Skip to content

Latest commit

聽

History

History
77 lines (63 loc) 路 4.36 KB

TUTORIAL.md

File metadata and controls

77 lines (63 loc) 路 4.36 KB
Raw

#############################################################################

_ _ ______ ____ _____ _____ ____ _____ _____

| \ | | | ___| / __ \ | __ \ | __ \ / __ \ | _| | __ \

| | | | |__ | | | | | | | | | |__) | | | | | | | | | | |

| . ` | | __| | | | | | | | | | _ / | | | | | | | | | |

| |\ | | |____ | || | | || | | | \ \ | || | | | | || |

|| _| || _/ |/ || _\ _/ || |_/

#############################################################################

-------------------------------- TUTORIAL -----------------------------------

In this very simple tutorial you create a Neodroid environment from a new scene, please refer to online resources at sintefneodroid.github.io/documentation for more information.

  1. Create a new scene with a basic prebuilt simulation manager and prototyping environment setup

    • 1.1 [Right click] the scene view in the editor
    • 1.2 Select Neodroid/Prebuilt/SimpleEnvironment

  2. Using the Player Reaction component to respond to keyboard input

    • 2.1 Select the "SimpleEnvironment" GameObject in the Scene Hierarchy
    • 2.2 [Left click] the "Add Component" button
    • 2.3 Search for "player"
    • 2.4 Select the "Player Reaction" component
    • 2.5 [Left click] the little circular icon to the right of the "Player_motions" field in the newly added component.
    • 2.6 Select the "DefaultActorMotions" ScriptableObject

  3. Testing the scene

    • 3.1 Play scene and try moving the actor object about using the [W,A,S,D,Q,E] keys on your keyboard.

  4. Replace the existing TransformMotor component with a RigidbodyMotor component

    • 4.1 Ensure Scene is not playing
    • 4.2 Try opening the accompanying Neodroid:Environment window, by navigating to Window/Neodroid/EnvironmentsWindow in the top menu bar
    • 4.3 A window will appear, inside a scrollable view in the bottom part you will be able to inspect a the Neodroid relevant information the currently open scene
    • 4.4 Expand the "SimpleEnvironmentPrototypingEnvironment"
    • 4.5 Find the "Motor" sub-box
    • 4.6 [Double Left Click] one of the boxes with a tiny GameController icon, this select the occupant GameObject of the Motor component
    • 4.7 Remove the "Euler Transform Motor" by [Right click]ing on the title and selecting [Remove component] in the inspector View
    • 4.8 with actor object still selected, scroll to the bottom in the inspector view and [Left Click] the "Add Component" button
    • 4.9 Search for "rigidbody"
    • 4.10 Select the "RigidbodyMotor3DofMotor"

  5. Configure Motion Space

    • 5.1 Expand the "Motion_value_space"
    • 5.2 Insert the values -100 and 100 in the "Min_Value" and "Max_Value" respectively

  6. Disable gravity on the Actors rigidbody

    • 6.1 Find the rigidbody component of the "Actor"
    • 6.2 Uncheck the "Use Gravity" field

  7. Testing the scene again

    • 7.1 Play scene and try moving the actor object about using the [W,A,S,D,Q,E] keys on your keyboard.
    • 7.2 Now we are affecting the rigidbody of the GameObject through the physics engine instead of the transform directly.

  8. ( Assuming you have installed 'neo' Python package )

    Connect an interacting python process to the environment

    • 8.1 While letting the Scene continue playing, open a new shell/console on your computer
    • 8.2 Type in 'neodroid-sample' and hit [Enter]
    • 8.3 Switch back to Unity and watch the python process sample random motions
    • 8.4 Try disconnecting, reconnecting, stop play and replay the agent will try to reconnect a keep sampling

  9. See the observations and signals given by the environment

    • 9.1 Ensure both the Unity scene and Python process is running
    • 9.2 Switch to the console and observe the values being printed, these a values return to the process from the running Unity scene, we call these observations and signals and are necessaries for doing reinforcement learning, the Neodroid eco-system set up of this up for you in the scene you built
    • 9.3 Again refer to the online resources for more information at sintefneodroid.github.io/documentation

  10. Lastly feel free to report any issues at https://github.com/sintefneodroid/droid/issues.

Have a great day!