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);
}
/// <summary>
/// Spawn a number of environments. The enviromentment must include SpawnableEnv
/// </summary>
public void SpawnSpawnableEnv(GameObject parent, int numInstances, GameObject envPrefab)
{
CreateSceneParameters csp = new CreateSceneParameters(LocalPhysicsMode.Physics3D);
Vector3 spawnStartPos = parent.transform.position;
SpawnableEnv spawnableEnv = envPrefab.GetComponent <SpawnableEnv>();
spawnableEnv.UpdateBounds();
Vector3 step = new Vector3(0f, 0f, spawnableEnv.bounds.size.z + (spawnableEnv.bounds.size.z * spawnableEnv.paddingBetweenEnvs));
if (spawnableEnv.CreateUniquePhysicsScene)
{
step = Vector3.zero;
}
for (int i = 0; i < numInstances; i++)
{
var agent = Agent.Instantiate(envPrefab, spawnStartPos, envPrefab.gameObject.transform.rotation);
spawnStartPos += step;
if (spawnableEnv.CreateUniquePhysicsScene)
{
Scene scene = SceneManager.CreateScene($"SpawnedEnv-{i}", csp);
PhysicsScene physicsScene = scene.GetPhysicsScene();
SceneManager.MoveGameObjectToScene(agent, scene);
SpawnableEnv spawnedEnv = agent.GetComponent <SpawnableEnv>();
spawnedEnv.SetSceneAndPhysicsScene(scene, physicsScene);
// only render the 1st scene
if (i == 0)
{
// var cam = Camera.FindObjectOfType<Camera>();
// cam.scene = scene;
// // Camera.main.enabled = false;
}
}
}
}
public override void AgentReset()
{
if (DistanceTraveled != float.MinValue)
{
var scorer = FindObjectOfType <Scorer>();
scorer?.ReportScore(DistanceTraveled, "Distance Traveled");
}
if (_spawnableEnv == null)
{
_spawnableEnv = GetComponentInParent <SpawnableEnv>();
}
if (marathonSpawner == null)
{
marathonSpawner = GetComponent <MarathonSpawner>();
}
mphBuffer = new List <Vector3>();
Transform[] allChildren = GetComponentsInChildren <Transform>();
if (_hasValidModel)
{
// restore
foreach (Transform child in allChildren)
{
if (child.gameObject.name.Contains("OpenAIHumanoid"))
{
continue;
}
child.position = transformsPosition[child.gameObject];
child.rotation = transformsRotation[child.gameObject];
var childRb = child.GetComponent <Rigidbody>();
if (childRb != null)
{
childRb.angularVelocity = Vector3.zero;
childRb.velocity = Vector3.zero;
}
}
marathonSpawner?.ApplyRandom();
SetupMarathon();
UpdateQ();
return;
}
startPosition = transform.position;
// HACK first spawned marathon agent should grab the camera
var agentWithCamera = FindObjectsOfType <MarathonAgent>().FirstOrDefault(x => x.CameraTarget != null);
if (agentWithCamera == null)
{
CameraTarget = FindObjectOfType <SmoothFollow>()?.gameObject;
ShowMonitor = true;
}
MarathonJoints = null;
MarathonSensors = null;
var rbs = this.GetComponentsInChildren <Rigidbody>().ToList();
foreach (var item in rbs)
{
if (item != null)
{
DestroyImmediate(item.gameObject);
}
}
Resources.UnloadUnusedAssets();
marathonSpawner?.SpawnFromXml();
allChildren = GetComponentsInChildren <Transform>();
transformsPosition = new Dictionary <GameObject, Vector3>();
transformsRotation = new Dictionary <GameObject, Quaternion>();
foreach (Transform child in allChildren)
{
transformsPosition[child.gameObject] = child.position;
transformsRotation[child.gameObject] = child.rotation;
}
marathonSpawner?.ApplyRandom();
SetupMarathon();
UpdateQ();
_hasValidModel = true;
recentVelocity = new List <float>();
}
/// <summary>
/// Monobehavior function that dictates each environment step.
/// </summary>
void FixedUpdate()
{
EnvironmentStep();
SpawnableEnv.TriggerPhysicsStep();
}
