add drawspheres gizmo to perception

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Materials/GridMatMoveable.mat

     - _GlossyReflections: 1
     - _GridSize: 1
     - _LineOffset: 0.5
-    - _LineSize: 0.08
+    - _LineSize: 0.05
     - _LineWidth: 0.1
     - _Metallic: 0
     - _Mode: 0

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception3D.cs

 using System;
 using System.Collections.Generic;
+using UnityEditor;
 using UnityEngine;
 
 namespace MLAgents
         Vector3 m_EndPosition;
         RaycastHit m_Hit;
         private float[] m_SubList;
-
+        public bool drawSphereGizmos;
+        public float gizmoSphereRadius = .5f;
+        public float gizmoSphereDrawDist = 2f;
+        public float[] rayAnglesForDebug;
         /// <summary>
         /// Creates perception vector to be used as part of an observation of an agent.
         /// Each ray in the rayAngles array adds a sublist of data to the observation.
         {
             if (m_SubList == null || m_SubList.Length != detectableObjects.Length + 2)
                 m_SubList = new float[detectableObjects.Length + 2];
+            
+            if (drawSphereGizmos)
+            {
+                rayAnglesForDebug = rayAngles;
+            }
+
+
+//            if (rayAnglesForDebug == null)
+//            {
+//                rayAnglesForDebug = new float[rayAngles.Length];
+//            }
+            
+
 
             m_PerceptionBuffer.Clear();
             m_PerceptionBuffer.Capacity = m_SubList.Length * rayAngles.Length;
             }
 
             return m_PerceptionBuffer;
+        }
+
+
+        private void OnDrawGizmos()
+        {
+            if (drawSphereGizmos)
+            {
+                foreach (var angle in rayAnglesForDebug)
+                {
+                    var pos = transform.TransformPoint(
+                        PolarToCartesian(gizmoSphereDrawDist, angle));
+                    Gizmos.DrawWireSphere(pos, gizmoSphereRadius);
+                }
+            }
         }
 
         /// <summary>

UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs

         m_AgentRb.velocity = Vector3.zero;
     }
 
-    private void FixedUpdate()
-    {
-        if (m_Configuration != -1)
-        {
-            ConfigureAgent(m_Configuration);
-            m_Configuration = -1;
-        }
-    }
+//    private void FixedUpdate()
+//    {
+//        if (m_Configuration != -1)
+//        {
+//            ConfigureAgent(m_Configuration);
+//            m_Configuration = -1;
+//        }
+//    }
 
     /// <summary>
     /// Configures the agent. Given an integer config, the wall will have

UnitySDK/ProjectSettings/QualitySettings.asset

     asyncUploadBufferSize: 4
     resolutionScalingFixedDPIFactor: 1
     excludedTargetPlatforms: []
-  m_PerPlatformDefaultQuality:
-    Android: 2
-    Nintendo 3DS: 5
-    Nintendo Switch: 5
-    PS4: 5
-    PSM: 5
-    PSP2: 2
-    Samsung TV: 2
-    Standalone: 5
-    Tizen: 2
-    Web: 5
-    WebGL: 3
-    WiiU: 5
-    Windows Store Apps: 5
-    XboxOne: 5
-    iPhone: 2
-    tvOS: 2
+  m_PerPlatformDefaultQuality: {}

UnitySDK/csharp_timers.json

-{"count":1,"self":7.355968,"total":47.330034999999995,"children":{"AgentResetIfDone":{"count":5242,"self":0.167117,"total":0.167117,"children":null},"AgentSendState":{"count":5242,"self":1.303016,"total":3.430564,"children":{"CollectObservations":{"count":41952,"self":2.127548,"total":2.127548,"children":null}}},"BrainDecideAction":{"count":5242,"self":35.7313632,"total":35.731362,"children":null},"AcademyStep":{"count":5242,"self":0.120016,"total":0.120016,"children":null},"AgentAct":{"count":5242,"self":0.523507,"total":0.523507,"children":null}}}
+{"count":1,"self":336.08376319999996,"total":336.224354,"children":{"AgentResetIfDone":{"count":55,"self":0.0032559999999999998,"total":0.0032559999999999998,"children":null},"AgentSendState":{"count":55,"self":0.046099,"total":0.119173,"children":{"CollectObservations":{"count":456,"self":0.073074,"total":0.073074,"children":null}}},"BrainDecideAction":{"count":55,"self":0.003511,"total":0.003511,"children":null},"AcademyStep":{"count":55,"self":0.004344,"total":0.004344,"children":null},"AgentAct":{"count":55,"self":0.0085449999999999988,"total":0.0085449999999999988,"children":null}}}

config/trainer_config.yaml

     num_layers: 2
 
 SmallWallJumpLearning:
-    max_steps: 2.0e5
+    max_steps: 1.0e6
     batch_size: 128
     buffer_size: 2048
     beta: 5.0e-3
     time_horizon: 1000
     batch_size: 512
     buffer_size: 4096
-    max_steps: 2e6
+    max_steps: 1.0e6
     summary_freq: 3000
     num_layers: 2
     hidden_units: 128

csharp_timers.json

-{"count":1,"self":26.708940799999997,"total":239.834716,"children":{"AgentResetIfDone":{"count":13809,"self":0.14462899999999998,"total":0.14462899999999998,"children":null},"AgentSendState":{"count":13809,"self":1.018158,"total":4.721239,"children":{"CollectObservations":{"count":110472,"self":3.7030808,"total":3.7030809999999996,"children":null}}},"BrainDecideAction":{"count":13809,"self":207.38073599999998,"total":207.380741,"children":null},"AcademyStep":{"count":13809,"self":0.07435,"total":0.07435,"children":null},"AgentAct":{"count":13809,"self":0.802439,"total":0.802439,"children":null}}}9899999999993,"children":null}}}
+{"count":1,"self":375.14826239999996,"total":8686.488904,"children":{"AgentResetIfDone":{"count":414663,"self":4.5990952,"total":4.599095,"children":null},"AgentSendState":{"count":414663,"self":37.254604799999996,"total":161.11343,"children":{"CollectObservations":{"count":3317304,"self":123.8588288,"total":123.858824,"children":null}}},"BrainDecideAction":{"count":414663,"self":8115.9315455999995,"total":8115.931369,"children":null},"AcademyStep":{"count":414663,"self":2.635214,"total":2.635214,"children":null},"AgentAct":{"count":414663,"self":27.058908799999998,"total":27.058909999999997,"children":null}}}

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Materials/GridMatHazard.mat

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UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Materials/GridMatHazard.mat.meta

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