added builder env. observing blocks pos

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

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+    - _LineSize: 0.1
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UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception3D.cs

 using System;
 using System.Collections.Generic;
-using UnityEditor;
 using UnityEngine;
 
 namespace MLAgents
     /// </summary>
     public class RayPerception3D : RayPerception
     {
-        Vector3 m_EndPosition;
+        public Vector3 m_EndPosition;
-        public float gizmoSphereRadius = .5f;
+        public float sphereCastRadius = .5f;
         public float gizmoSphereDrawDist = 2f;
         public float[] rayAnglesForDebug;
         /// <summary>
             // along with object distance.
             foreach (var angle in rayAngles)
             {
-                m_EndPosition = transform.TransformDirection(
+                Vector3 startPos = transform.TransformPoint(new Vector3(0f, startOffset, 0f));
+                m_EndPosition = transform.TransformPoint(
-                m_EndPosition.y = endOffset;
+                m_EndPosition.y += endOffset;
+                Vector3 castDir = m_EndPosition - startPos;
-                    Debug.DrawRay(transform.position + new Vector3(0f, startOffset, 0f),
+                    Debug.DrawRay(startPos,
+                        castDir, Color.cyan, 0.01f, true);
+                    Debug.DrawRay(startPos,
+                    Debug.DrawRay(m_EndPosition,
+                        Vector3.up, Color.green, 0.01f, true);
-                if (Physics.SphereCast(transform.position +
-                    new Vector3(0f, startOffset, 0f), 0.5f,
-                    m_EndPosition, out m_Hit, rayDistance))
+//                if (Physics.SphereCast(startPos, sphereCastRadius,
+//                    m_EndPosition, out m_Hit, rayDistance))
+                if (Physics.SphereCast(startPos, sphereCastRadius,
+                    castDir, out m_Hit, rayDistance))
+                    if (drawSphereGizmos)
+                    {
+                        Debug.DrawRay(m_Hit.point,
+                            m_Hit.normal, Color.green, 0.01f, true);
+                    }
+
                     for (var i = 0; i < detectableObjects.Length; i++)
                     {
                         if (m_Hit.collider.gameObject.CompareTag(detectableObjects[i]))
                 {
                     var pos = transform.TransformPoint(
                         PolarToCartesian(gizmoSphereDrawDist, angle));
-                    Gizmos.DrawWireSphere(pos, gizmoSphereRadius);
+                    Gizmos.DrawWireSphere(pos, sphereCastRadius);
                 }
             }
         }

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

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

     AgentCubeGroundCheck m_groundCheck;
     AgentCubeMovement m_agentMovement;
 
+
     public override void InitializeAgent()
     {
         m_groundCheck = GetComponent<AgentCubeGroundCheck>();
         AddVectorObs(m_AgentRb.velocity/m_agentMovement.agentRunSpeed); //normalized vel
         AddVectorObs(m_AgentRb.angularVelocity/m_AgentRb.maxAngularVelocity); //normalized angVel
         AddVectorObs(m_AgentRb.transform.forward); //help with orientation
+
     }
 
     /// <summary>
             rotateDir = -transform.up ;
         else if (rotateDirAction == 2)
             rotateDir = transform.up;
+
+        
+        
+        
         
         //handle jumping
         if (jumpAction == 1)
         if(m_AgentRb.position.y < -1 || m_ShortBlockRb.position.y < -1 || hazardRb.position.y < -1)
         {
             SetReward(-1f);
-//            ResetBlock(m_ShortBlockRb);
-//            ResetBlock(hazardRb);
+
+
 
     void OnCollisionEnter(Collision col)
     {

UnitySDK/ProjectSettings/EditorBuildSettings.asset

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+    guid: 76883e42ee0224c40aa53ae7f2886a34

UnitySDK/csharp_timers.json

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config/trainer_config.yaml

             gamma: 0.99
             encoding_size: 256
 
+BuilderGrabLearning:
+    normalize: true
+    num_epoch: 8
+    time_horizon: 1000
+    batch_size: 512
+    buffer_size: 4096
+    max_steps: 2.0e6
+    summary_freq: 3000
+    num_layers: 2
+    hidden_units: 128
+    reward_signals:
+        extrinsic:
+            strength: 1.0
+            gamma: 0.99
+        curiosity:
+            strength: 0.02
+            gamma: 0.99
+            encoding_size: 256
+
+BuilderLearning:
+    normalize: true
+    num_epoch: 8
+    time_horizon: 1000
+    batch_size: 512
+    buffer_size: 4096
+    max_steps: 1.0e6
+    summary_freq: 3000
+    num_layers: 2
+    hidden_units: 128
+    reward_signals:
+        extrinsic:
+            strength: 1.0
+            gamma: 0.99
+        curiosity:
+            strength: 0.02
+            gamma: 0.99
+            encoding_size: 256
+
 StrikerLearning:
     max_steps: 5.0e5
     learning_rate: 1e-3

csharp_timers.json

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UnitySDK/Assets/ML-Agents/Examples/Builder/Scripts/BuilderAcademy.cs

+using UnityEngine;
+using MLAgents;
+
+public class BuilderAcademy : Academy
+{
+    [Header("Specific to WallJump")]
+    //when a goal is scored the ground will use this material for a few seconds.
+    public Material goalScoredMaterial;
+    //when fail, the ground will use this material for a few seconds.
+    public Material failMaterial;
+    public Material grabbedMaterial;
+    public Material notGrabbedMaterial;
+    public float heightRewardCoeff = .01f;
+}

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UnitySDK/Assets/ML-Agents/Examples/Builder/Scripts/BuilderAgent.cs

+//Put this script on your blue cube.
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using MLAgents;
+using Random = UnityEngine.Random;
+
+[RequireComponent(typeof(AgentCubeGroundCheck))] // Required for groundcheck
+public class BuilderAgent : Agent
+{
+    // Depending on this value, the wall will have different height
+    int m_Configuration;
+
+    public GameObject ground;
+    public GameObject spawnArea;
+    Bounds m_SpawnAreaBounds;
+    Material m_GroundMaterial;
+    Renderer m_GroundRenderer;
+    BuilderAcademy m_Academy;
+    RayPerception m_RayPer;
+    string[] m_DetectableObjects;
+    Rigidbody m_AgentRb;
+    public List<Rigidbody> buildingBlocksList = new List<Rigidbody>();
+
+    //Groundcheck
+    AgentCubeGroundCheck m_groundCheck;
+    AgentCubeMovement m_agentMovement;
+    
+    public bool grabbingItem;
+    public Rigidbody grabbedItemRb;
+    public Collider grabbedItemCol;
+    private Transform m_AreaTransform;
+    public override void InitializeAgent()
+    {
+        m_AreaTransform = transform.parent;
+        m_groundCheck = GetComponent<AgentCubeGroundCheck>();
+        m_Academy = FindObjectOfType<BuilderAcademy>();
+        m_agentMovement = FindObjectOfType<AgentCubeMovement>();
+        m_RayPer = GetComponent<RayPerception>();
+        m_Configuration = Random.Range(0, 5);
+        m_DetectableObjects = new[] { "block" };
+        m_SpawnAreaBounds = spawnArea.GetComponent<Collider>().bounds;
+        m_GroundRenderer = ground.GetComponent<Renderer>();
+        m_AgentRb = GetComponent<Rigidbody>();
+        m_GroundMaterial = m_GroundRenderer.material;
+        spawnArea.SetActive(false);
+    }
+
+    public override void CollectObservations()
+    {
+        var rayDistance = 20f;
+        float[] rayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
+        AddVectorObs(m_RayPer.Perceive(
+            rayDistance, rayAngles, m_DetectableObjects, 0f, 0f));
+        AddVectorObs(m_RayPer.Perceive(
+            rayDistance, rayAngles, m_DetectableObjects, 1.5f, 0f));
+//        AddVectorObs(m_RayPer.Perceive(
+//            rayDistance, rayAngles, m_DetectableObjects, 2.5f, 2.5f));
+        var agentPos = m_AgentRb.position - ground.transform.position;
+
+        AddVectorObs(agentPos / 20f); //help with orientation
+        AddVectorObs(m_groundCheck.isGrounded);
+        AddVectorObs(m_AgentRb.velocity/m_agentMovement.agentRunSpeed); //normalized vel
+        AddVectorObs(m_AgentRb.angularVelocity/m_AgentRb.maxAngularVelocity); //normalized angVel
+        AddVectorObs(m_AgentRb.transform.forward); //help with orientation
+                
+        AddVectorObs(grabbingItem);
+        foreach (var item in buildingBlocksList)
+        {
+            var blockPos = item.position - ground.transform.position;
+            AddVectorObs(blockPos / 20f); //help with orientation
+        }
+    }
+
+    /// <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 randomPosY = Random.Range(-m_SpawnAreaBounds.extents.y,
+            m_SpawnAreaBounds.extents.y);
+        var randomPosZ = Random.Range(-m_SpawnAreaBounds.extents.z,
+            m_SpawnAreaBounds.extents.z);
+
+        var randomSpawnPos = spawnArea.transform.position +
+            new Vector3(randomPosX, randomPosY, randomPosZ);
+        return randomSpawnPos;
+    }
+
+    /// <summary>
+    /// Changes the color of the ground for a moment
+    /// </summary>
+    /// <returns>The Enumerator to be used in a Coroutine</returns>
+    /// <param name="mat">The material to be swaped.</param>
+    /// <param name="time">The time the material will remain.</param>
+    IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
+    {
+        m_GroundRenderer.material = mat;
+        yield return new WaitForSeconds(time);
+        m_GroundRenderer.material = m_GroundMaterial;
+    }
+
+    public void MoveAgent(float[] act)
+    {
+        AddReward(-0.0005f); //hurry up
+
+        var dirToGo = Vector3.zero;
+        var rotateDir = Vector3.zero;
+        var dirToGoForwardAction = (int)act[0];
+        var rotateDirAction = (int)act[1];
+        var jumpAction = (int)act[2];
+        if (dirToGoForwardAction == 1)
+            dirToGo += transform.forward;
+        else if (dirToGoForwardAction == 2)
+            dirToGo += -transform.forward;
+        if (rotateDirAction == 1)
+            rotateDir = -transform.up ;
+        else if (rotateDirAction == 2)
+            rotateDir = transform.up;
+        
+        
+                
+        
+        
+        
+        
+        var grabOrReleaseAction = (int)act[3];
+        if (grabOrReleaseAction == 1)
+        {
+            if(grabbingItem)
+            {
+                ReleaseBlock();
+            }
+            else
+            {
+                GrabBlock();
+            }
+        }
+
+        
+        
+        
+        
+        
+        //handle jumping
+        if (jumpAction == 1)
+        {
+            if (m_groundCheck.isGrounded)
+            {
+                m_agentMovement.Jump(m_AgentRb);
+            }
+        }
+
+        //handle body rotation
+        if (rotateDir != Vector3.zero)
+        {
+            m_agentMovement.RotateBody(m_AgentRb, rotateDir);
+        }
+
+        //handle running        
+        if (dirToGo != Vector3.zero)
+        {
+            if (!m_groundCheck.isGrounded)
+            {
+                m_agentMovement.RunInAir(m_AgentRb, dirToGo.normalized);
+            }
+            else
+            {
+                m_agentMovement.RunOnGround(m_AgentRb, dirToGo.normalized);
+            }
+        }
+        
+        //handle idle drag
+        if (m_groundCheck.isGrounded && dirToGo == Vector3.zero)
+        {
+            m_agentMovement.AddIdleDrag(m_AgentRb);
+        }
+
+        //handle falling forces
+        if (!m_groundCheck.isGrounded)
+        {
+            m_agentMovement.AddFallingForce(m_AgentRb);
+        }
+    }
+
+    bool AllBlockOnPlatform()
+    {
+        foreach (var item in buildingBlocksList)
+        {
+            if (item.position.y < ground.transform.position.y -1)
+            {
+                return false;
+            }
+        }
+        return true;
+    }
+
+    void Update()
+    {
+        if (Input.GetKeyDown(KeyCode.G))
+        {
+            if(grabbingItem)
+            {
+                ReleaseBlock();
+            }
+            else
+            {
+                GrabBlock();
+            }
+        }
+    }
+
+    public override void AgentAction(float[] vectorAction, string textAction)
+    {
+        if (IsDone())
+        {
+            return;
+        }
+        MoveAgent(vectorAction);
+        if (m_AgentRb.position.y < ground.transform.position.y -1|| !AllBlockOnPlatform())
+        {
+            SetReward(-1f);
+            StartCoroutine(
+                GoalScoredSwapGroundMaterial(m_Academy.failMaterial, .5f));
+            Done();
+        }
+
+        if (m_groundCheck.isGrounded)
+        {
+            AddReward((m_AgentRb.transform.localPosition.y - 1) * m_Academy.heightRewardCoeff);
+        }
+    }
+
+    void ResetAllBlocks()
+    {
+        foreach (var item in buildingBlocksList)
+        {
+            ResetBlock(item);
+        }
+    }
+    void GrabBlock()
+    {
+        RaycastHit hit;
+        if (Physics.Raycast(m_AgentRb.position, transform.forward, out hit, 1f))
+        {
+            if (hit.collider.gameObject.CompareTag("block"))
+            {
+                hit.rigidbody.isKinematic = true;
+                hit.transform.SetParent(transform);
+                grabbedItemRb = hit.transform.GetComponent<Rigidbody>();
+                grabbedItemCol = hit.collider;
+                hit.collider.enabled = false;
+                grabbingItem = true;
+                hit.transform.GetComponent<Renderer>().material = m_Academy.grabbedMaterial;
+                print("GRABBED");
+            }
+        }
+    }
+    
+    void ReleaseBlock()
+    {
+        if (grabbedItemRb)
+        {
+            ResetBlock(grabbedItemRb);
+        }
+
+                print("RELEASED");
+        grabbedItemRb = null;
+        grabbedItemCol = null;
+        grabbingItem = false;
+    }
+//    void OnCollisionEnter(Collision col)
+//    {
+//        if (col.gameObject.CompareTag("hazard"))
+//        {
+//            SetReward(-1f);
+//            StartCoroutine(
+//                GoalScoredSwapGroundMaterial(m_Academy.failMaterial, .5f));
+//            Done();
+//        }
+//    }
+
+//    // Detect when the agent hits the goal
+//    void OnTriggerStay(Collider col)
+//    {
+//        if (IsDone())
+//        {
+//            return;
+//        }
+//        if (col.gameObject.CompareTag("goal") && m_groundCheck.isGrounded)
+//        {
+//            SetReward(1f);
+////            ResetBlock(m_ShortBlockRb);
+////            ResetBlock(hazardRb);
+//            StartCoroutine(
+//                GoalScoredSwapGroundMaterial(m_Academy.goalScoredMaterial, .5f));
+//            Done();
+//        }
+//    }
+
+    //Reset the orange block position
+    void ResetBlock(Rigidbody blockRb)
+    {
+        blockRb.transform.SetParent(m_AreaTransform);
+        blockRb.velocity = Vector3.zero;
+        blockRb.angularVelocity = Vector3.zero;
+        blockRb.isKinematic = false;
+        blockRb.transform.GetComponent<Renderer>().material = m_Academy.notGrabbedMaterial;
+
+        blockRb.GetComponent<Collider>().enabled = true;
+
+    }
+
+    public override void AgentReset()
+    {
+        ResetAllBlocks();
+        foreach (var item in buildingBlocksList)
+        {
+            item.transform.position = GetRandomSpawnPos();
+        }
+        transform.localPosition = new Vector3(
+            18 * (Random.value - 0.5f), 1, 0);
+        m_Configuration = Random.Range(0, 5);
+        m_AgentRb.velocity = Vector3.zero;
+    }
+
+//    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
+//    /// different height and a different brain will be assigned to the agent.
+//    /// </summary>
+//    /// <param name="config">Config.
+//    /// If 0 : No wall and noWallBrain.
+//    /// If 1:  Small wall and smallWallBrain.
+//    /// Other : Tall wall and BigWallBrain. </param>
+//    void ConfigureAgent(int config)
+//    {
+//        var localScale = wall.transform.localScale;
+//        if (config == 0)
+//        {
+//            localScale = new Vector3(
+//                localScale.x,
+//                m_Academy.resetParameters["no_wall_height"],
+//                localScale.z);
+//            wall.transform.localScale = localScale;
+//            GiveBrain(noWallBrain);
+//        }
+//        else if (config == 1)
+//        {
+//            localScale = new Vector3(
+//                localScale.x,
+//                m_Academy.resetParameters["small_wall_height"],
+//                localScale.z);
+//            wall.transform.localScale = localScale;
+//            GiveBrain(smallWallBrain);
+//        }
+//        else
+//        {
+//            var height =
+//                m_Academy.resetParameters["big_wall_min_height"] +
+//                Random.value * (m_Academy.resetParameters["big_wall_max_height"] -
+//                    m_Academy.resetParameters["big_wall_min_height"]);
+//            localScale = new Vector3(
+//                localScale.x,
+//                height,
+//                localScale.z);
+//            wall.transform.localScale = localScale;
+//            GiveBrain(bigWallBrain);
+//        }
+//    }
+}

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