Merge pull request #2280 from Unity-Technologies/develop-newResetParams-3DBall-Tennis-TwoSoccer

Develop new reset params 3 d ball tennis two soccer

UnitySDK/Assets/ML-Agents/Examples/3DBall/Scenes/3DBall.unity

   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.44824862, g: 0.49827534, b: 0.57558274, a: 1}
+  m_IndirectSpecularColor: {r: 0.44824898, g: 0.49827564, b: 0.5755826, a: 1}
 --- !u!157 &3
 LightmapSettings:
   m_ObjectHideFlags: 0
     timeScale: 1
     targetFrameRate: -1
   resetParameters:
-    resetParameters: []
+    resetParameters:
+    - key: mass
+      value: 1
+    - key: gravity
+      value: 9.81
+    - key: scale
+      value: 1
 --- !u!1 &1746325439
 GameObject:
   m_ObjectHideFlags: 0

UnitySDK/Assets/ML-Agents/Examples/3DBall/Scenes/3DBallHard.unity

   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.45096254, g: 0.5008292, b: 0.5744089, a: 1}
+  m_IndirectSpecularColor: {r: 0.45096314, g: 0.50082976, b: 0.57440954, a: 1}
 --- !u!157 &3
 LightmapSettings:
   m_ObjectHideFlags: 0
     timeScale: 1
     targetFrameRate: -1
   resetParameters:
-    resetParameters: []
+    resetParameters:
+    - key: mass
+      value: 1
+    - key: gravity
+      value: 9.81
+    - key: scale
+      value: 1
 --- !u!1001 &1591880668
 Prefab:
   m_ObjectHideFlags: 0

UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAcademy.cs

 {
     public override void AcademyReset()
     {
-
+        Physics.gravity = new Vector3(0, -resetParameters["gravity"], 0);
     }
 
     public override void AcademyStep()

UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs

     [Header("Specific to Ball3D")]
     public GameObject ball;
     private Rigidbody ballRb;
+    private ResetParameters resetParams;
+        var academy = Object.FindObjectOfType<Academy>() as Academy;
+        resetParams = academy.resetParameters;
+        SetResetParameters();
     }
 
     public override void CollectObservations()
 
     public override void AgentAction(float[] vectorAction, string textAction)
     {
-        
+
         if (brain.brainParameters.vectorActionSpaceType == SpaceType.continuous)
         {
             var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f);
         ballRb.velocity = new Vector3(0f, 0f, 0f);
         ball.transform.position = new Vector3(Random.Range(-1.5f, 1.5f), 4f, Random.Range(-1.5f, 1.5f))
                                       + gameObject.transform.position;
+        //Reset the parameters when the Agent is reset.
+        SetResetParameters();
+    }
+    public void SetBall()
+    {
+        //Set the attributes of the ball by fetching the information from the academy
+        ballRb.mass = resetParams["mass"];
+        var scale = resetParams["scale"];
+        ball.transform.localScale = new Vector3(scale, scale, scale);
+    public void SetResetParameters()
+    {
+        SetBall();
+    }
 }

UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs

     [Header("Specific to Ball3DHard")]
     public GameObject ball;
     private Rigidbody ballRb;
+    private ResetParameters resetParams;
+        var academy = Object.FindObjectOfType<Academy>() as Academy;
+        resetParams = academy.resetParameters;
+        SetResetParameters();
     }
 
     public override void CollectObservations()
 
     public override void AgentAction(float[] vectorAction, string textAction)
     {
-        
+
         if (brain.brainParameters.vectorActionSpaceType == SpaceType.continuous)
         {
             var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f);
 
     }
 
+
+    public void SetBall()
+    {
+        //Set the attributes of the ball by fetching the information from the academy
+        ballRb.mass = resetParams["mass"];
+        var scale = resetParams["scale"];
+        ball.transform.localScale = new Vector3(scale, scale, scale);
+    }
+
+    public void SetResetParameters()
+    {
+        SetBall();
+    }
 }

UnitySDK/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwos.unity

     timeScale: 2
     targetFrameRate: 60
   resetParameters:
-    resetParameters: []
+    resetParameters:
+    - key: ball_scale
+      value: 7.5
+    - key: gravity
+      value: 9.81
   brainStriker: {fileID: 11400000, guid: 29ed78b3e8fef4340b3a1f6954b88f18, type: 2}
   brainGoalie: {fileID: 11400000, guid: 090fa5a8588f5433bb7f878e6f5ac954, type: 2}
   redMaterial: {fileID: 2100000, guid: 776dd8b57653342839c3fb5f46ce664e, type: 2}

UnitySDK/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs

 
     public enum Team
     {
-        Red, 
+        Red,
-        Striker, 
+        Striker,
-    
+
-    
+
     [HideInInspector]
     public Rigidbody agentRb;
     SoccerAcademy academy;
 
         var playerState = new PlayerState
         {
-            agentRB = agentRb, 
-            startingPos = transform.position, 
+            agentRB = agentRb,
+            startingPos = transform.position,
             agentScript = this,
         };
         area.playerStates.Add(playerState);
         transform.position = area.GetRandomSpawnPos(agentRole, team);
         agentRb.velocity = Vector3.zero;
         agentRb.angularVelocity = Vector3.zero;
+        SetResetParameters();
+    }
+
+    public void SetResetParameters()
+    {
         area.ResetBall();
     }
 }

UnitySDK/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerAcademy.cs

     }
     public override void AcademyReset()
     {
-
+        Physics.gravity = new Vector3(0, -resetParameters["gravity"], 0);
     }
 
     public override void AcademyStep()

UnitySDK/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs

 [System.Serializable]
 public class PlayerState
 {
-    public int playerIndex; 
-    public Rigidbody agentRB; 
-    public Vector3 startingPos; 
-    public AgentSoccer agentScript; 
+    public int playerIndex;
+    public Rigidbody agentRB;
+    public Vector3 startingPos;
+    public AgentSoccer agentScript;
     public float ballPosReward;
 }
 
     public GameObject ball;
     [HideInInspector]
     public Rigidbody ballRB;
-    public GameObject ground; 
+    public GameObject ground;
     public GameObject centerPitch;
     SoccerBallController ballController;
     public List<PlayerState> playerStates = new List<PlayerState>();
     public IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
     {
         groundRenderer.material = mat;
-        yield return new WaitForSeconds(time); 
+        yield return new WaitForSeconds(time);
         groundRenderer.material = groundMaterial;
     }
 
         academy = FindObjectOfType<SoccerAcademy>();
-        groundRenderer = centerPitch.GetComponent<Renderer>(); 
+        groundRenderer = centerPitch.GetComponent<Renderer>();
         groundMaterial = groundRenderer.material;
         canResetBall = true;
         if (goalTextUI) { goalTextUI.SetActive(false); }
         {
             xOffset = xOffset * -1f;
         }
-        var randomSpawnPos = ground.transform.position + 
-                               new Vector3(xOffset, 0f, 0f) 
+        var randomSpawnPos = ground.transform.position +
+                               new Vector3(xOffset, 0f, 0f)
                                + (Random.insideUnitSphere * 2);
         randomSpawnPos.y = ground.transform.position.y + 2;
         return randomSpawnPos;
     {
-        var randomSpawnPos = ground.transform.position + 
-                             new Vector3(0f, 0f, 0f) 
+        var randomSpawnPos = ground.transform.position +
+                             new Vector3(0f, 0f, 0f)
                              + (Random.insideUnitSphere * 2);
         randomSpawnPos.y = ground.transform.position.y + 2;
         return randomSpawnPos;
         ball.transform.position = GetBallSpawnPosition();
         ballRB.velocity = Vector3.zero;
         ballRB.angularVelocity = Vector3.zero;
+
+        var ballScale = academy.resetParameters["ball_scale"];
+        ballRB.transform.localScale = new Vector3(ballScale, ballScale, ballScale);
     }
 }

UnitySDK/Assets/ML-Agents/Examples/Tennis/Scenes/Tennis.unity

     timeScale: 1
     targetFrameRate: 60
   resetParameters:
-    resetParameters: []
+    resetParameters:
+    - key: gravity
+      value: 9.81
+    - key: angle
+      value: 55
+    - key: scale
+      value: 1
 --- !u!1001 &1065879750
 Prefab:
   m_ObjectHideFlags: 0

UnitySDK/Assets/ML-Agents/Examples/Tennis/Scenes/TennisIL.unity

   brain: {fileID: 11400000, guid: 6bf6a586a645b471bb9bd1194ae0e229, type: 2}
   agentParameters:
     agentCameras: []
+    agentRenderTextures: []
     maxStep: 5000
     resetOnDone: 1
     onDemandDecision: 0
   score: 0
-  scoreText: {fileID: 2073469450}
-  opponent: {fileID: 1894084401}
+  angle: 0
+  scale: 0
 --- !u!65 &348265184
 BoxCollider:
   m_ObjectHideFlags: 0
     timeScale: 1
     targetFrameRate: 60
   resetParameters:
-    resetParameters: []
+    resetParameters:
+    - key: angle
+      value: 55
+    - key: scale
+      value: 1
+    - key: gravity
+      value: 9.81
 --- !u!1 &1114726487
 GameObject:
   m_ObjectHideFlags: 0
   brain: {fileID: 11400000, guid: 1674996276be448c2ad51fb139e21e05, type: 2}
   agentParameters:
     agentCameras: []
+    agentRenderTextures: []
     maxStep: 5000
     resetOnDone: 1
     onDemandDecision: 0
   score: 0
-  scoreText: {fileID: 1871669621}
-  opponent: {fileID: 348265181}
+  angle: 0
+  scale: 0
 --- !u!65 &1894084404
 BoxCollider:
   m_ObjectHideFlags: 0

UnitySDK/Assets/ML-Agents/Examples/Tennis/Scripts/HitWall.cs

             lastAgentHit = collision.gameObject.name == "AgentA" ? 0 : 1;
         }
     }
-}
+}

UnitySDK/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAcademy.cs

 
     public override void AcademyReset()
     {
+        Physics.gravity = new Vector3(0, -resetParameters["gravity"], 0);
     }
 
     public override void AcademyStep()

UnitySDK/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs

     public bool invertX;
     public int score;
     public GameObject myArea;
+    public float angle;
+    public float scale;
+    private ResetParameters resetParams;
 
     // Looks for the scoreboard based on the name of the gameObjects.
     // Do not modify the names of the Score GameObjects
         ballRb = ball.GetComponent<Rigidbody>();
         var canvas = GameObject.Find(CanvasName);
         GameObject scoreBoard;
+        var academy = Object.FindObjectOfType<Academy>() as Academy;
+        resetParams = academy.resetParameters;
         if (invertX)
         {
             scoreBoard = canvas.transform.Find(ScoreBoardBName).gameObject;
             scoreBoard = canvas.transform.Find(ScoreBoardAName).gameObject;
         }
         textComponent = scoreBoard.GetComponent<Text>();
+        SetResetParameters();
     }
 
     public override void CollectObservations()
     {
         var moveX = Mathf.Clamp(vectorAction[0], -1f, 1f) * invertMult;
         var moveY = Mathf.Clamp(vectorAction[1], -1f, 1f);
-        
+
         if (moveY > 0.5 && transform.position.y - transform.parent.transform.position.y < -1.5f)
         {
             agentRb.velocity = new Vector3(agentRb.velocity.x, 7f, 0f);
 
-        if (invertX && transform.position.x - transform.parent.transform.position.x < -invertMult || 
+        if (invertX && transform.position.x - transform.parent.transform.position.x < -invertMult ||
-                transform.position = new Vector3(-invertMult + transform.parent.transform.position.x, 
-                                                            transform.position.y, 
-                                                            transform.position.z);
+            transform.position = new Vector3(-invertMult + transform.parent.transform.position.x,
+                                                        transform.position.y,
+                                                        transform.position.z);
         }
 
         textComponent.text = score.ToString();
 
         transform.position = new Vector3(-invertMult * Random.Range(6f, 8f), -1.5f, 0f) + transform.parent.transform.position;
         agentRb.velocity = new Vector3(0f, 0f, 0f);
+
+        SetResetParameters();
+    }
+
+    public void SetRacket()
+    {
+        angle = resetParams["angle"];
+        gameObject.transform.eulerAngles = new Vector3(
+                                                gameObject.transform.eulerAngles.x,
+                                                gameObject.transform.eulerAngles.y,
+                                                invertMult * angle
+                                            );
+    }
+
+    public void SetBall()
+    {
+        scale = resetParams["scale"];
+        ball.transform.localScale = new Vector3(scale, scale, scale);
+    }
+
+    public void SetResetParameters()
+    {
+        SetRacket();
+        SetBall();
     }
 }

docs/Learning-Environment-Examples.md

   * Vector Action space: (Continuous) Size of 2, with one value corresponding to
     X-rotation, and the other to Z-rotation.
   * Visual Observations: None.
-* Reset Parameters: None
+* Reset Parameters: Three, corresponding to the following:
+    * scale: Specifies the scale of the ball in the 3 dimensions (equal across the three dimensions)
+      * Default: 1
+      * Recommended Minimum: 0.2
+      * Recommended Maximum: 5
+    * gravity: Magnitude of gravity  
+      * Default: 9.81
+      * Recommended Minimum: 4
+      * Recommended Maximum: 105
+    * mass: Specifies mass of the ball
+      * Default: 1
+      * Recommended Minimum: 0.1
+      * Recommended Maximum: 20
 * Benchmark Mean Reward: 100
 
 ## [GridWorld](https://youtu.be/gu8HE9WKEVI)
   * Vector Action space: (Continuous) Size of 2, corresponding to movement
     toward net or away from net, and jumping.
   * Visual Observations: None.
-* Reset Parameters: One, corresponding to size of ball.
+* Reset Parameters: Three, corresponding to the following:
+    * angle: Angle of the racket from the vertical (Y) axis.
+      * Default: 55
+      * Recommended Minimum: 35 
+      * Recommended Maximum: 65
+    * gravity: Magnitude of gravity
+      * Default: 9.81
+      * Recommended Minimum: 6
+      * Recommended Maximum: 20
+    * scale: Specifies the scale of the ball in the 3 dimensions (equal across the three dimensions)
+      * Default: 1
+      * Recommended Minimum: 0.2
+      * Recommended Maximum: 5
 * Benchmark Mean Reward: 2.5
 * Optional Imitation Learning scene: `TennisIL`.
 
       as well as rotation.
     * Goalie: 4 actions corresponding to forward, backward, sideways movement.
   * Visual Observations: None.
-* Reset Parameters: None
+* Reset Parameters: Two, corresponding to the following:
+  * ball_scale: Specifies the scale of the ball in the 3 dimensions (equal across the three dimensions)
+    * Default: 7.5
+    * Recommended minimum: 4
+    * Recommended maximum: 10
+  * gravity: Magnitude of the gravity
+    * Default: 9.81
+    * Recommended minimum: 6
+    * Recommended maximum: 20
 * Benchmark Mean Reward (Striker & Goalie Brain): 0 (the means will be inverse
   of each other and criss crosses during training) __Note that our trainer is currently unable to consistently train this environment__