public void OnAwake(Transform defaultTransform, DReConRewardStats orderToCopy = null)
{
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
_articulationBodyParts = ObjectToTrack
.GetComponentsInChildren <ArticulationBody>()
.Distinct()
.ToList();
_rigidbodyParts = ObjectToTrack
.GetComponentsInChildren <Rigidbody>()
.Distinct()
.ToList();
if (_rigidbodyParts?.Count > 0)
{
_bodyParts = _rigidbodyParts.Select(x => x.gameObject).ToList();
}
else
{
_bodyParts = _articulationBodyParts.Select(x => x.gameObject).ToList();
}
_trackRotations = _bodyParts
.SelectMany(x => x.GetComponentsInChildren <Transform>())
.Select(x => x.gameObject)
.Distinct()
.Where(x => x.GetComponent <Rigidbody>() != null || x.GetComponent <ArticulationBody>() != null)
.ToList();
_capsuleColliders = _bodyParts
.SelectMany(x => x.GetComponentsInChildren <CapsuleCollider>())
.Distinct()
.ToList();
if (orderToCopy != null)
{
_bodyParts = orderToCopy._bodyParts
.Select(x => _bodyParts.First(y => y.name == x.name))
.ToList();
_trackRotations = orderToCopy._trackRotations
.Select(x => _trackRotations.First(y => y.name == x.name))
.ToList();
_capsuleColliders = orderToCopy._capsuleColliders
.Select(x => _capsuleColliders.First(y => y.name == x.name))
.ToList();
}
Points = Enumerable.Range(0, _capsuleColliders.Count * 6)
.Select(x => Vector3.zero)
.ToArray();
_lastPoints = Enumerable.Range(0, _capsuleColliders.Count * 6)
.Select(x => Vector3.zero)
.ToArray();
PointVelocity = Enumerable.Range(0, _capsuleColliders.Count * 6)
.Select(x => Vector3.zero)
.ToArray();
Rotations = Enumerable.Range(0, _trackRotations.Count)
.Select(x => Quaternion.identity)
.ToList();
if (_root == null)
{
_root = _bodyParts.First(x => x.name == "butt");
}
transform.position = defaultTransform.position;
transform.rotation = defaultTransform.rotation;
}
public override void AgentReset()
{
if (!_hasLazyInitialized)
{
_bodyManager = GetComponent <BodyManager002>();
_bodyManager.BodyConfig = MarathonManAgent.BodyConfig;
_bodyManager.OnInitializeAgent();
_hasLazyInitialized = true;
}
if (_bodyManager == null)
{
_bodyManager = GetComponent <BodyManager002>();
}
_bodyManager.OnAgentReset();
if (_terrainGenerator == null)
{
_terrainGenerator = GetComponent <TerrainGenerator>();
}
if (_spawnableEnv == null)
{
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
}
_terrainGenerator.Reset();
lastXPosInMeters = (int)
_bodyManager.GetBodyParts(BodyPartGroup.Foot)
.Average(x => x.Transform.position.x);
_pain = 0f;
}
void Awake()
{
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
Assert.IsNotNull(_spawnableEnv);
_mocap = _spawnableEnv.GetComponentInChildren <MocapController>().gameObject;
_ragDoll = _spawnableEnv.GetComponentInChildren <RagDollAgent>().gameObject;
Assert.IsNotNull(_mocap);
Assert.IsNotNull(_ragDoll);
_inputController = _spawnableEnv.GetComponentInChildren <InputController>();
// _mocapBodyParts = _mocap.GetComponentsInChildren<ArticulationBody>().ToList();
// _ragDollBodyParts = _ragDoll.GetComponentsInChildren<ArticulationBody>().ToList();
// Assert.AreEqual(_mocapBodyParts.Count, _ragDollBodyParts.Count);
_mocapHead = _mocap
.GetComponentsInChildren <Transform>()
.First(x => x.name == "head");
_ragDollHead = _ragDoll
.GetComponentsInChildren <Transform>()
.First(x => x.name == "head");
_mocapBodyStats = new GameObject("MocapDReConRewardStats").AddComponent <DReConRewardStats>();
var mocapController = _spawnableEnv.GetComponentInChildren <MocapController>();
_mocapBodyStats.ObjectToTrack = mocapController;
_mocapBodyStats.transform.SetParent(_spawnableEnv.transform);
_mocapBodyStats.OnAwake(_mocapBodyStats.ObjectToTrack.transform);
_ragDollBodyStats = new GameObject("RagDollDReConRewardStats").AddComponent <DReConRewardStats>();
_ragDollBodyStats.ObjectToTrack = this;
_ragDollBodyStats.transform.SetParent(_spawnableEnv.transform);
_ragDollBodyStats.OnAwake(transform, _mocapBodyStats);
_mocapBodyStats.AssertIsCompatible(_ragDollBodyStats);
}
// static ScoreHistogramData _scoreHistogramData;
// void FixedUpdate()
// {
// foreach (var muscle in Muscles)
// {
// // var i = Muscles.IndexOf(muscle);
// // muscle.UpdateObservations();
// // if (!DebugShowWithOffset && !DebugDisableMotor)
// // muscle.UpdateMotor();
// // if (!muscle.Rigidbody.useGravity)
// // continue; // skip sub joints
// // }
// }
// Start is called before the first frame update
void Start()
{
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
_terrainGenerator = GetComponentInParent <TerrainGenerator>();
SetupBody();
DistanceTraveled = float.MinValue;
}
public void OnInitializeAgent()
{
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
_terrainGenerator = GetComponentInParent <TerrainGenerator>();
SetupBody();
DistanceTraveled = float.MinValue;
}
override public void Initialize()
{
// grab access to objects
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
_gameBoard = _spawnableEnv.GetComponentInChildren <GameBoard>();
// _mocapController = _spawnableEnv.GetComponentInChildren<MocapController>();
// to do, error check the behavior paramaters
_gameBoard.InitializeBoard(Size);
}
void Awake()
{
_anim = GetComponent <Animator>();
_characterController = GetComponent <CharacterController>();
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
_inputController = _spawnableEnv.GetComponentInChildren <InputController>();
_targetDirection = Quaternion.Euler(0, 90, 0);
var ragDoll = _spawnableEnv.GetComponentInChildren <RagDollAgent>();
_layerMask = 1 << ragDoll.gameObject.layer;
_layerMask |= 1 << this.gameObject.layer;
_layerMask = ~(_layerMask);
}
public void OnAwake(List <string> bodyPartsToTrack, Transform defaultTransform)
{
_bodyPartsToTrack = bodyPartsToTrack;
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
_inputController = _spawnableEnv.GetComponentInChildren <InputController>();
_rigidbodyParts = ObjectToTrack.GetComponentsInChildren <Rigidbody>().ToList();
_articulationBodyParts = ObjectToTrack.GetComponentsInChildren <ArticulationBody>().ToList();
if (_rigidbodyParts?.Count > 0)
{
_bodyParts = _rigidbodyParts
.SelectMany(x => x.GetComponentsInChildren <Transform>())
.Distinct()
.ToList();
}
else
{
_bodyParts = _articulationBodyParts
.SelectMany(x => x.GetComponentsInChildren <Transform>())
.Distinct()
.ToList();
}
if (_bodyPartsToTrack?.Count > 0)
{
_bodyParts = _bodyPartsToTrack
.Where(x => _bodyPartsToTrack.Contains(x))
.Select(x => _bodyParts.First(y => y.name == x))
.ToList();
}
Stats = _bodyParts
.Select(x => new Stat {
Name = x.name
})
.ToList();
if (_root == null)
{
_root = _bodyParts.First(x => x.name == "butt").gameObject;
}
transform.position = defaultTransform.position;
transform.rotation = defaultTransform.rotation;
}
// Start is called before the first frame update
void Awake()
{
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
_inputController = _spawnableEnv.GetComponentInChildren <InputController>();
BodyPartDifferenceStats = BodyPartsToTrack
.Select(x => new BodyPartDifferenceStats {
Name = x
})
.ToList();
_mocapBodyStats = new GameObject("MocapDReConObservationStats").AddComponent <DReConObservationStats>();
var mocapController = _spawnableEnv.GetComponentInChildren <MocapController>();
_mocapBodyStats.ObjectToTrack = mocapController;
_mocapBodyStats.transform.SetParent(_spawnableEnv.transform);
_mocapBodyStats.OnAwake(BodyPartsToTrack, _mocapBodyStats.ObjectToTrack.transform);
_ragDollBodyStats = new GameObject("RagDollDReConObservationStats").AddComponent <DReConObservationStats>();
_ragDollBodyStats.ObjectToTrack = this;
_ragDollBodyStats.transform.SetParent(_spawnableEnv.transform);
_ragDollBodyStats.OnAwake(BodyPartsToTrack, transform);
}
public override void AgentReset()
{
if (_bodyManager == null)
{
_bodyManager = GetComponent <BodyManager002>();
}
_bodyManager.OnAgentReset();
if (_terrainGenerator == null)
{
_terrainGenerator = GetComponent <TerrainGenerator>();
}
if (_spawnableEnv == null)
{
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
}
_terrainGenerator.Reset();
lastXPosInMeters = (int)
_bodyManager.GetBodyParts(BodyPartGroup.Foot)
.Average(x => x.Transform.position.x);
_pain = 0f;
_modeRecover = false;
}
public override void AgentReset()
{
if (!_hasLazyInitialized)
{
_decisionRequester = GetComponent <DecisionRequester>();
_debugController = FindObjectOfType <MarathonTestBedController>();
Time.fixedDeltaTime = FixedDeltaTime;
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
_mocapController = _spawnableEnv.GetComponentInChildren <MocapController>();
_mocapBodyParts = _mocapController.GetComponentsInChildren <Rigidbody>().ToList();
_bodyParts = GetComponentsInChildren <ArticulationBody>().ToList();
_dReConObservations = GetComponent <DReConObservations>();
_dReConRewards = GetComponent <DReConRewards>();
var mocapController = _spawnableEnv.GetComponentInChildren <MocapController>();
_trackBodyStatesInWorldSpace = mocapController.GetComponent <TrackBodyStatesInWorldSpace>();
_ragDollSettings = GetComponent <RagDoll003>();
_inputController = _spawnableEnv.GetComponentInChildren <InputController>();
_sensorObservations = GetComponent <SensorObservations>();
foreach (var body in GetComponentsInChildren <ArticulationBody>())
{
body.solverIterations = 255;
body.solverVelocityIterations = 255;
}
_motors = GetComponentsInChildren <ArticulationBody>()
.Where(x => x.jointType == ArticulationJointType.SphericalJoint)
.Where(x => !x.isRoot)
.Distinct()
.ToList();
var individualMotors = new List <float>();
foreach (var m in _motors)
{
if (m.twistLock == ArticulationDofLock.LimitedMotion)
{
individualMotors.Add(0f);
}
if (m.swingYLock == ArticulationDofLock.LimitedMotion)
{
individualMotors.Add(0f);
}
if (m.swingZLock == ArticulationDofLock.LimitedMotion)
{
individualMotors.Add(0f);
}
}
_dReConObservations.PreviousActions = individualMotors.ToArray();
_hasLazyInitialized = true;
}
_smoothedActions = null;
debugCopyMocap = false;
_inputController.OnReset();
_mocapController.GetComponentInChildren <MocapAnimatorController>().OnReset();
var angle = Vector3.SignedAngle(Vector3.forward, _inputController.HorizontalDirection, Vector3.up);
var rotation = Quaternion.Euler(0f, angle, 0f);
_mocapController.OnReset(rotation);
_mocapController.CopyStatesTo(this.gameObject);
// _trackBodyStatesInWorldSpace.CopyStatesTo(this.gameObject);
float timeDelta = float.MinValue;
_dReConObservations.OnReset();
_dReConRewards.OnReset();
_dReConObservations.OnStep(timeDelta);
_dReConRewards.OnStep(timeDelta);
_skipRewardAfterTeleport = false;
#if UNITY_EDITOR
if (DebugPauseOnReset)
{
UnityEditor.EditorApplication.isPaused = true;
}
#endif
}
