clean up collab push

Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockCollab.unity

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+      value: PushBlockCollabAreaGrid
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Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentCollab.cs

 using UnityEngine;
 using Unity.MLAgents;
 using Unity.MLAgents.Actuators;
-using Unity.MLAgents.Sensors;
-    PushBlockSettings m_PushBlockSettings;
-
-    //    Rigidbody m_BlockRb;  //cached on initialization
-    Rigidbody m_AgentRb;  //cached on initialization
+    private PushBlockSettings m_PushBlockSettings;
+    private Rigidbody m_AgentRb;  //cached on initialization
-    public bool useVectorObs = true;
     void Awake()
     {
         m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
     {
-        // Cache the agent rigidbody
+        // Cache the agent rb
         m_AgentRb = GetComponent<Rigidbody>();
     }
 
             ForceMode.VelocityChange);
     }
 
-
     /// <summary>
     /// Called every step of the engine. Here the agent takes an action.
     /// </summary>
             discreteActionsOut[0] = 2;
         }
     }
-
-    /// <summary>
-    /// In the editor, if "Reset On Done" is checked then AgentReset() will be
-    /// called automatically anytime we mark done = true in an agent script.
-    /// </summary>
-    public override void OnEpisodeBegin()
-    {
-    }
-
 }

Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs

 public class PushBlockEnvController : MonoBehaviour
 {
     [System.Serializable]
-    public class AgentInfo
+    public class PlayerInfo
     {
         public PushAgentCollab Agent;
         [HideInInspector]
         [HideInInspector]
         public Rigidbody Rb;
-
     }
 
     [System.Serializable]
     /// </summary>
     /// <returns></returns>
     [Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
-    // private int m_ResetTimer;
 
     /// <summary>
     /// The area bounds.
     /// </summary>
     Renderer m_GroundRenderer;
 
-    public List<AgentInfo> AgentsList = new List<AgentInfo>();
+    //List of Agents On Platform
+    public List<PlayerInfo> AgentsList = new List<PlayerInfo>();
+    //List of Blocks On Platform
     public List<BlockInfo> BlocksList = new List<BlockInfo>();
 
     public bool UseRandomAgentRotation = true;
-    PushBlockSettings m_PushBlockSettings;
+    private PushBlockSettings m_PushBlockSettings;
 
     private int m_NumberOfRemainingBlocks;
 
         // Starting material
         m_GroundMaterial = m_GroundRenderer.material;
         m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
+        // Initialize Blocks
         foreach (var item in BlocksList)
         {
             item.StartingPos = item.T.transform.position;
             item.Rb = item.Agent.GetComponent<Rigidbody>();
             m_AgentGroup.RegisterAgent(item.Agent);
         }
-
-
     }
 
     void FixedUpdate()
             m_AgentGroup.GroupEpisodeInterrupted();
             ResetScene();
         }
-
-        // foreach (var item in BlocksList)
-        // {
-        //     //Give Agent Rewards
-        //     m_AgentGroup.AddGroupReward(.01f * item.Rb.velocity.sqrMagnitude);
-        // }
     }
 
     /// <summary>
         block.Rb.angularVelocity = Vector3.zero;
     }
 
-
     /// <summary>
     /// Swap ground material, wait time seconds, then swap back to the regular material.
     /// </summary>
         // Swap ground material for a bit to indicate we scored.
         StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
 
-        print($"Scored {score} on gameObject.name");
         if (done)
         {
             //Reset assets
     {
         m_ResetTimer = 0;
 
-        //Random platform rot
+        //Random platform rotation
-        //End Episode
-        // foreach (var item in AgentsList)
-        // {
-        //     if (!item.Agent)
-        //     {
-        //         return;
-        //     }
-        //     item.Agent.EndEpisode();
-        // }
         //Reset Agents
         foreach (var item in AgentsList)
         {
 
         //Reset counter
         m_NumberOfRemainingBlocks = BlocksList.Count;
-        // m_NumberOfRemainingBlocks = 2;
     }
 }

Project/Assets/ML-Agents/Examples/Sorter/Prefabs/Area.prefab

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com.unity.ml-agents.extensions/Runtime/Sensors/CountingGridSensor.cs

             this.CellScaleZ = cellScaleZ;
             this.GridNumSideX = gridWidth;
             this.GridNumSideZ = gridHeight;
-            this.RotateGridWithRoot = rotateToAgent;
+            this.RotateToAgent = rotateToAgent;
             this.DiffNumSideZX = (GridNumSideZ - GridNumSideX);
             this.OffsetGridNumSide = (GridNumSideZ - 1f) / 2f;
             this.DebugColors = debugColors;

com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs

         public float CellScaleX = 1f;
 
         /// <summary>
-        /// The height of each grid cell. Changes how much of the vertical axis is observed by a cell.
-        /// </summary>
-        [Tooltip("The height of each grid cell. Changes how much of the vertical axis is observed by a cell")]
-        [Range(0.01f, 1000f)]
-        public float CellScaleY = 0.01f;
-
-        /// <summary>
         /// The depth of each grid cell.
         /// </summary>
         [Tooltip("The depth of each grid cell")]
         [Range(2, 2000)]
         public int GridNumSideZ = 16;
 
+        /// <summary>
+        /// The height of each grid cell. Changes how much of the vertical axis is observed by a cell.
+        /// </summary>
+        [Tooltip("The height of each grid cell. Changes how much of the vertical axis is observed by a cell")]
+        [Range(0.01f, 1000f)]
+        public float CellScaleY = 0.01f;
-        public bool RotateGridWithRoot;
+        public bool RotateToAgent;
 
         /// <summary>
         /// Array holding the depth of each channel.
         /// </summary>
         private List<byte[]> byteSizesBytesList;
 
-        private Color DebugDefaultColor = new Color(1f, 1f, 1f, 0.05f);
+        private Color DebugDefaultColor = new Color(1f, 1f, 1f, 0.25f);
-        // public GridSensor GridSensorToObserve;
-            // return GridSensorToObserve;
             return this;
         }
 
             this.CellScaleZ = cellScaleZ;
             this.GridNumSideX = gridWidth;
             this.GridNumSideZ = gridHeight;
-            this.RotateGridWithRoot = rotateToAgent;
+            this.RotateToAgent = rotateToAgent;
             this.DiffNumSideZX = (GridNumSideZ - GridNumSideX);
             this.OffsetGridNumSide = (GridNumSideZ - 1f) / 2f;
             this.DebugColors = debugColors;
             ClearPerceptionBuffer();
             using (TimerStack.Instance.Scoped("GridSensor.Perceive"))
             {
-                // var halfCellScale = new Vector3(CellScaleX / 2f, CellScaleY, CellScaleZ / 2f);
-                var halfCellScale = new Vector3(CellScaleX / 2f, CellScaleY / 2, CellScaleZ / 2f);
-                // Vector3 halfCellScale = Vector3.one * (overlapBoxScale * .5f);
+                var halfCellScale = new Vector3(CellScaleX / 2f, CellScaleY, CellScaleZ / 2f);
-                    if (RotateGridWithRoot)
+                    if (RotateToAgent)
-                        // Transform transform1;
-                        // cellCenter = (transform1 = transform).TransformPoint(CellPoints[cellIndex]);
-                        // numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, transform1.rotation);
-
-                        cellCenter = rootReference.transform.TransformPoint(CellPoints[cellIndex]);
-                        numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, rootReference.transform.rotation);
-
+                        Transform transform1;
+                        cellCenter = (transform1 = transform).TransformPoint(CellPoints[cellIndex]);
+                        numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, transform1.rotation);
-                        // numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, Quaternion.identity);
-                        numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, rootReference.transform.rotation);
+                        numFound = BufferResizingOverlapBoxNonAlloc(cellCenter, halfCellScale, Quaternion.identity);
                     }
 
                     if (numFound > 0)
             {
                 var currentColliderGo = foundColliders[i].gameObject;
 
-                // // Continue if the current collider go is the root reference
-                // if (ReferenceEquals(currentColliderGo, rootReference))
-                //     continue;
-
-                if (collidersToIgnore.Contains(foundColliders[i]))
-                    //                if (currentColliderGo == rootReference && !MapThisAgent)
-                    //                if (!MapThisAgent)
+                // Continue if the current collider go is the root reference
+                if (ReferenceEquals(currentColliderGo, rootReference))
                     continue;
 
                 var closestColliderPoint = foundColliders[i].ClosestPointOnBounds(cellCenter);
             float z = (cell / GridNumSideZ - OffsetGridNumSide) * CellScaleZ - DiffNumSideZX;
 
             if (shouldTransformPoint)
-                return rootReference.transform.TransformPoint(new Vector3(x, 0, z));
-            // return transform.TransformPoint(new Vector3(x, 0, z));
+                return transform.TransformPoint(new Vector3(x, 0, z));
-        // /// <summary>Finds the cell in which the given global point falls</summary>
-        // /// <returns>
-        // /// The index of the cell in which the global point falls or -1 if the point does not fall into a cell
-        // /// </returns>
-        // /// <param name="globalPoint">The 3D point in global space</param>
-        // public int PointToCell(Vector3 globalPoint)
-        // {
-        //     // Vector3 point = transform.InverseTransformPoint(globalPoint);
-        //     Vector3 point = rootReference.transform.InverseTransformPoint(globalPoint);
-        //
-        //     if (point.x < -HalfOfGridX || point.x > HalfOfGridX || point.z < -HalfOfGridZ || point.z > HalfOfGridZ)
-        //         return -1;
-        //
-        //     float x = point.x + HalfOfGridX;
-        //     float z = point.z + HalfOfGridZ;
-        //
-        //     int _x = (int)Mathf.Floor(x * PointToCellScalingX);
-        //     int _z = (int)Mathf.Floor(z * PointToCellScalingZ);
-        //     return GridNumSideX * _z + _x;
-        // }
+        /// <summary>Finds the cell in which the given global point falls</summary>
+        /// <returns>
+        /// The index of the cell in which the global point falls or -1 if the point does not fall into a cell
+        /// </returns>
+        /// <param name="globalPoint">The 3D point in global space</param>
+        public int PointToCell(Vector3 globalPoint)
+        {
+            Vector3 point = transform.InverseTransformPoint(globalPoint);
+
+            if (point.x < -HalfOfGridX || point.x > HalfOfGridX || point.z < -HalfOfGridZ || point.z > HalfOfGridZ)
+                return -1;
+
+            float x = point.x + HalfOfGridX;
+            float z = point.z + HalfOfGridZ;
+
+            int _x = (int)Mathf.Floor(x * PointToCellScalingX);
+            int _z = (int)Mathf.Floor(z * PointToCellScalingZ);
+            return GridNumSideX * _z + _x;
+        }
 
         /// <summary>Copies the data from one cell to another</summary>
         /// <param name="fromCellID">index of the cell to copy from</param>
                 CellActivity[toCellID] = CellActivity[fromCellID];
         }
 
-        // void OnDrawGizmos()
-        // {
-        //     if (ShowGizmos)
-        //     {
-        //         if (Application.isEditor && !Application.isPlaying)
-        //             Start();
-        //
-        //         Perceive();
-        //
-        //         var scale = new Vector3(CellScaleX, 1, CellScaleZ);
-        //         var offset = new Vector3(0, GizmoYOffset, 0);
-        //         var oldGizmoMatrix = Gizmos.matrix;
-        //         for (var i = 0; i < NumCells; i++)
-        //         {
-        //             Matrix4x4 cubeTransform;
-        //             if (RotateToAgent)
-        //             {
-        //                 cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, transform.rotation, scale);
-        //             }
-        //             else
-        //             {
-        //                 cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + transform.position + offset, Quaternion.identity, scale);
-        //             }
-        //             Gizmos.matrix = oldGizmoMatrix * cubeTransform;
-        //             Gizmos.color = CellActivity[i];
-        //             Gizmos.DrawCube(Vector3.zero, Vector3.one);
-        //         }
-        //
-        //         Gizmos.matrix = oldGizmoMatrix;
-        //
-        //         if (Application.isEditor && !Application.isPlaying)
-        //             DestroyImmediate(m_perceptionTexture2D);
-        //     }
-        // }
-        public List<Collider> collidersToIgnore; //
-        // public float overlapBoxScale = .5f;
-
         void OnDrawGizmos()
         {
             if (ShowGizmos)
 
                 Perceive();
 
-                // Vector3 scale = new Vector3(CellScaleX, 1, CellScaleZ);
-                Vector3 scale = new Vector3(CellScaleX, CellScaleY, CellScaleZ);
-                Vector3 offset = new Vector3(0, GizmoYOffset, 0);
-                Matrix4x4 oldGizmoMatrix = Gizmos.matrix;
-                Matrix4x4 cubeTransform = Gizmos.matrix;
-                //                Matrix4x4 cubeTransform = rootReference.transform.localToWorldMatrix;
-                //                Matrix4x4 cubeTransform = transform.localToWorldMatrix;
-                for (int i = 0; i < NumCells; i++)
+                var scale = new Vector3(CellScaleX, 1, CellScaleZ);
+                var offset = new Vector3(0, GizmoYOffset, 0);
+                var oldGizmoMatrix = Gizmos.matrix;
+                for (var i = 0; i < NumCells; i++)
-                    if (RotateGridWithRoot)
+                    Matrix4x4 cubeTransform;
+                    if (RotateToAgent)
-                        //                        cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, transform.rotation, scale);
-                        cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, rootReference.transform.rotation, scale);
+                        cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, transform.rotation, scale);
-                        //                        cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + transform.position + offset, Quaternion.identity, scale);
-                        cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + rootReference.transform.position + offset, Quaternion.identity, scale);
-                        //                        cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + offset, Quaternion.identity, scale);
+                        cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + transform.position + offset, Quaternion.identity, scale);
-                    //                    Gizmos.DrawCube(Vector3.zero, Vector3.one * .75f);
-                    // Gizmos.DrawCube(Vector3.zero, Vector3.one * overlapBoxScale);
-                    Gizmos.DrawCube(Vector3.zero, scale);
-                    //                    Gizmos.DrawCube(Vector3.zero, new Vector3(.85f, .15f, .85f));
-                    //                    Gizmos.DrawWireCube(Vector3.zero, Vector3.one * .75f);
-                    //                    Gizmos.DrawSphere(Vector3.zero, .5f);
+                    Gizmos.DrawCube(Vector3.zero, Vector3.one);
                 }
 
                 Gizmos.matrix = oldGizmoMatrix;
             }
         }
-
 
         /// <inheritdoc/>
         void ISensor.Update()

Project/Assets/ML-Agents/Examples/Sorter/Prefabs/NumberBlock (1).prefab

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