The Unity package is directly installed with the Unity package
#HOW TO DOWNLOAD UNITY 4.6 INSTALL#
In addition to AGXUnity you also must install ML-Agents. The example scene can be downloaded here: unitypackage. Is a good resource for ML-Agents concepts. This agent controls a wheel loader to drive over uneven deformable terrain towards a list of way points. As well as, how you can step the ML-Agents environment together with the simulation and reset the scene afterĪ completed episode.
#HOW TO DOWNLOAD UNITY 4.6 HOW TO#
This is a simple example how to setup the agent with observations, actions and Realtime performance with small errors give the
![how to download unity 4.6 how to download unity 4.6](https://unity3d.com/sites/default/files/5_6_feature_particleburstrepeat.gif)
Using reinforcement learning with AGX Dynamics high fidelity physics. Unity ML-Agents toolkit can be used to train autonomous agents This is done by selecting the objects and dragging/dropping the shape materials from the asset list as shown below.įinally, the two new contact materials need to be registered in the ContactMaterialManager in the scene, as shown below.ĪGX modules required to run example: Core, Drivetrain, Terrain, Tires Now we will apply the new ShapeMaterial to the relevant AGX physical object, i.e. The wheel ShapeMaterial (DoosanD元00FrontTireMaterial and DoosanD元00RearTireMaterial) should be available in the menu by clicking the Select button to the right of the Material 2 field.įor wheel friction, Contact Reduction Mode can be used to provide a more stable simulation on uneven terrain with many points of contact (wheels), a high friction value (1) could also be used to simulate high grip - rubber on coarse gravel. Next, we will set up the contact material to use the other assets as shown below. The below image shows one way of creating the assets and the created assets after renaming to suitable names. Two ContactMaterial-assets to represent the intersection between the ground material and the two front and rear wheel ShapeMaterials (predefined in the model)Ī FrictionModel-asset to define the type of friction calculations used on the ContactMaterials
![how to download unity 4.6 how to download unity 4.6](https://i.ytimg.com/vi/OzusLIhFWCg/maxresdefault.jpg)
One ShapeMaterial-asset to represent the ground material To do this, we will create a number of assets: In order to adjust the friction between the ground and the wheels, we can specify a Contact Material. %YAML 1.1 %TAG !u! tag:unit圓d.com,2011: - !u!13 &1 InputManager : m_ObjectHideFlags : 0 serializedVersion : 2 m_Axes : - serializedVersion : 3 m_Name : jSteer descriptiveName : descriptiveNegativeName : negativeButton : positiveButton : altNegativeButton : left altPositiveButton : right gravity : 3 dead : 0.3 sensitivity : 1 snap : 1 invert : 0 type : 2 axis : 0 joyNum : 0 - serializedVersion : 3 m_Name : kSteer descriptiveName : descriptiveNegativeName : negativeButton : left positiveButton : right altNegativeButton : altPositiveButton : gravity : 3 dead : 0.001 sensitivity : 2 snap : 1 invert : 0 type : 0 axis : 0 joyNum : 0 - serializedVersion : 3 m_Name : jThrottle descriptiveName : descriptiveNegativeName : negativeButton : positiveButton : altNegativeButton : altPositiveButton : gravity : 3 dead : 0.05 sensitivity : 1 snap : 0 invert : 0 type : 2 axis : 9 joyNum : 0 - serializedVersion : 3 m_Name : kThrottle descriptiveName : descriptiveNegativeName : negativeButton : positiveButton : up altNegativeButton : altPositiveButton : gravity : 3 dead : 0.001 sensitivity : 2 snap : 0 invert : 0 type : 0 axis : 0 joyNum : 0 - serializedVersion : 3 m_Name : jBrake descriptiveName : descriptiveNegativeName : negativeButton : positiveButton : altNegativeButton : altPositiveButton : gravity : 3 dead : 0.05 sensitivity : 1 snap : 0 invert : 0 type : 2 axis : 8 joyNum : 0 - serializedVersion : 3 m_Name : kBrake descriptiveName : descriptiveNegativeName : negativeButton : positiveButton : down altNegativeButton : altPositiveButton : gravity : 3 dead : 0.001 sensitivity : 2 snap : 0 invert : 0 type : 0 axis : 0 joyNum : 0 - serializedVersion : 3 m_Name : jElevate descriptiveName : descriptiveNegativeName : negativeButton : positiveButton : altNegativeButton : altPositiveButton : gravity : 3 dead : 0.3 sensitivity : 1 snap : 0 invert : 1 type : 2 axis : 1 joyNum : 0 - serializedVersion : 3 m_Name : kElevate descriptiveName : descriptiveNegativeName : negativeButton : s positiveButton : w altNegativeButton : altPositiveButton : gravity : 3 dead : 0.001 sensitivity : 1 snap : 0 invert : 0 type : 0 axis : 0 joyNum : 0 - serializedVersion : 3 m_Name : jTilt descriptiveName : descriptiveNegativeName : negativeButton : positiveButton : altNegativeButton : altPositiveButton : gravity : 3 dead : 0.3 sensitivity : 1 snap : 0 invert : 0 type : 2 axis : 3 joyNum : 0 - serializedVersion : 3 m_Name : kTilt descriptiveName : descriptiveNegativeName : negativeButton : a positiveButton : d altNegativeButton : altPositiveButton : gravity : 3 dead : 0.001 sensitivity : 1 snap : 0 invert : 0 type : 0 axis : 0 joyNum : 0
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ML-Agents Wheel Loader Way Point Controller
![how to download unity 4.6 how to download unity 4.6](https://unity3d.com/sites/default/files/5_6_improvement_particlevertexstreams.png)
Import the example Wheel Loader AGX model