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Add Dynamic Walker. Improved Ragdoll Stability/Performance #4037
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72a2816
about to implement orientation cube
Hunter-Unity fc655b2
oCube spawining works. ready to train
Hunter-Unity 9f41d96
working. about to try com
Hunter-Unity 1ee5220
ready for training
Hunter-Unity 5c33b27
add random rot on episode start
Hunter-Unity 07784eb
feet now alternate but runs backwards
Hunter-Unity d2f9c26
still running with right leg in front
Hunter-Unity 4a9d946
increased joint strength to 40k
Hunter-Unity 58b5fcc
removed texture example
Hunter-Unity f84da49
reduced maxAngVel, enabled enhanced determinism, cont spec
Hunter-Unity 36ace77
rebuilt walker ragdoll to scale 1
Hunter-Unity 97f73cf
rebuilt ragdoll ready
Hunter-Unity f236c37
update walker pair prefab
Hunter-Unity d2a9fea
fixed bp heirarchy
Hunter-Unity 6a66ead
added trained model, renamed scene, usecollisioncallbacks
Hunter-Unity 9113c8e
updated dynamic platforms
Hunter-Unity 647e2ab
added dynamic walker tf file. max speed 5
Hunter-Unity 07956cc
DynamicWalker working. has working nn file
Hunter-Unity 774586d
collect local rotations
Hunter-Unity 5802e2a
added new dynamic nn file
Hunter-Unity aa3f07f
hip facing reward
Hunter-Unity ce314b8
Create WalkerDynamic.yaml
Hunter-Unity ef99881
fix hip rotation
Hunter-Unity 290a667
about to clean up code
Hunter-Unity 7afecf0
added dirIndicator and orentCubeGizmo
Hunter-Unity 40049d5
clean up
Hunter-Unity eb5ea43
cleanup
Hunter-Unity 9b4160b
updated WalkerStatic scene with new ragdoll
Hunter-Unity 62648e2
cleanup
Hunter-Unity 8990ae2
updated walker dynamic demo file. cleanup
Hunter-Unity 2375709
iterate through list not dict to collect observations
Hunter-Unity 8194ef3
increase gravity to 1.5
Hunter-Unity 9d093ef
try 100M steps on walkerdynamic
Hunter-Unity aa3189b
100M steps
Hunter-Unity dc44378
add dir vector obsv
Hunter-Unity 3b0b6e8
2e7 steps
Hunter-Unity 6696233
testing new nn models
Hunter-Unity 6ad6bf1
testing bigger batch size
Hunter-Unity 891ef4f
try 8x mem for cloud
Hunter-Unity 815ef1a
8x batch size for cloud test
Hunter-Unity af7ff42
epoch 10
Hunter-Unity 3e3a024
hyptest
Hunter-Unity e705f6e
cp
Hunter-Unity 0538cc8
increase timescale for cloudtraining
Hunter-Unity 82ead38
cp
Hunter-Unity 72f574e
try new cluster
Hunter-Unity d6848db
cp
Hunter-Unity c441fba
200k buff cloud
Hunter-Unity 7f0f4e7
cleanup & put direction indicator in separate script
Hunter-Unity 080dea3
update configs
Hunter-Unity 46d1080
about to implement orientation cube
Hunter-Unity 30eacfa
oCube spawining works. ready to train
Hunter-Unity 879a455
working. about to try com
Hunter-Unity 708e409
ready for training
Hunter-Unity e2d1937
add random rot on episode start
Hunter-Unity 0663e05
feet now alternate but runs backwards
Hunter-Unity 2c51c87
still running with right leg in front
Hunter-Unity d839e81
increased joint strength to 40k
Hunter-Unity 8621aa1
removed texture example
Hunter-Unity 08d6ed2
reduced maxAngVel, enabled enhanced determinism, cont spec
Hunter-Unity c9282b2
rebuilt walker ragdoll to scale 1
Hunter-Unity 00fedd8
rebuilt ragdoll ready
Hunter-Unity fff528b
update walker pair prefab
Hunter-Unity 1e6224c
fixed bp heirarchy
Hunter-Unity f42f9fa
added trained model, renamed scene, usecollisioncallbacks
Hunter-Unity 8016295
updated dynamic platforms
Hunter-Unity eaf247b
added dynamic walker tf file. max speed 5
Hunter-Unity beeb71a
DynamicWalker working. has working nn file
Hunter-Unity 9ac418a
collect local rotations
Hunter-Unity 2e40a30
added new dynamic nn file
Hunter-Unity 0432243
hip facing reward
Hunter-Unity 420ff9a
Create WalkerDynamic.yaml
Hunter-Unity 0525bc0
fix hip rotation
Hunter-Unity 5b9c82f
about to clean up code
Hunter-Unity b96e2d3
added dirIndicator and orentCubeGizmo
Hunter-Unity 725a6e3
clean up
Hunter-Unity edbceb1
cleanup
Hunter-Unity b8bd893
updated WalkerStatic scene with new ragdoll
Hunter-Unity bd1c3d3
cleanup
Hunter-Unity 6e33d5a
updated walker dynamic demo file. cleanup
Hunter-Unity 4b1bc5e
iterate through list not dict to collect observations
Hunter-Unity c1ab194
increase gravity to 1.5
Hunter-Unity a9f63ce
try 100M steps on walkerdynamic
Hunter-Unity 8345f65
100M steps
Hunter-Unity 4e8caef
add dir vector obsv
Hunter-Unity 372b1d1
2e7 steps
Hunter-Unity 10a338b
testing new nn models
Hunter-Unity 7b8fea0
testing bigger batch size
Hunter-Unity 7d4d49f
try 8x mem for cloud
Hunter-Unity 372e0f6
8x batch size for cloud test
Hunter-Unity cd65fee
epoch 10
Hunter-Unity 92d6b07
hyptest
Hunter-Unity 5716b21
cp
Hunter-Unity e984a53
increase timescale for cloudtraining
Hunter-Unity 65025de
cp
Hunter-Unity 383afdd
try new cluster
Hunter-Unity f8972a7
cp
Hunter-Unity f17f0cd
200k buff cloud
Hunter-Unity d388e3e
cleanup & put direction indicator in separate script
Hunter-Unity b1cc0e7
update configs
Hunter-Unity fb3f468
Merge branch 'hh/develop/dynamic-walker' of https://github.com/Unity-…
Hunter-Unity ee71865
update configs to new class format
Hunter-Unity 38a2fae
added final nn files
Hunter-Unity 8ad2659
more cleanup
Hunter-Unity 3c40e37
new walker image for docs
Hunter-Unity f3279c7
Update walker docs
Hunter-Unity 98522e6
remove old gitignore item
Hunter-Unity a82955c
cleanup
Hunter-Unity 25a1d05
Delete trainer_config.yaml
Hunter-Unity ce4c616
Update CHANGELOG.md
Hunter-Unity 4e7468a
remove code comment
Hunter-Unity 9946be8
changed property to float
Hunter-Unity 9dd63dd
rename variable
Hunter-Unity b48fcb2
remove header
Hunter-Unity 52f7621
rename function
Hunter-Unity 2bd8d67
added code comment and consolidated similar properties
Hunter-Unity 36a046b
removed unused asset
Hunter-Unity e058ccf
make maxAngularVelocity a constant
Hunter-Unity f4dfae3
cleeanup remove tab
Hunter-Unity 62c9997
cleanup - remove unneeded header attr
Hunter-Unity 0e2bdd3
added code comments
Hunter-Unity b3ca41b
auto-format doc to remove unwanted tabs
Hunter-Unity 9f2f67e
add new trained model. increase max step for dynamic
Hunter-Unity e16b5a4
add code comments. update oCube system. cleanup
Hunter-Unity fe3ed60
move orientation cube to shared prefabs
Hunter-Unity ca4e81d
refactored reward function variables
Hunter-Unity e475990
removed header
Hunter-Unity ec3d7b4
add SAC configs
Hunter-Unity 7134815
added new dynamic walker nn file
Hunter-Unity fa53e0b
remove old config
Hunter-Unity c729f7f
add new config
Hunter-Unity fc32f23
fix project ver
Hunter-Unity b95305e
Merge branch 'master' into hh/develop/dynamic-walker
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4 changes: 2 additions & 2 deletions
4
...mples/Walker/Demos/ExpertWalker.demo.meta → Project/Assets/ExpertWalkerDyn.demo.meta
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Project/Assets/ML-Agents/Examples/SharedAssets/Resources.meta
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Project/Assets/ML-Agents/Examples/SharedAssets/Resources/OrientationCube.prefab
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7
Project/Assets/ML-Agents/Examples/SharedAssets/Resources/OrientationCube.prefab.meta
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27
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/DirectionIndicator.cs
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| using System.Collections; | ||
| using System.Collections.Generic; | ||
| using UnityEngine; | ||
|
|
||
| namespace Unity.MLAgentsExamples | ||
| { | ||
| public class DirectionIndicator : MonoBehaviour | ||
| { | ||
| public Transform transformToFollow; //ex: hips or body | ||
| public Transform targetToLookAt; //target in the scene the indicator will point to | ||
| public float heightOffset; | ||
| private Vector3 m_StartingPos; | ||
|
|
||
| void OnEnable() | ||
| { | ||
| m_StartingPos = transform.position; | ||
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||
| } | ||
|
|
||
| void Update() | ||
| { | ||
| transform.position = new Vector3(transformToFollow.position.x, m_StartingPos.y + heightOffset, transformToFollow.position.z); | ||
| Vector3 m_WalkDir = targetToLookAt.position - transform.position; | ||
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| m_WalkDir.y = 0; //flatten dir on the y | ||
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| transform.rotation = Quaternion.LookRotation(m_WalkDir); | ||
| } | ||
| } | ||
| } | ||
11 changes: 11 additions & 0 deletions
11
Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/DirectionIndicator.cs.meta
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