// [Tooltip("Lock the top most element")]
// /**< \brief Lock the top most element*/
// public bool FreezeTop = false;
// bool _lastFreezeTop;
public override float[] Decide(
List <float> vectorObs,
List <Texture2D> visualObs,
float reward,
bool done,
List <float> memory)
{
// lazy init
if (_controller == null)
{
_controller = FindObjectOfType <MarathonTestBedController>();
// _brain = GetComponent<Brain>();
// Actions = Enumerable.Repeat(0f, _brain.brainParameters.vectorActionSize[0]).ToArray();
// Actions = Enumerable.Repeat(0f, 100).ToArray();
}
if (_controller.ApplyRandomActions)
{
for (int i = 0; i < _controller.Actions.Length; i++)
{
_controller.Actions[i] = Random.value * 2 - 1;
}
}
return(_controller.Actions);
}
void Start()
{
_body = GetComponent <ArticulationBody>();
_parentBody = _body.transform.parent.GetComponentInParent <ArticulationBody>();
_debugController = FindObjectOfType <MarathonTestBedController>();
_spawnableEnv = GetComponentInParent <MLAgents.SpawnableEnv>();
_mocapController = _spawnableEnv.GetComponentInChildren <MocapController>();
var mocapBodyParts = _mocapController.GetComponentsInChildren <Rigidbody>().ToList();
_target = mocapBodyParts.First(x => x.name == _body.name);
}
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
}
