Merge pull request #4741 from Unity-Technologies/walljump-pushblock

Add WalljumpPushblock env

Project/Assets/ML-Agents/Examples/WallJumpAndPushblock.meta

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config/ppo/WJPB.yaml

+behaviors:
+  WJPB:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 128
+      buffer_size: 2048
+      learning_rate: 0.0003
+      beta: 0.005
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
+      normalize: false
+      hidden_units: 512
+      num_layers: 2
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.99
+        strength: 1.0
+    keep_checkpoints: 5
+    max_steps: 50000000
+    time_horizon: 128
+    summary_freq: 20000
+    threaded: true
+environment_parameters:
+  big_wall_height:
+    curriculum:
+      - name: Lesson0 # The '-' is important as this is a list
+        completion_criteria:
+          measure: progress
+          behavior: WJPB
+          signal_smoothing: true
+          min_lesson_length: 100
+          threshold: 0.05
+        value:
+          sampler_type: uniform
+          sampler_parameters:
+            min_value: 0.0
+            max_value: 4.0
+      - name: Lesson1 # This is the start of the second lesson
+        completion_criteria:
+          measure: progress
+          behavior: WJPB
+          signal_smoothing: true
+          min_lesson_length: 100
+          threshold: 0.1
+        value:
+          sampler_type: uniform
+          sampler_parameters:
+            min_value: 4.0
+            max_value: 7.0
+      - name: Lesson2
+        completion_criteria:
+          measure: progress
+          behavior: WJPB
+          signal_smoothing: true
+          min_lesson_length: 100
+          threshold: 0.5
+        value:
+          sampler_type: uniform
+          sampler_parameters:
+            min_value: 6.0
+            max_value: 8.0
+      - name: Lesson3
+        value: 8.0
+env_settings:
+  num_envs: 4

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Project/Assets/ML-Agents/Examples/WallJumpAndPushblock/Scripts/WJPBAgent.cs

+//Put this script on your blue cube.
+
+using System.Collections;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.Barracuda;
+using Unity.MLAgents.Actuators;
+using Unity.MLAgents.Sensors;
+using Unity.MLAgentsExamples;
+
+public class WJPBAgent : Agent
+{
+    // Depending on this value, the agent will have different goals
+    int m_Goal;
+
+    public GameObject ground;
+    public GameObject spawnArea;
+    Bounds m_SpawnAreaBounds;
+
+
+    public GameObject wallJumpGoal;
+    public GameObject pushBlockGoal;
+    public GameObject shortBlock;
+    public GameObject wall;
+    public int goals;
+    Rigidbody m_ShortBlockRb;
+    Rigidbody m_AgentRb;
+    public Material goalMaterial;
+    public Material nonGoalMaterial;
+    Renderer m_PushRenderer;
+    Renderer m_WallRenderer;
+    WJPBSettings m_WJPBSettings;
+
+    public float jumpingTime;
+    public float jumpTime;
+    // This is a downward force applied when falling to make jumps look
+    // less floaty
+    public float fallingForce;
+    // Use to check the coliding objects
+    public Collider[] hitGroundColliders = new Collider[3];
+    Vector3 m_JumpTargetPos;
+    Vector3 m_JumpStartingPos;
+
+    [HideInInspector]
+    public WJPBGoalDetect goalDetect;
+    float[] m_GoalOneHot;
+
+
+    EnvironmentParameters m_ResetParams;
+
+    public override void Initialize()
+    {
+        m_WJPBSettings = FindObjectOfType<WJPBSettings>();
+        // One-hot encoding of the goal
+        m_WallRenderer = wallJumpGoal.GetComponent<Renderer>();
+        m_PushRenderer = pushBlockGoal.GetComponent<Renderer>();
+
+        m_Goal = Random.Range(0, goals);
+        //m_Goal = 0;
+        m_GoalOneHot = new float[goals];
+        if (m_Goal == 0)
+        {
+            m_WallRenderer.material = goalMaterial;
+            m_PushRenderer.material = nonGoalMaterial;
+        }
+        else
+        {
+            m_WallRenderer.material = nonGoalMaterial;
+            m_PushRenderer.material = goalMaterial;
+        }
+
+        System.Array.Clear(m_GoalOneHot, 0, m_GoalOneHot.Length);
+        m_GoalOneHot[m_Goal] = 1;
+
+        goalDetect = shortBlock.GetComponent<WJPBGoalDetect>();
+        goalDetect.agent = this;
+
+
+        m_AgentRb = GetComponent<Rigidbody>();
+        m_ShortBlockRb = shortBlock.GetComponent<Rigidbody>();
+        m_SpawnAreaBounds = spawnArea.GetComponent<Collider>().bounds;
+
+        spawnArea.SetActive(false);
+
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
+
+    }
+
+    // Begin the jump sequence
+    public void Jump()
+    {
+        jumpingTime = 0.2f;
+        m_JumpStartingPos = m_AgentRb.position;
+    }
+
+    /// <summary>
+    /// Does the ground check.
+    /// </summary>
+    /// <returns><c>true</c>, if the agent is on the ground,
+    /// <c>false</c> otherwise.</returns>
+    /// <param name="smallCheck"></param>
+    public bool DoGroundCheck(bool smallCheck)
+    {
+        if (!smallCheck)
+        {
+            hitGroundColliders = new Collider[3];
+            var o = gameObject;
+            Physics.OverlapBoxNonAlloc(
+                o.transform.position + new Vector3(0, -0.05f, 0),
+                new Vector3(0.95f / 2f, 0.5f, 0.95f / 2f),
+                hitGroundColliders,
+                o.transform.rotation);
+            var grounded = false;
+            foreach (var col in hitGroundColliders)
+            {
+                if (col != null && col.transform != transform &&
+                    (col.CompareTag("walkableSurface") ||
+                     col.CompareTag("block") ||
+                     col.CompareTag("wall")))
+                {
+                    grounded = true; //then we're grounded
+                    break;
+                }
+            }
+            return grounded;
+        }
+        else
+        {
+            RaycastHit hit;
+            Physics.Raycast(transform.position + new Vector3(0, -0.05f, 0), -Vector3.up, out hit,
+                1f);
+
+            if (hit.collider != null &&
+                (hit.collider.CompareTag("walkableSurface") ||
+                 hit.collider.CompareTag("block") ||
+                 hit.collider.CompareTag("wall"))
+                && hit.normal.y > 0.95f)
+            {
+                return true;
+            }
+
+            return false;
+        }
+    }
+
+    /// <summary>
+    /// Moves  a rigidbody towards a position smoothly.
+    /// </summary>
+    /// <param name="targetPos">Target position.</param>
+    /// <param name="rb">The rigidbody to be moved.</param>
+    /// <param name="targetVel">The velocity to target during the
+    ///  motion.</param>
+    /// <param name="maxVel">The maximum velocity posible.</param>
+    void MoveTowards(
+        Vector3 targetPos, Rigidbody rb, float targetVel, float maxVel)
+    {
+        var moveToPos = targetPos - rb.worldCenterOfMass;
+        var velocityTarget = Time.fixedDeltaTime * targetVel * moveToPos;
+        if (float.IsNaN(velocityTarget.x) == false)
+        {
+            rb.velocity = Vector3.MoveTowards(
+                rb.velocity, velocityTarget, maxVel);
+        }
+    }
+
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        var agentPos = m_AgentRb.position - ground.transform.position;
+
+        sensor.AddObservation(agentPos / 20f);
+        sensor.AddObservation(DoGroundCheck(true) ? 1 : 0);
+        sensor.AddObservation(m_GoalOneHot);
+    }
+
+    /// <summary>
+    /// Gets a random spawn position in the spawningArea.
+    /// </summary>
+    /// <returns>The random spawn position.</returns>
+    public Vector3 GetRandomSpawnPos()
+    {
+        var randomPosX = Random.Range(-m_SpawnAreaBounds.extents.x,
+            m_SpawnAreaBounds.extents.x);
+        var randomPosZ = Random.Range(-m_SpawnAreaBounds.extents.z,
+            m_SpawnAreaBounds.extents.z);
+
+        var randomSpawnPos = spawnArea.transform.position +
+            new Vector3(randomPosX, 0.45f, randomPosZ - 2f);
+        return randomSpawnPos;
+    }
+
+    public void MoveAgent(ActionSegment<int> act)
+    {
+        AddReward(-0.0005f);
+        var smallGrounded = DoGroundCheck(true);
+        var largeGrounded = DoGroundCheck(false);
+
+        var dirToGo = Vector3.zero;
+        var rotateDir = Vector3.zero;
+        var dirToGoForwardAction = act[0];
+        var rotateDirAction = act[1];
+        var dirToGoSideAction = act[2];
+        var jumpAction = act[3];
+
+        if (dirToGoForwardAction == 1)
+            dirToGo = (largeGrounded ? 1f : 0.5f) * 1f * transform.forward;
+        else if (dirToGoForwardAction == 2)
+            dirToGo = (largeGrounded ? 1f : 0.5f) * -1f * transform.forward;
+        if (rotateDirAction == 1)
+            rotateDir = transform.up * -1f;
+        else if (rotateDirAction == 2)
+            rotateDir = transform.up * 1f;
+        if (dirToGoSideAction == 1)
+            dirToGo = (largeGrounded ? 1f : 0.5f) * -0.6f * transform.right;
+        else if (dirToGoSideAction == 2)
+            dirToGo = (largeGrounded ? 1f : 0.5f) * 0.6f * transform.right;
+        if (jumpAction == 1)
+            if ((jumpingTime <= 0f) && smallGrounded)
+            {
+                Jump();
+            }
+
+        transform.Rotate(rotateDir, Time.fixedDeltaTime * 300f);
+        m_AgentRb.AddForce(dirToGo * m_WJPBSettings.agentRunSpeed,
+            ForceMode.VelocityChange);
+
+        if (jumpingTime > 0f)
+        {
+            m_JumpTargetPos =
+                new Vector3(m_AgentRb.position.x,
+                    m_JumpStartingPos.y + m_WJPBSettings.agentJumpHeight,
+                    m_AgentRb.position.z) + dirToGo;
+            MoveTowards(m_JumpTargetPos, m_AgentRb, m_WJPBSettings.agentJumpVelocity,
+                m_WJPBSettings.agentJumpVelocityMaxChange);
+        }
+
+        if (!(jumpingTime > 0f) && !largeGrounded)
+        {
+            m_AgentRb.AddForce(
+                Vector3.down * fallingForce, ForceMode.Acceleration);
+        }
+        jumpingTime -= Time.fixedDeltaTime;
+    }
+
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
+    {
+        MoveAgent(actionBuffers.DiscreteActions);
+        if ((!Physics.Raycast(m_AgentRb.position, Vector3.down, 20))
+            || (!Physics.Raycast(m_ShortBlockRb.position, Vector3.down, 20)))
+        {
+            SetReward(-1f);
+            EndEpisode();
+            ResetBlock(m_ShortBlockRb);
+        }
+    }
+
+    public override void Heuristic(in ActionBuffers actionsOut)
+    {
+        var discreteActionsOut = actionsOut.DiscreteActions;
+        discreteActionsOut.Clear();
+        if (Input.GetKey(KeyCode.D))
+        {
+            discreteActionsOut[1] = 2;
+        }
+        if (Input.GetKey(KeyCode.W))
+        {
+            discreteActionsOut[0] = 1;
+        }
+        if (Input.GetKey(KeyCode.A))
+        {
+            discreteActionsOut[1] = 1;
+        }
+        if (Input.GetKey(KeyCode.S))
+        {
+            discreteActionsOut[0] = 2;
+        }
+        discreteActionsOut[3] = Input.GetKey(KeyCode.Space) ? 1 : 0;
+    }
+
+    // Detect when the agent hits the goal
+    void OnTriggerStay(Collider col)
+    {
+        if (col.gameObject.CompareTag("walljumpgoal") && DoGroundCheck(true))
+        {
+            // ending the episode so the agent doesnt get stuck over the wall
+            if (m_Goal == 0)
+            {
+                SetReward(1f);
+                EndEpisode();
+            }
+        }
+    }
+
+    public void ScoredAGoal()
+    {
+        if (m_Goal == 1)
+        {
+            SetReward(1f);
+            EndEpisode();
+        }
+    }
+
+
+    //Reset the orange block position
+    void ResetBlock(Rigidbody blockRb)
+    {
+        blockRb.transform.position = GetRandomSpawnPos();
+        blockRb.velocity = Vector3.zero;
+        blockRb.angularVelocity = Vector3.zero;
+        m_ShortBlockRb.drag = 0.5f;
+    }
+
+    public override void OnEpisodeBegin()
+    {
+        ResetBlock(m_ShortBlockRb);
+        transform.localPosition = new Vector3(
+            18 * (Random.value - 0.5f), 1, -12);
+        m_Goal = Random.Range(0, goals);
+        //m_Goal = 0;
+        System.Array.Clear(m_GoalOneHot, 0, m_GoalOneHot.Length);
+        m_GoalOneHot[m_Goal] = 1;
+        if (m_Goal == 0)
+        {
+            m_WallRenderer.material = goalMaterial;
+            m_PushRenderer.material = nonGoalMaterial;
+        }
+        else
+        {
+            m_WallRenderer.material = nonGoalMaterial;
+            m_PushRenderer.material = goalMaterial;
+        }
+
+        var height = m_ResetParams.GetWithDefault("big_wall_height", 8);
+        var localScale = wall.transform.localScale;
+        localScale = new Vector3(
+            localScale.x,
+            height,
+            localScale.z);
+        wall.transform.localScale = localScale;
+        m_AgentRb.velocity = default(Vector3);
+    }
+}

Project/Assets/ML-Agents/Examples/WallJumpAndPushblock/Scripts/WJPBAgent.cs.meta

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Project/Assets/ML-Agents/Examples/WallJumpAndPushblock/Scripts/WJPBGoalDetect.cs

+//Detect when the orange block has touched the goal.
+//Detect when the orange block has touched an obstacle.
+//Put this script onto the orange block. There's nothing you need to set in the editor.
+//Make sure the goal is tagged with "goal" in the editor.
+
+using UnityEngine;
+
+public class WJPBGoalDetect : MonoBehaviour
+{
+    /// <summary>
+    /// The associated agent.
+    /// This will be set by the agent script on Initialization.
+    /// Don't need to manually set.
+    /// </summary>
+    [HideInInspector]
+    public WJPBAgent agent;  //
+
+    void OnTriggerEnter(Collider col)
+    {
+        // Touched goal.
+        if (col.gameObject.CompareTag("pushblockgoal"))
+        {
+            agent.ScoredAGoal();
+        }
+    }
+}

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Project/Assets/ML-Agents/Examples/WallJumpAndPushblock/Scripts/WJPBSettings.cs

+using UnityEngine;
+
+public class WJPBSettings : MonoBehaviour
+{
+    [Header("Specific to WallJump")]
+    public float agentRunSpeed;
+    public float agentJumpHeight;
+
+    [HideInInspector]
+    public float agentJumpVelocity = 777;
+    [HideInInspector]
+    public float agentJumpVelocityMaxChange = 10;
+
+}

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