Updated to have relative path to the Desktop

.gitignore

@@ -78,7 +78,8 @@ crashlytics-build.properties
 .LSOverride
 
 # Icon must end with two \r
-Icon
+Icon
+
 
 # Thumbnails
 ._*
@@ -98,3 +99,21 @@ Icon
 Network Trash Folder
 Temporary Items
 .apdisk
+
+# Never ignore DLLs in the FMOD subfolder.
+!/[Aa]ssets/Plugins/FMOD/**/lib/*
+
+# Don't ignore images and gizmos used by FMOD in the Unity Editor.
+!/[Aa]ssets/Gizmos/FMOD/*
+!/[Aa]ssets/Editor Default Resources/FMOD/*
+
+# Ignore the Cache folder since it is updated locally.
+/[Aa]ssets/Plugins/FMOD/Cache/*
+
+# Ignore bank files in the StreamingAssets folder.
+/[Aa]ssets/StreamingAssets/**/*.bank
+/[Aa]ssets/StreamingAssets/**/*.bank.meta
+
+# If the source bank files are kept outside of the StreamingAssets folder then these can be ignored.
+# Log files can be ignored.
+fmod_editor.log

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+        "**/*.unity":true,
+        "build/":true,
+        "Build/":true,
+        "Library/":true,
+        "library/":true,
+        "obj/":true,
+        "Obj/":true,
+        "ProjectSettings/":true,
+        "temp/":true,
+        "Temp/":true
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+	"dotnet.preferCSharpExtension": true
+}

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

@@ -11,6 +11,7 @@ public class DReConRewards : MonoBehaviour
     [Header("Reward")]
     public float SumOfSubRewards;
     public float Reward;
+    public float m_CumulativeReward;
 
     [Header("Position Reward")]
     public float SumOfDistances;
@@ -72,6 +73,10 @@ public class DReConRewards : MonoBehaviour
 
     public string targetedRootName = "articulation:Hips";
 
+    // Unity Events //
+    public delegate void onUpdateStatDelegate(float value, int statIndex);
+    public static onUpdateStatDelegate m_UpdateStat;
+
 
     public void OnAgentInitialize()
     {
@@ -189,10 +194,17 @@ public class DReConRewards : MonoBehaviour
         // reward
         SumOfSubRewards = PositionReward+ComReward+PointsVelocityReward+LocalPoseReward;
         Reward = DistanceFactor*SumOfSubRewards;
+
+        m_CumulativeReward += Reward;
+        m_UpdateStat?.Invoke(m_CumulativeReward/10f, 0);
+        //m_UpdateStat?.Invoke(LocalPoseReward, 1);
+        //m_UpdateStat?.Invoke(PointsVelocityReward, 2);
+        //m_UpdateStat?.Invoke(PositionReward, 3);
         // Reward = (DirectionFactor*SumOfSubRewards) * DistanceFactor;
     }
     public void OnReset()
     {
+        m_CumulativeReward = 0f;
         Assert.IsTrue(_hasLazyInitialized);
        
         _mocapBodyStats.OnReset();

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

@@ -67,6 +67,12 @@ public class RagDollAgent : Agent
     public LayerMask m_ExcludeLayer;
     public LayerMask m_Temp;
 
+    public delegate void OnMoveToNextModelDelegate();
+    public static OnMoveToNextModelDelegate m_MoveToNextModel;
+
+    public delegate void OnAgentFailDelegate();
+    public static OnAgentFailDelegate m_AgentFail;
+
     void Awake()
     {
 		if (RequestCamera && CameraTarget != null)
@@ -220,7 +226,8 @@ public class RagDollAgent : Agent
         AddReward(_dReConRewards.Reward);
 
         // if (_dReConRewards.HeadHeightDistance > 0.5f || _dReConRewards.Reward < 1f)
-        if (_dReConRewards.HeadHeightDistance > 0.5f || _dReConRewards.Reward <= 0f)
+        
+        if (_dReConRewards.HeadHeightDistance > 0.75f) //|| _dReConRewards.Reward <= 0f)
 
         {
             if (!dontResetOnZeroReward)
@@ -235,15 +242,19 @@ public class RagDollAgent : Agent
                         m_Temp = m_TerrainCollider.excludeLayers;
                         m_TerrainCollider.excludeLayers = m_ExcludeLayer;
                     }
+                    m_AgentFail?.Invoke();
                 }
 
                 timer += Time.fixedDeltaTime;
 
+                
+
                 if (timer >= waitTime)
                 {
                     timer = 0;
                     waitStarted = false;
                     m_TerrainCollider.excludeLayers = m_Temp;
+                    m_MoveToNextModel?.Invoke();
                     EndEpisode();
                 }
             }

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

@@ -36,7 +36,8 @@ public class SensorObservations : MonoBehaviour, IOnSensorCollision
 			SensorIsInTouch[idx] = 1f;
 		}
 	}
-	public void OnSensorCollisionExit(Collider sensorCollider, GameObject other)
+
+    public void OnSensorCollisionExit(Collider sensorCollider, GameObject other)
 	{
 		//if (string.Compare(other.gameObject.name, "Terrain", true) !=0)
 		if (other.layer != LayerMask.NameToLayer("Ground"))
@@ -48,4 +49,5 @@ public class SensorObservations : MonoBehaviour, IOnSensorCollision
 			SensorIsInTouch[idx] = 0f;
 		}
 	}   
+
 }

Assets/3_MarathonEnvs/Scripts/Shared/IOnSensorCollision.cs

@@ -5,7 +5,6 @@ namespace Unity.MLAgents
     public interface IOnSensorCollision
     {
          void OnSensorCollisionEnter(Collider sensorCollider, GameObject other);
-         void OnSensorCollisionExit(Collider sensorCollider, GameObject other);
-
+        void OnSensorCollisionExit(Collider sensorCollider, GameObject other);
     }
 }

Assets/3_MarathonEnvs/Scripts/Shared/InputController.cs

@@ -27,6 +27,7 @@ public class InputController : MonoBehaviour
     public Vector3 HorizontalDirection; // Normalized vector in direction of travel (assume right angle to floor)
     public bool UseHumanInput = true;
     public bool DemoMockIfNoInput = true; // Demo mock mode if no human input
+	public bool m_IsTraining = false;
 
     float _delayUntilNextAction;
     float _timeUnillDemo;
@@ -39,7 +40,8 @@ public class InputController : MonoBehaviour
     // Start is called before the first frame update
     void Awake()
     {
-        UseHumanInput = !Academy.Instance.IsCommunicatorOn;
+		if(m_IsTraining)
+        	UseHumanInput = !Academy.Instance.IsCommunicatorOn;
         _timeUnillDemo = 1f;
     }
 

Assets/3_MarathonEnvs/Scripts/Shared/SensorBehavior.cs

@@ -21,7 +21,9 @@ namespace Unity.MLAgents
             if (_marathonAgent != null)
                 _marathonAgent.SensorCollisionEnter(_collider, other);
             if (_onSensorCollision != null)
+            {
                 _onSensorCollision.OnSensorCollisionEnter(_collider, other.gameObject);
+            }
         }
 
         void OnCollisionExit(Collision other)
@@ -35,7 +37,11 @@ namespace Unity.MLAgents
         void OnTriggerEnter(Collider other)
         {
             if (_onSensorCollision != null)
+            {
                 _onSensorCollision.OnSensorCollisionEnter(_collider, other.gameObject);
+                
+            }
+                
         }
         void OnTriggerExit(Collider other)
         {
@@ -46,6 +52,17 @@ namespace Unity.MLAgents
         {
             if (_onSensorCollision != null)
                 _onSensorCollision.OnSensorCollisionEnter(_collider, other.gameObject);
-        }        
+        }
+
+        void FootCheck(Collision sensor)
+        {
+            Debug.Log($"{sensor}");
+            if (sensor.gameObject.name == "right_foot_heal_senor_l" || sensor.gameObject.name == "left_foot_heal_senor_l")
+            {
+                float collision = sensor.relativeVelocity.magnitude;
+                Debug.Log($"{collision}");
+            }
+
+        }
     }
 }

Assets/3_MarathonEnvs/Textures/ground.mat

@@ -13,11 +13,12 @@ Material:
   m_ModifiedSerializedProperties: 0
   m_ValidKeywords:
   - _DISABLE_SSR_TRANSPARENT
+  - _DOUBLESIDED_ON
   - _NORMALMAP_TANGENT_SPACE
   m_InvalidKeywords: []
   m_LightmapFlags: 4
   m_EnableInstancingVariants: 0
-  m_DoubleSidedGI: 0
+  m_DoubleSidedGI: 1
   m_CustomRenderQueue: 2225
   stringTagMap:
     MotionVector: User
@@ -163,8 +164,8 @@ Material:
     - _BlendMode: 0
     - _CoatMask: 0
     - _ConservativeDepthOffsetEnable: 0
-    - _CullMode: 2
-    - _CullModeForward: 2
+    - _CullMode: 0
+    - _CullModeForward: 0
     - _Cutoff: 0.5
     - _DepthOffsetEnable: 0
     - _DetailAlbedoScale: 1
@@ -175,7 +176,7 @@ Material:
     - _DisplacementLockObjectScale: 1
     - _DisplacementLockTilingScale: 1
     - _DisplacementMode: 0
-    - _DoubleSidedEnable: 0
+    - _DoubleSidedEnable: 1
     - _DoubleSidedGIMode: 0
     - _DoubleSidedNormalMode: 1
     - _DstBlend: 0

Assets/4_Settings/5_HDRPDefaultResources/HDRenderPipelineGlobalSettings.asset

@@ -12,7 +12,7 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 781cc897cf8675041a751163b51f97dd, type: 3}
   m_Name: HDRenderPipelineGlobalSettings
   m_EditorClassIdentifier: 
-  m_DefaultVolumeProfile: {fileID: 11400000, guid: d736a87a0d8280e40b53f93139dd4142,
+  m_DefaultVolumeProfile: {fileID: 11400000, guid: cabfbfbafb32c0142a37f923cee7926f,
     type: 2}
   m_LookDevVolumeProfile: {fileID: 11400000, guid: 6098e00131492f941925f4fe84fbdbaf,
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Assets/5_Scenes/DreconDemo/HDRP Base.asset

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