add basketball example

config/ppo/BasketBall.yaml

+behaviors:
+  BasketBall:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 64
+      buffer_size: 12000
+      learning_rate: 0.0003
+      beta: 0.001
+      epsilon: 0.2
+      lambd: 0.99
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
+      normalize: true
+      hidden_units: 128
+      num_layers: 2
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 5000000
+    time_horizon: 1000
+    summary_freq: 12000
+    threaded: true

config/ppo/VisualBasketBall.yaml

+behaviors:
+  VisualBasketBall:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 64
+      buffer_size: 1024
+      learning_rate: 0.0003
+      beta: 0.01
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
+      normalize: false
+      hidden_units: 128
+      num_layers: 1
+      vis_encode_type: simple
+      memory:
+        sequence_length: 64
+        memory_size: 128
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 10000000
+    time_horizon: 64
+    summary_freq: 10000
+    threaded: true

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Project/Assets/ML-Agents/Examples/BasketBall/Scripts/PlayerAgent.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Sensors;
+
+public class PlayerAgent : Agent
+{
+	public Rigidbody rBall;
+	public Transform Target;
+	public Transform Aimpoint;
+	public float MoveSpeed = 0.1f;
+	public float ForceMultiplier = 10;
+	
+	public bool useVectorObs;
+
+	Vector3 ballInitPos;
+	Vector3 aimInitPos;
+	bool holdBall;
+	bool win;
+
+    void Start()
+    {
+        rBall.useGravity = false;
+
+        ballInitPos = rBall.transform.localPosition;
+        aimInitPos = Aimpoint.localPosition;
+
+        holdBall = true;
+        win = false;
+    }
+
+    public override void OnEpisodeBegin()
+    {
+    	if (rBall.transform.localPosition.y <= 0.6f)
+        {
+            rBall.angularVelocity = Vector3.zero;
+            rBall.velocity = Vector3.zero;
+            rBall.transform.localPosition = ballInitPos;
+            rBall.useGravity = false;
+        }
+
+        Aimpoint.localPosition = aimInitPos;
+
+        holdBall = true;
+        win = false;
+
+        // Move the target to a new spot
+        Target.localPosition = new Vector3(Random.value * 6 - 3,
+                                           Random.value * 4 - 2,
+                                           Random.value * 2 + 2);
+    }
+
+	public override void CollectObservations(VectorSensor sensor)
+	{
+		if (useVectorObs)
+		{
+			sensor.AddObservation(Target.localPosition);
+			sensor.AddObservation(Aimpoint.localPosition.x);
+			sensor.AddObservation(Aimpoint.localPosition.y);
+			sensor.AddObservation(rBall.transform.localPosition);
+			sensor.AddObservation(rBall.velocity);
+		}
+	}
+
+	public override void OnActionReceived(float[] vectorAction)
+	{
+		AddReward(-0.001f);
+
+		// Move aimpoint
+	    Vector3 aimMove = Vector3.zero;
+	    aimMove.x = vectorAction[0]*MoveSpeed;
+	    aimMove.y = vectorAction[1]*MoveSpeed;
+	    Aimpoint.localPosition += aimMove;
+	    // Vector3 x = (Aimpoint.localPosition - this.transform.localPosition);
+    	// Debug.Log("x");
+    	// Debug.Log(x);
+
+	    // Shoot ball
+	    bool shootBall = vectorAction[2] >= 0.5;
+	    if (shootBall && holdBall) 
+	    {
+	    	rBall.useGravity = true;
+	    	// Vector3 shootSignal = (Aimpoint.localPosition - this.transform.localPosition);
+	    	Vector3 origin = Vector3.zero;
+	    	origin.z = -10;
+	    	Vector3 shootSignal = (Aimpoint.localPosition - origin);
+
+	    	rBall.AddForce(shootSignal * ForceMultiplier);
+	    	holdBall = false;
+	    }
+	    
+	    // Reached target
+	    // if (ScoreArea.GetComponent<ScoreArea>().Hit)
+	    // {
+	    //     SetReward(1.0f);
+	    // 	Debug.Log("Hit!");
+	    // 	win = true;
+	    // 	ScoreArea.GetComponent<ScoreArea>().Hit = false;
+	    // }
+
+	    // Fell off platform
+	    if (rBall.transform.localPosition.y <= 0.5f)
+	    {
+	    	if (!win)
+	    	{
+	    		// SetReward(-1.0f);
+				AddReward(-1.0f);
+	    	}
+	        EndEpisode();
+	    }
+	}
+
+	public override void Heuristic(float[] actionsOut)
+	{
+	    actionsOut[0] = Input.GetAxis("Horizontal");
+	    actionsOut[1] = Input.GetAxis("Vertical");
+	    actionsOut[2] = Input.GetAxis("Jump");
+	}
+
+	public void Hit()
+	{
+	    // SetReward(1.0f);
+		AddReward(1.0f);
+	    win = true;
+	    // Debug.Log("Hit!");
+	}
+}

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Project/Assets/ML-Agents/Examples/BasketBall/Scripts/ScoreArea.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class ScoreArea : MonoBehaviour
+{
+    public PlayerAgent agent;
+
+    // Update is called once per frame
+    void OnTriggerEnter(Collider c)
+    {
+        if (c.name == "Ball")
+        {
+        	// Debug.Log("ScoreArea Triggered");
+        	agent.Hit();
+        }
+    }
+}

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