":0.016035,"total":0.016035,"children":null}}},"DecideAction":{"count":3942,"self":0.8178881,"total":0.8178881,"children":null},"AgentAct":{"count":3942,"self":0.64580149999999992,"total":0.64580149999999992,"children":null}},"gauges":{"DReCon-v0.CumulativeReward":{"count":2,"max":247.057678,"min":79.2546539,"runningAverage":163.156158,"value":247.057678,"weightedAverage":121.205414}},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1714389274","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\\Projects\\24_3-Moloch\\2_Unity\\Expeirments\\Drecon2022 -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-caile -hubSessionId 9b433f92-5c93-446a-923f-743ea7173ebf -accessToken EpS5BrO4ecWgDnIKinrxODUmKDNMMpqYHpQjzvf9aho005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"DreconDemo","end_time_seconds":"1714389346"}}
+{"count":1,"self":57.1685376,"total":58.9029435,"children":{"InitializeActuators":{"count":1,"self":0.0009961,"total":0.0009961,"children":null},"InitializeSensors":{"count":1,"self":0.0015038,"total":0.0015038,"children":null},"AgentSendState":{"count":3077,"self":0.0150424,"total":0.5569085,"children":{"CollectObservations":{"count":1539,"self":0.3906794,"total":0.3906794,"children":null},"WriteActionMask":{"count":1539,"self":0.0039163,"total":0.0039163,"children":null},"RequestDecision":{"count":1539,"self":0.1472704,"total":0.1472704,"children":null}}},"DecideAction":{"count":3077,"self":0.64407969999999992,"total":0.64407969999999992,"children":null},"AgentAct":{"count":3077,"self":0.5309171,"total":0.5309171,"children":null}},"gauges":{},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1714393193","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\\Projects\\24_3-Moloch\\2_Unity\\Expeirments\\Drecon2022 -useHub -hubIPC -cloudEnvironment production -licensingIpc LicenseClient-caile -hubSessionId 9b433f92-5c93-446a-923f-743ea7173ebf -accessToken EpS5BrO4ecWgDnIKinrxODUmKDNMMpqYHpQjzvf9aho005f","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.0.1","scene_name":"DreconDemo","end_time_seconds":"1714393252"}}