├── MuJoCo-Unity-Tutorial ├── .gitignore ├── .vsconfig ├── Assets │ ├── Local.meta │ ├── Local │ │ ├── MjImports.meta │ │ └── MjImports │ │ │ ├── cartpole425.meta │ │ │ ├── cartpole425 │ │ │ ├── Resources.meta │ │ │ └── Resources │ │ │ │ ├── cart.mat │ │ │ │ ├── cart.mat.meta │ │ │ │ ├── cpole.mat │ │ │ │ └── cpole.mat.meta │ │ │ ├── cartpole439.meta │ │ │ ├── cartpole439 │ │ │ ├── Resources.meta │ │ │ └── Resources │ │ │ │ ├── cart.mat │ │ │ │ ├── cart.mat.meta │ │ │ │ ├── cpole.mat │ │ │ │ ├── cpole.mat.meta │ │ │ │ ├── mocap_cube.mat │ │ │ │ ├── mocap_cube.mat.meta │ │ │ │ ├── mocap_sphere.mat │ │ │ │ └── mocap_sphere.mat.meta │ │ │ ├── cartpole449.meta │ │ │ ├── cartpole449 │ │ │ ├── Resources.meta │ │ │ └── Resources │ │ │ │ ├── cart.mat │ │ │ │ ├── cart.mat.meta │ │ │ │ ├── cpole.mat │ │ │ │ ├── cpole.mat.meta │ │ │ │ ├── mocap_cube.mat │ │ │ │ ├── mocap_cube.mat.meta │ │ │ │ ├── mocap_sphere.mat │ │ │ │ └── mocap_sphere.mat.meta │ │ │ ├── cartpole477.meta │ │ │ ├── cartpole477 │ │ │ ├── Resources.meta │ │ │ └── Resources │ │ │ │ ├── cart.mat │ │ │ │ ├── cart.mat.meta │ │ │ │ ├── cpole.mat │ │ │ │ ├── cpole.mat.meta │ │ │ │ ├── mocap_cube.mat │ │ │ │ ├── mocap_cube.mat.meta │ │ │ │ ├── mocap_sphere.mat │ │ │ │ └── mocap_sphere.mat.meta │ │ │ ├── cartpole685.meta │ │ │ └── cartpole685 │ │ │ ├── Resources.meta │ │ │ └── Resources │ │ │ ├── cart.mat │ │ │ ├── cart.mat.meta │ │ │ ├── cpole.mat │ │ │ ├── cpole.mat.meta │ │ │ ├── mocap_cube.mat │ │ │ ├── mocap_cube.mat.meta │ │ │ ├── mocap_sphere.mat │ │ │ └── mocap_sphere.mat.meta │ ├── ML-Agents.meta │ ├── ML-Agents │ │ ├── Timers.meta │ │ └── Timers │ │ │ ├── CartPoleTutorialFinished_timers.json │ │ │ ├── CartPoleTutorialFinished_timers.json.meta │ │ │ ├── CartPoleTutorialTrained_timers.json │ │ │ ├── CartPoleTutorialTrained_timers.json.meta │ │ │ ├── CartPoleTutorial_timers.json │ │ │ └── CartPoleTutorial_timers.json.meta │ ├── Scenes.meta │ ├── Scenes │ │ ├── CartPoleTutorial.unity │ │ └── CartPoleTutorial.unity.meta │ ├── Tutorials.meta │ ├── Tutorials │ │ ├── 0 - About.meta │ │ ├── 0 - About │ │ │ ├── 5-StartPage.asset │ │ │ ├── 5-StartPage.asset.meta │ │ │ ├── About.asset │ │ │ └── About.asset.meta │ │ ├── 0 - Bug Reports.meta │ │ ├── 0 - Bug Reports │ │ │ ├── 10-TutorialPage.asset │ │ │ ├── 10-TutorialPage.asset.meta │ │ │ ├── 15-LastPage.asset │ │ │ ├── 15-LastPage.asset.meta │ │ │ ├── 5-StartPage.asset │ │ │ ├── 5-StartPage.asset.meta │ │ │ ├── Bug Reports.asset │ │ │ └── Bug Reports.asset.meta │ │ ├── 1 - Introduction Tutorial.meta │ │ ├── 1 - Introduction Tutorial │ │ │ ├── Images.meta │ │ │ ├── Images │ │ │ │ ├── tutorials_tab.PNG │ │ │ │ └── tutorials_tab.PNG.meta │ │ │ ├── Tutorial Files.meta │ │ │ └── Tutorial Files │ │ │ │ ├── 10-TutorialPage.asset │ │ │ │ ├── 10-TutorialPage.asset.meta │ │ │ │ ├── 15-LastPage.asset │ │ │ │ ├── 15-LastPage.asset.meta │ │ │ │ ├── 5-StartPage.asset │ │ │ │ ├── 5-StartPage.asset.meta │ │ │ │ ├── 6-Background.asset │ │ │ │ ├── 6-Background.asset.meta │ │ │ │ ├── 7-Motivation.asset │ │ │ │ ├── 7-Motivation.asset.meta │ │ │ │ ├── Introduction-Tutorial.asset │ │ │ │ └── Introduction-Tutorial.asset.meta │ │ ├── 2 - Scene Building.meta │ │ ├── 2 - Scene Building │ │ │ ├── Images.meta │ │ │ ├── Images │ │ │ │ ├── mjcf_screenshot.png │ │ │ │ ├── mjcf_screenshot.png.meta │ │ │ │ ├── reverse_screenshot.png │ │ │ │ └── reverse_screenshot.png.meta │ │ │ ├── MJCF Folder.meta │ │ │ ├── MJCF Folder │ │ │ │ ├── cartpole.xml │ │ │ │ └── cartpole.xml.meta │ │ │ ├── Materials.meta │ │ │ ├── Materials │ │ │ │ ├── CheckerBoard.mat │ │ │ │ └── CheckerBoard.mat.meta │ │ │ ├── Scenes.meta │ │ │ ├── Scenes │ │ │ │ ├── CartpoleScene.unity │ │ │ │ ├── CartpoleScene.unity.meta │ │ │ │ ├── CartpoleSceneCompleted.unity │ │ │ │ └── CartpoleSceneCompleted.unity.meta │ │ │ ├── Tutorial Files.meta │ │ │ └── Tutorial Files │ │ │ │ ├── 10-TutorialPage 1.asset │ │ │ │ ├── 10-TutorialPage 1.asset.meta │ │ │ │ ├── 11-TutorialPage.asset │ │ │ │ ├── 11-TutorialPage.asset.meta │ │ │ │ ├── 12-TutorialPage.asset │ │ │ │ ├── 12-TutorialPage.asset.meta │ │ │ │ ├── 13-Modify.asset │ │ │ │ ├── 13-Modify.asset.meta │ │ │ │ ├── 14-Try New.asset │ │ │ │ ├── 14-Try New.asset.meta │ │ │ │ ├── 15-LastPage.asset │ │ │ │ ├── 15-LastPage.asset.meta │ │ │ │ ├── 5-StartPage.asset │ │ │ │ ├── 5-StartPage.asset.meta │ │ │ │ ├── Callbacks.meta │ │ │ │ ├── Callbacks │ │ │ │ ├── NavigateToFileCallback.cs │ │ │ │ ├── NavigateToFileCallback.cs.meta │ │ │ │ ├── NavigateToMJCF.asset │ │ │ │ ├── NavigateToMJCF.asset.meta │ │ │ │ ├── PingActuators.asset │ │ │ │ ├── PingActuators.asset.meta │ │ │ │ ├── PingObjectOfNameCallback.cs │ │ │ │ ├── PingObjectOfNameCallback.cs.meta │ │ │ │ ├── TutorialCallbacks 1.asset │ │ │ │ ├── TutorialCallbacks 1.asset.meta │ │ │ │ ├── TutorialCallbacks.asmdef │ │ │ │ ├── TutorialCallbacks.asmdef.meta │ │ │ │ ├── TutorialCallbacks.cs │ │ │ │ └── TutorialCallbacks.cs.meta │ │ │ │ ├── SceneBuildingTutorial.asset │ │ │ │ └── SceneBuildingTutorial.asset.meta │ │ ├── 3 - RL Basics.meta │ │ ├── 3 - RL Basics │ │ │ ├── Cartpole.onnx │ │ │ ├── Cartpole.onnx.meta │ │ │ ├── Configs.meta │ │ │ ├── Configs │ │ │ │ ├── cartpole.yaml │ │ │ │ └── cartpole.yaml.meta │ │ │ ├── Debug Scripts.meta │ │ │ ├── Debug Scripts │ │ │ │ ├── RewardPlotter.cs │ │ │ │ └── RewardPlotter.cs.meta │ │ │ ├── RL Scripts.meta │ │ │ ├── RL Scripts │ │ │ │ ├── CartpoleActuator.cs │ │ │ │ ├── CartpoleActuator.cs.meta │ │ │ │ ├── CartpoleAgent.cs │ │ │ │ ├── CartpoleAgent.cs.meta │ │ │ │ ├── CartpoleReward.cs │ │ │ │ ├── CartpoleReward.cs.meta │ │ │ │ ├── HingeObservations.cs │ │ │ │ ├── HingeObservations.cs.meta │ │ │ │ ├── SlideObservations.cs │ │ │ │ └── SlideObservations.cs.meta │ │ │ ├── Scenes.meta │ │ │ ├── Scenes │ │ │ │ ├── CartPoleTutorial.unity │ │ │ │ ├── CartPoleTutorial.unity.meta │ │ │ │ ├── CartPoleTutorialFinished.unity │ │ │ │ ├── CartPoleTutorialFinished.unity.meta │ │ │ │ ├── CartPoleTutorialTrained.unity │ │ │ │ └── CartPoleTutorialTrained.unity.meta │ │ │ ├── Tutorial Files.meta │ │ │ └── Tutorial Files │ │ │ │ ├── 10-TutorialPage.asset │ │ │ │ ├── 10-TutorialPage.asset.meta │ │ │ │ ├── 11-TutorialPage.asset │ │ │ │ ├── 11-TutorialPage.asset.meta │ │ │ │ ├── 12-TutorialPage.asset │ │ │ │ ├── 12-TutorialPage.asset.meta │ │ │ │ ├── 13-TutorialPage.asset │ │ │ │ ├── 13-TutorialPage.asset.meta │ │ │ │ ├── 14-TutorialPage.asset │ │ │ │ ├── 14-TutorialPage.asset.meta │ │ │ │ ├── 15-LastPage.asset │ │ │ │ ├── 15-LastPage.asset.meta │ │ │ │ ├── 5-StartPage.asset │ │ │ │ ├── 5-StartPage.asset.meta │ │ │ │ ├── NavigateToConfigCallback.asset │ │ │ │ ├── NavigateToConfigCallback.asset.meta │ │ │ │ ├── RL Basics.asset │ │ │ │ └── RL Basics.asset.meta │ │ ├── 4 - RL Extended.meta │ │ ├── 4 - RL Extended │ │ │ ├── Scenes.meta │ │ │ ├── Scenes │ │ │ │ ├── CartPoleTutorial.unity │ │ │ │ └── CartPoleTutorial.unity.meta │ │ │ ├── Tutorial files.meta │ │ │ └── Tutorial files │ │ │ │ ├── 10-TutorialPage.asset │ │ │ │ ├── 10-TutorialPage.asset.meta │ │ │ │ ├── 11-TutorialPage.asset │ │ │ │ ├── 11-TutorialPage.asset.meta │ │ │ │ ├── 12-TutorialPage.asset │ │ │ │ ├── 12-TutorialPage.asset.meta │ │ │ │ ├── 15-LastPage.asset │ │ │ │ ├── 15-LastPage.asset.meta │ │ │ │ ├── 5-StartPage.asset │ │ │ │ ├── 5-StartPage.asset.meta │ │ │ │ ├── PingPole.asset │ │ │ │ ├── PingPole.asset.meta │ │ │ │ ├── RL_Advanced.asset │ │ │ │ └── RL_Advanced.asset.meta │ │ ├── 5 - MuJoCo Features.meta │ │ ├── 5 - MuJoCo Features │ │ │ ├── Scenes.meta │ │ │ ├── Scenes │ │ │ │ ├── Ball Material.mat │ │ │ │ ├── Ball Material.mat.meta │ │ │ │ ├── Mj height field.unity │ │ │ │ ├── Mj height field.unity.meta │ │ │ │ ├── MjCheckerBlue.png │ │ │ │ └── MjCheckerBlue.png.meta │ │ │ ├── Tutorial Files.meta │ │ │ └── Tutorial Files │ │ │ │ ├── 10-TutorialPage.asset │ │ │ │ ├── 10-TutorialPage.asset.meta │ │ │ │ ├── 15-LastPage.asset │ │ │ │ ├── 15-LastPage.asset.meta │ │ │ │ ├── 5-StartPage.asset │ │ │ │ ├── 5-StartPage.asset.meta │ │ │ │ ├── MuJoCo Features.asset │ │ │ │ └── MuJoCo Features.asset.meta │ │ ├── Images.meta │ │ ├── Images │ │ │ ├── arm 1.png │ │ │ ├── arm 1.png.meta │ │ │ ├── banner.png │ │ │ ├── banner.png.meta │ │ │ ├── banner_2.png │ │ │ ├── banner_2.png.meta │ │ │ ├── bug.png │ │ │ ├── bug.png.meta │ │ │ ├── cartpole.png │ │ │ ├── cartpole.png.meta │ │ │ ├── cartpole2.png │ │ │ ├── cartpole2.png.meta │ │ │ ├── cartpole3.png │ │ │ ├── cartpole3.png.meta │ │ │ ├── cartpole_double.png │ │ │ ├── cartpole_double.png.meta │ │ │ ├── construct.png │ │ │ ├── construct.png.meta │ │ │ ├── hammock.png │ │ │ ├── hammock.png.meta │ │ │ ├── mj.png │ │ │ ├── mj.png.meta │ │ │ ├── wave.png │ │ │ └── wave.png.meta │ │ ├── Tutorial Project Settings.asset │ │ ├── Tutorial Project Settings.asset.meta │ │ ├── Tutorial Welcome Page.asset │ │ ├── Tutorial Welcome Page.asset.meta │ │ ├── Tutorials.asset │ │ └── Tutorials.asset.meta │ ├── libmujoco.so │ ├── libmujoco.so.meta │ ├── mujoco.dll │ └── mujoco.dll.meta ├── Packages │ ├── manifest.json │ └── packages-lock.json └── ProjectSettings │ ├── AudioManager.asset │ ├── BurstAotSettings_StandaloneWindows.json │ ├── ClusterInputManager.asset │ ├── CommonBurstAotSettings.json │ ├── DynamicsManager.asset │ ├── EditorBuildSettings.asset │ ├── EditorSettings.asset │ ├── GraphicsSettings.asset │ ├── InputManager.asset │ ├── MemorySettings.asset │ ├── NavMeshAreas.asset │ ├── PackageManagerSettings.asset │ ├── Packages │ ├── com.unity.learn.iet-framework │ │ └── Settings.json │ └── com.unity.testtools.codecoverage │ │ └── Settings.json │ ├── Physics2DSettings.asset │ ├── PresetManager.asset │ ├── ProjectSettings.asset │ ├── ProjectVersion.txt │ ├── QualitySettings.asset │ ├── SceneTemplateSettings.json │ ├── TagManager.asset │ ├── TimeManager.asset │ ├── UnityConnectSettings.asset │ ├── VFXManager.asset │ ├── VersionControlSettings.asset │ └── XRSettings.asset ├── README.md └── images └── cart_pole_human.png /MuJoCo-Unity-Tutorial/.gitignore: -------------------------------------------------------------------------------- 1 | # A marker file of which existence is used to decide whether to run the first-launch experience, for example show the welcome dialog. 2 | InitCodeMarker 3 | # Tutorial Framework has a backup option for the project's content, let's ignore the possible backup folder. 4 | /Tutorial Defaults/ 5 | 6 | # This .gitignore file should be placed at the root of your Unity project directory 7 | # 8 | # Get latest from https://github.com/github/gitignore/blob/main/Unity.gitignore 9 | # 10 | /[Ll]ibrary/ 11 | /[Tt]emp/ 12 | /[Oo]bj/ 13 | /[Bb]uild/ 14 | /[Bb]uilds/ 15 | /[Ll]ogs/ 16 | /[Uu]ser[Ss]ettings/ 17 | 18 | # MemoryCaptures can get excessive in size. 19 | # They also could contain extremely sensitive data 20 | /[Mm]emoryCaptures/ 21 | 22 | # Recordings can get excessive in size 23 | /[Rr]ecordings/ 24 | 25 | # Uncomment this line if you wish to ignore the asset store tools plugin 26 | # /[Aa]ssets/AssetStoreTools* 27 | 28 | # Autogenerated Jetbrains Rider plugin 29 | /[Aa]ssets/Plugins/Editor/JetBrains* 30 | 31 | # Visual Studio cache directory 32 | .vs/ 33 | 34 | # Ignore tutorial marker 35 | InitCodeMarker 36 | 37 | # Gradle cache directory 38 | .gradle/ 39 | 40 | # Autogenerated VS/MD/Consulo solution and project files 41 | ExportedObj/ 42 | .consulo/ 43 | *.csproj 44 | *.unityproj 45 | *.sln 46 | *.suo 47 | *.tmp 48 | *.user 49 | *.userprefs 50 | *.pidb 51 | *.booproj 52 | *.svd 53 | *.pdb 54 | *.mdb 55 | *.opendb 56 | *.VC.db 57 | 58 | # Unity3D generated meta files 59 | *.pidb.meta 60 | *.pdb.meta 61 | *.mdb.meta 62 | 63 | # Unity3D generated file on crash reports 64 | sysinfo.txt 65 | 66 | # Builds 67 | *.apk 68 | *.aab 69 | *.unitypackage 70 | *.app 71 | 72 | # Crashlytics generated file 73 | crashlytics-build.properties 74 | 75 | # Packed Addressables 76 | /[Aa]ssets/[Aa]ddressable[Aa]ssets[Dd]ata/*/*.bin* 77 | 78 | # Temporary auto-generated Android Assets 79 | /[Aa]ssets/[Ss]treamingAssets/aa.meta 80 | /[Aa]ssets/[Ss]treamingAssets/aa/* -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/.vsconfig: -------------------------------------------------------------------------------- 1 | { 2 | "version": "1.0", 3 | "components": [ 4 | "Microsoft.VisualStudio.Workload.ManagedGame" 5 | ] 6 | } 7 | -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Local.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a447038c1be8fb744b62959f33fda032 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Local/MjImports.meta: 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RL Basics/Configs/cartpole.yaml: -------------------------------------------------------------------------------- 1 | behaviors: 2 | Cartpole: 3 | trainer_type: ppo 4 | hyperparameters: 5 | batch_size: 64 6 | buffer_size: 12000 7 | learning_rate: 0.0003 8 | beta: 0.001 9 | epsilon: 0.2 10 | lambd: 0.99 11 | num_epoch: 3 12 | learning_rate_schedule: linear 13 | network_settings: 14 | normalize: true 15 | hidden_units: 128 16 | num_layers: 2 17 | reward_signals: 18 | extrinsic: 19 | gamma: 0.99 20 | strength: 1.0 21 | keep_checkpoints: 5 22 | max_steps: 5000000 23 | time_horizon: 1000 24 | summary_freq: 12000 25 | -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Tutorials/3 - RL Basics/Configs/cartpole.yaml.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 0c72be003943fb548a2315080a8c6e0e 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Tutorials/3 - RL Basics/Debug Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: fa075f3ab6494d6458541139fac793f7 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Tutorials/3 - RL Basics/Debug Scripts/RewardPlotter.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | 5 | namespace Cartpole { 6 | 7 | public class RewardPlotter : MonoBehaviour { 8 | [SerializeField] 9 | CartpoleReward rewardProvider; 10 | 11 | //[DebugGUIGraph] // Uncomment if Unity package DebugGUIGraph is available (can be downloaded from Asset store) 12 | float reward; 13 | 14 | private void FixedUpdate() { 15 | reward = rewardProvider.Reward; 16 | } 17 | } 18 | } -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Tutorials/3 - RL Basics/Debug Scripts/RewardPlotter.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: e5f00d168a7bb4046a2cf53256e62dab 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Tutorials/3 - RL Basics/RL Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6899851cf40b7f744b6c3568f8579b47 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Tutorials/3 - RL Basics/RL Scripts/CartpoleActuator.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using Unity.MLAgents; 5 | using Unity.MLAgents.Actuators; 6 | using Mujoco; 7 | 8 | namespace Cartpole { 9 | public class CartpoleActuator : ActuatorComponent { 10 | // Reference value for the overall ActionSpec of the combined IActuators associated with the component 11 | public override ActionSpec ActionSpec => new ActionSpec(numContinuousActions: 1); 12 | 13 | // We need to add the actuator from the Editor 14 | [SerializeField] 15 | private MjActuator actuator; 16 | 17 | private ControlledMjActuator 18 | controlledMjActuator; // Wrapper object that applies actions from the Agent to the MjActuator. 19 | 20 | public override IActuator[] CreateActuators() { 21 | controlledMjActuator = new ControlledMjActuator(actuator); 22 | 23 | return new[] { controlledMjActuator }; // Could create and return multiple IActuators if needed 24 | } 25 | 26 | private class ControlledMjActuator : IActuator { 27 | private ActionSpec actionSpec; 28 | 29 | public ActionSpec ActionSpec { 30 | get => actionSpec; 31 | } 32 | 33 | private MjActuator wrappedActuator; 34 | 35 | public string Name => wrappedActuator.name; 36 | 37 | 38 | // Used when no model is connected to the BrainParameters component. 39 | public void Heuristic(in ActionBuffers actionBuffersOut) { 40 | } 41 | 42 | 43 | // The agent distributes its actions among all of its IActuators, each receiving a segment based on their ActionSpecs. 44 | public void OnActionReceived(ActionBuffers actionBuffers) { 45 | wrappedActuator.Control = actionBuffers.ContinuousActions[0]; 46 | } 47 | 48 | 49 | // Called at the end of an episode. 50 | public void ResetData() { 51 | } 52 | 53 | 54 | // Limit the number of possible actions if taking discrete actions (e.g. prevent gridworld agent from walking into a wall), not applicable. 55 | public void WriteDiscreteActionMask(IDiscreteActionMask actionMask) { 56 | } 57 | 58 | 59 | public ControlledMjActuator(MjActuator actuator) { 60 | actionSpec = new ActionSpec(numContinuousActions: 1); 61 | wrappedActuator = actuator; 62 | } 63 | 64 | } 65 | 66 | } 67 | } -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Tutorials/3 - RL Basics/RL Scripts/CartpoleActuator.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a2cec82bfa3665a48adff0268fda1c47 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Tutorials/3 - RL Basics/RL Scripts/CartpoleAgent.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using Unity.MLAgents; 5 | using Unity.MLAgents.Actuators; 6 | using Unity.MLAgents.Sensors; 7 | using Mujoco; 8 | 9 | 10 | namespace Cartpole { 11 | public class CartpoleAgent : Agent { 12 | // We can assign references to these joints from the Editor 13 | [SerializeField] 14 | MjHingeJoint hinge; 15 | 16 | [SerializeField] 17 | MjSlideJoint slide; 18 | 19 | // Start is called before the first frame update 20 | void Start() { 21 | } 22 | 23 | // Initialize() is called once when the agent is first enabled (after every other GameObject has called their own Start). 24 | public override void Initialize() { 25 | base.Initialize(); 26 | } 27 | 28 | // Since we are accessing memory shared with the MuJoCo simulation we have to do it in an "unsafe" context (You may need to enable this in Project Settings). 29 | public unsafe override void OnEpisodeBegin() { 30 | base.OnEpisodeBegin(); 31 | 32 | // In case this is the first frame and the MuJoCo simulation didn't start yet, 33 | // we know we will start in the correct state so we can skip it. 34 | if (!(MjScene.InstanceExists && MjScene.Instance.Data != null)) return; 35 | 36 | // Get the reference to the bindings of the mjData structure https://mujoco.readthedocs.io/en/latest/APIreference.html#mjdata 37 | var data = MjScene.Instance.Data; 38 | 39 | // Reset kinematics to 0 40 | data->qpos[hinge.QposAddress] = 0; 41 | data->qpos[slide.QposAddress] = 0; 42 | 43 | data->qvel[hinge.DofAddress] = 0; 44 | data->qvel[slide.DofAddress] = 0; 45 | 46 | data->qacc[hinge.DofAddress] = 0; 47 | data->qacc[slide.DofAddress] = 0; 48 | } 49 | 50 | public override void CollectObservations(VectorSensor sensor) { 51 | base.CollectObservations(sensor); 52 | // If you wanted to collect observations from the Agent class, you can add them one by one to the sensor 53 | // Note that if you do this, and not via separate SensorComponents, you will have to update the BehaviourParameter's observation size 54 | } 55 | 56 | public override void OnActionReceived(ActionBuffers actions) { 57 | // You could process your agent's actions directly here, and assign reward as well 58 | } 59 | } 60 | } -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Tutorials/3 - 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RL Basics/RL Scripts/HingeObservations.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using System; 5 | using Unity.MLAgents; 6 | using Unity.MLAgents.Sensors; 7 | using Mujoco; 8 | using System.Linq; 9 | 10 | public class HingeObservations : SensorComponent { 11 | // SensorComponents don't provide the readings themselves, instead they provide the Agent with a collection of ISensors 12 | // A SensorComponent can group multiple separate sensors, but in this case we only need one. 13 | public override ISensor[] CreateSensors() { 14 | hingeSensor = new HingeSensor(slide); 15 | 16 | return new ISensor[] { hingeSensor }; 17 | } 18 | 19 | // Instances of our custom ISensors 20 | private HingeSensor hingeSensor; 21 | 22 | public List Observations => 23 | hingeSensor.Observations; // Exposed in case needed for visualisation 24 | 25 | [SerializeField] 26 | MjHingeJoint slide; 27 | 28 | 29 | private class HingeSensor : ISensor { 30 | 31 | MjHingeJoint hinge; 32 | 33 | float[] Velocities { 34 | get => new[] { hinge.Velocity }; 35 | } // Note that velocity is already in radians in the Plugin 36 | 37 | float[] 38 | ContinuousHingePositions // We separate the angle into 2 components so it is a continuous and doesn't jump from 359 deg to 0 deg. 39 | { 40 | get 41 | { 42 | float angle = hinge.Configuration * Mathf.Deg2Rad; 43 | var sin = Mathf.Sin(angle); 44 | var cos = Mathf.Cos(angle); 45 | 46 | return new[] { sin, cos }; 47 | } 48 | } 49 | 50 | float[] Positions { 51 | get => ContinuousHingePositions; 52 | } // We combine the hinge and slider position 53 | 54 | public List Observations { 55 | get => Positions.Concat(Velocities).ToList(); 56 | } //Combine positions and velocities 57 | 58 | public int Write(ObservationWriter writer) { 59 | writer.AddList(Observations); 60 | 61 | return 3; // Return number of written observations (2 for hinge pos, 1 for hinge vel) 62 | } 63 | 64 | // Only needed for visual observations (e.g. camera feed) 65 | public byte[] GetCompressedObservation() { 66 | throw new NotImplementedException(); 67 | } 68 | 69 | public CompressionSpec GetCompressionSpec() { 70 | return CompressionSpec.Default(); 71 | } 72 | 73 | public string GetName() { 74 | return "HingeSensor"; 75 | } 76 | 77 | ObservationSpec observationSpec; 78 | 79 | public HingeSensor(MjHingeJoint hinge) { 80 | this.hinge = hinge; 81 | // Need to tell the shape so the networks can be configured correctly 82 | observationSpec = new ObservationSpec(shape: new InplaceArray(3), 83 | dimensionProperties: new InplaceArray(DimensionProperty.None)); 84 | } 85 | 86 | public ObservationSpec GetObservationSpec() { 87 | return observationSpec; 88 | } 89 | 90 | public void Reset() { 91 | } 92 | 93 | public void Update() { 94 | } 95 | 96 | 97 | } 98 | 99 | } -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Tutorials/3 - RL Basics/RL Scripts/HingeObservations.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: c521026ef8328fe4387e567c3c78d488 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Tutorials/3 - RL Basics/RL Scripts/SlideObservations.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using System; 5 | using Unity.MLAgents; 6 | using Unity.MLAgents.Sensors; 7 | using Mujoco; 8 | using System.Linq; 9 | 10 | namespace Cartpole { 11 | public class SlideObservations : SensorComponent { 12 | // SensorComponents don't provide the readings themselves, instead they provide the Agent with a collection of ISensors 13 | // A SensorComponent can group multiple separate sensors, but in this case we only need one. 14 | public override ISensor[] CreateSensors() { 15 | slideSensor = new SlideSensor(slide); 16 | 17 | return new ISensor[] { slideSensor }; 18 | } 19 | 20 | // Instances of our custom ISensors 21 | private SlideSensor slideSensor; 22 | 23 | public List Observations => 24 | slideSensor.Observations; // Exposed in case needed for visualisation 25 | 26 | [SerializeField] 27 | MjSlideJoint slide; 28 | 29 | private class SlideSensor : ISensor { 30 | 31 | MjSlideJoint slide; 32 | 33 | float[] Velocities { 34 | get => new[] { slide.Velocity }; 35 | } // Note that velocity is already in radians in the Plugin 36 | 37 | float[] Positions { 38 | get => new[] { slide.Configuration }; 39 | } // We Configuration is scaled to degrees, even for slide joints... 40 | 41 | public List Observations { 42 | get => Positions.Concat(Velocities).ToList(); 43 | } //Combine positions and velocities 44 | 45 | public int Write(ObservationWriter writer) { 46 | writer.AddList(Observations); 47 | 48 | return 2; // Return number of written observations (1 for slider pos, 1 for slider vel) 49 | } 50 | 51 | // Only needed for visual observations (e.g. camera feed) 52 | public byte[] GetCompressedObservation() { 53 | throw new NotImplementedException(); 54 | } 55 | 56 | public CompressionSpec GetCompressionSpec() { 57 | return CompressionSpec.Default(); 58 | } 59 | 60 | public string GetName() { 61 | return "SlideSensor"; 62 | } 63 | 64 | ObservationSpec observationSpec; 65 | 66 | public SlideSensor(MjSlideJoint slide) { 67 | this.slide = slide; 68 | // Need to tell the shape so the networks can be configured correctly 69 | observationSpec = new ObservationSpec(shape: new InplaceArray(2), 70 | dimensionProperties: new InplaceArray(DimensionProperty.None)); 71 | } 72 | 73 | public ObservationSpec GetObservationSpec() { 74 | return observationSpec; 75 | } 76 | 77 | public void Reset() { 78 | } 79 | 80 | public void Update() { 81 | } 82 | 83 | 84 | } 85 | } 86 | } -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Tutorials/3 - 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0} 28 | Sections: 29 | - OrderInView: 0 30 | Heading: 31 | m_Untranslated: Introduction 32 | Text: 33 | m_Untranslated: Brief background and motivation for these tutorials. 34 | Metadata: 35 | Url: 36 | Image: {fileID: 2800000, guid: 03518171f4dba334d85bde13f2eca1b6, type: 3} 37 | Tutorial: {fileID: 11400000, guid: 6c2e8854324b8e34bb40e07604cf9c33, type: 2} 38 | - OrderInView: 1 39 | Heading: 40 | m_Untranslated: Scene Building 41 | Text: 42 | m_Untranslated: Import and edit MuJoCo scenes. Build a cartpole model. 43 | Metadata: 44 | Url: 45 | Image: {fileID: 2800000, guid: 756db2db35d8c824abd76c1b522e1e6e, type: 3} 46 | Tutorial: {fileID: 11400000, guid: 873738b1dfa9e304a9325dc9a7ab8512, type: 2} 47 | - OrderInView: 2 48 | Heading: 49 | m_Untranslated: RL basics 50 | Text: 51 | m_Untranslated: Prepare for learning a control policy. 52 | Metadata: 53 | Url: 54 | Image: {fileID: 2800000, guid: ecadff376edb6ad4596864d28fba460d, type: 3} 55 | Tutorial: {fileID: 11400000, guid: d98a54fdb03e39b4c98ac5e54a9cb476, type: 2} 56 | - OrderInView: 4 57 | Heading: 58 | m_Untranslated: RL advanced 59 | Text: 60 | m_Untranslated: Extend your existing scene to a more challenging problem. 61 | Metadata: 62 | Url: 63 | Image: {fileID: 2800000, guid: 309c0c9c758878c4ea1deef5e306357d, type: 3} 64 | Tutorial: {fileID: 11400000, guid: 4aa0cfbdb3030e64e8b45610eae8d98a, type: 2} 65 | - OrderInView: 5 66 | Heading: 67 | m_Untranslated: '[WIP] MuJoCo Features' 68 | Text: 69 | m_Untranslated: Highlight of MuJoCo Features for Unity users 70 | Metadata: 71 | Url: 72 | Image: {fileID: 2800000, guid: 0dc1c5911ce1de64caeacd6bbf0c97c8, type: 3} 73 | Tutorial: {fileID: 11400000, guid: cbf8392058c9f944f9ab260604f8bea2, type: 2} 74 | - OrderInView: 6 75 | Heading: 76 | m_Untranslated: Reporting Bugs 77 | Text: 78 | m_Untranslated: What to do when something doesn't look right. 79 | Metadata: 80 | Url: 81 | Image: {fileID: 2800000, guid: aa16505e00c557940b5026f349986cbe, type: 3} 82 | Tutorial: {fileID: 11400000, guid: 7883d297deafaa943814fb4a90b35a93, type: 2} 83 | - OrderInView: 7 84 | Heading: 85 | m_Untranslated: About 86 | Text: 87 | m_Untranslated: Additional information regarding this tutorial. 88 | Metadata: 89 | Url: 90 | Image: {fileID: 0} 91 | Tutorial: {fileID: 11400000, guid: 33e714feecd53064f9d03c053a2820f6, type: 2} 92 | -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/Assets/Tutorials/Tutorials.asset.meta: 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/MuJoCo-Unity-Tutorial/ProjectSettings/VersionControlSettings.asset: -------------------------------------------------------------------------------- 1 | %YAML 1.1 2 | %TAG !u! tag:unity3d.com,2011: 3 | --- !u!890905787 &1 4 | VersionControlSettings: 5 | m_ObjectHideFlags: 0 6 | m_Mode: Visible Meta Files 7 | m_CollabEditorSettings: 8 | inProgressEnabled: 1 9 | -------------------------------------------------------------------------------- /MuJoCo-Unity-Tutorial/ProjectSettings/XRSettings.asset: -------------------------------------------------------------------------------- 1 | { 2 | "m_SettingKeys": [ 3 | "VR Device Disabled", 4 | "VR Device User Alert" 5 | ], 6 | "m_SettingValues": [ 7 | "False", 8 | "False" 9 | ] 10 | } -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # MuJoCo + Unity ML-Agents Tutorials 2 | 3 | ![A human model clinging to a pendulum in motion](./images/cart_pole_human.png?raw=true) 4 | 5 | 6 | A set of introductory, interactive tutorials for using the [MuJoCo](https://mujoco.org/) physics engine inside Unity, and learning control policies with the [ML-Agents](https://github.com/Unity-Technologies/ml-agents) framework. Unity's [Tutorial Authoring Tools](https://docs.unity3d.com/Packages/com.unity.learn.iet-framework.authoring@1.0/manual/index.html) were used to embed the steps and explanations into the Editor itself. 7 | 8 | This project is primarily aimed for users wanting to construct their own learning environments inside the Unity editor, while relying on the MuJoCo physics engine. Some learning resources are collected and referenced inside the project, but basic familiarity is expected with the following concepts: 9 | - Very basics of C# programming 10 | - Navigating the Unity scene view 11 | - Basics of modelling scenes in MuJoCo 12 | 13 | 14 | *This project is still in very early development, contributions are welcome in the form of feedback, or pull requests editing/fixing existing tutorials or adding new lessons. For more information on using the tutorial authoring tools, see its [documentation](https://docs.unity3d.com/Packages/com.unity.learn.iet-framework.authoring@1.0/manual/authoring-guide.html).* 15 | 16 | ### Current content: 17 | - Importing and editing MuJoCo scenes to unity 18 | - Setting up Reinforcement Learning with ML-Agents to control a cart-pole environment 19 | - Guidelines for extending a scene with the example of a double-pendulum cart-pole 20 | 21 | ### Planned content: 22 | - Learning a locomotion policy with ML-Agents 23 | - Quick introduction to editing scenes in Unity and the available tools to speed it up 24 | - Quick introduction to MuJoCo components and data structure 25 | 26 | 27 | ### Before you start: 28 | This project has only been tested on Windows so far. Currently the repository includes the Windows and Linux binaries for MuJoCo version 3.2.4. The project already references a fork of the Unity plugin, so the MuJoCo C# scripts does not need to be downloaded. However, the binary may need to be replaced for your own system (in particular for Mac, or certain Linux architectures). Follow the guidance from the [documentation](https://mujoco.readthedocs.io/en/latest/unity.html#). 29 | 30 | ## Installation: 31 | Clone or download this repository, and add the `MuJoCo-Unity-Tutorial` folder from Unity Hub. Unity editor versions >2021.2.19f are expected to be compatible. After launching the project you'll be greeted with information on where to find the tutorial content. Unlike a regular project you will see an additional window element on the right hand side of your screen, listing the available tutorials. 32 | -------------------------------------------------------------------------------- /images/cart_pole_human.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Balint-H/mj-unity-tutorial/58e9168836727dc090f32ae45a29164c791c7528/images/cart_pole_human.png --------------------------------------------------------------------------------