Convert most other scenes to RayPerception sensor (#2916)

5 年前 · bc5bf388
--- a/UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab
+++ b/UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab
  - component: {fileID: 65550728419070768}
  - component: {fileID: 54936164982484646}
  - component: {fileID: 114374774605792098}
-  - component: {fileID: 114762047763154270}
+  - component: {fileID: 114725457980523372}
  m_Layer: 0
  m_Name: Agent
  m_TagString: agent
  - component: {fileID: 65905012397919158}
  - component: {fileID: 54504078365531932}
  - component: {fileID: 114522573150607728}
-  - component: {fileID: 114416645532260476}
+  - component: {fileID: 114443152683847924}
  m_Layer: 0
  m_Name: Agent (1)
  m_TagString: agent
  - component: {fileID: 65152194455140476}
  - component: {fileID: 54961653455021136}
  - component: {fileID: 114980787530065684}
-  - component: {fileID: 114192565006091356}
+  - component: {fileID: 114986980423924774}
  m_Layer: 0
  m_Name: Agent (2)
  m_TagString: agent
  - component: {fileID: 65761952312736034}
  - component: {fileID: 54819001862035794}
  - component: {fileID: 114878550018296316}
-  - component: {fileID: 114661830999747712}
+  - component: {fileID: 114644889237473510}
  m_Layer: 0
  m_Name: Agent (4)
  m_TagString: agent
  - component: {fileID: 65367560123033576}
  - component: {fileID: 54895479068989492}
  - component: {fileID: 114035338027591536}
-  - component: {fileID: 114821937036444478}
+  - component: {fileID: 114276061479012222}
  m_Layer: 0
  m_Name: Agent (3)
  m_TagString: agent
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 53
+    vectorObservationSize: 4
    numStackedVectorObservations: 1
    vectorActionSize: 03000000030000000300000002000000
    vectorActionDescriptions: []
  myLaser: {fileID: 1617924810425504}
  contribute: 0
  useVectorObs: 1
--- !u!114 &114192565006091356
-MonoBehaviour:
-  m_ObjectHideFlags: 1
-  m_PrefabParentObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 100100000}
-  m_GameObject: {fileID: 1601500200010266}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: bb172294dbbcc408286b156a2c4b553c, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
 --- !u!114 &114235147148547996
 MonoBehaviour:
  m_ObjectHideFlags: 1
  myLaser: {fileID: 1045923826166930}
  contribute: 0
  useVectorObs: 1
+--- !u!114 &114276061479012222
+MonoBehaviour:
+  m_ObjectHideFlags: 1
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 100100000}
+  m_GameObject: {fileID: 1706274796045088}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  sensorName: RayPerceptionSensor
+  detectableTags:
+  - food
+  - agent
+  - wall
+  - badFood
+  - frozenAgent
+  raysPerDirection: 3
+  maxRayDegrees: 70
+  sphereCastRadius: 0.5
+  rayLength: 50
+  observationStacks: 1
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 0
+  endVerticalOffset: 0
 --- !u!114 &114374774605792098
 MonoBehaviour:
  m_ObjectHideFlags: 1
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 53
+    vectorObservationSize: 4
    numStackedVectorObservations: 1
    vectorActionSize: 03000000030000000300000002000000
    vectorActionDescriptions: []
  m_UseHeuristic: 0
  m_BehaviorName: FoodCollector
--- !u!114 &114416645532260476
+--- !u!114 &114443152683847924
 MonoBehaviour:
  m_ObjectHideFlags: 1
  m_PrefabParentObject: {fileID: 0}
  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: bb172294dbbcc408286b156a2c4b553c, type: 3}
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  sensorName: RayPerceptionSensor
+  detectableTags:
+  - food
+  - agent
+  - wall
+  - badFood
+  - frozenAgent
+  raysPerDirection: 3
+  maxRayDegrees: 70
+  sphereCastRadius: 0.5
+  rayLength: 50
+  observationStacks: 1
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 0
+  endVerticalOffset: 0
 --- !u!114 &114522573150607728
 MonoBehaviour:
  m_ObjectHideFlags: 1
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 53
+    vectorObservationSize: 4
    numStackedVectorObservations: 1
    vectorActionSize: 03000000030000000300000002000000
    vectorActionDescriptions: []
  myLaser: {fileID: 1421240237750412}
  contribute: 0
  useVectorObs: 1
--- !u!114 &114661830999747712
+--- !u!114 &114644889237473510
 MonoBehaviour:
  m_ObjectHideFlags: 1
  m_PrefabParentObject: {fileID: 0}
  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: bb172294dbbcc408286b156a2c4b553c, type: 3}
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  sensorName: RayPerceptionSensor
+  detectableTags:
+  - food
+  - agent
+  - wall
+  - badFood
+  - frozenAgent
+  raysPerDirection: 3
+  maxRayDegrees: 70
+  sphereCastRadius: 0.5
+  rayLength: 50
+  observationStacks: 1
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 0
+  endVerticalOffset: 0
 --- !u!114 &114711827726849508
 MonoBehaviour:
  m_ObjectHideFlags: 1
  myLaser: {fileID: 1941433838307300}
  contribute: 0
  useVectorObs: 1
--- !u!114 &114762047763154270
+--- !u!114 &114725457980523372
 MonoBehaviour:
  m_ObjectHideFlags: 1
  m_PrefabParentObject: {fileID: 0}
  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: bb172294dbbcc408286b156a2c4b553c, type: 3}
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
--- !u!114 &114821937036444478
-MonoBehaviour:
-  m_ObjectHideFlags: 1
-  m_PrefabParentObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 100100000}
-  m_GameObject: {fileID: 1706274796045088}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: bb172294dbbcc408286b156a2c4b553c, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
+  sensorName: RayPerceptionSensor
+  detectableTags:
+  - food
+  - agent
+  - wall
+  - badFood
+  - frozenAgent
+  raysPerDirection: 3
+  maxRayDegrees: 70
+  sphereCastRadius: 0.5
+  rayLength: 50
+  observationStacks: 1
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 0
+  endVerticalOffset: 0
 --- !u!114 &114878550018296316
 MonoBehaviour:
  m_ObjectHideFlags: 1
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 53
+    vectorObservationSize: 4
    numStackedVectorObservations: 1
    vectorActionSize: 03000000030000000300000002000000
    vectorActionDescriptions: []
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 53
+    vectorObservationSize: 4
    numStackedVectorObservations: 1
    vectorActionSize: 03000000030000000300000002000000
    vectorActionDescriptions: []
  m_UseHeuristic: 0
  m_BehaviorName: FoodCollector
+--- !u!114 &114986980423924774
+MonoBehaviour:
+  m_ObjectHideFlags: 1
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 100100000}
+  m_GameObject: {fileID: 1601500200010266}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  sensorName: RayPerceptionSensor
+  detectableTags:
+  - food
+  - agent
+  - wall
+  - badFood
+  - frozenAgent
+  raysPerDirection: 3
+  maxRayDegrees: 70
+  sphereCastRadius: 0.5
+  rayLength: 50
+  observationStacks: 1
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 0
+  endVerticalOffset: 0
--- a/UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs
    public Material frozenMaterial;
    public GameObject myLaser;
    public bool contribute;
-    RayPerception3D m_RayPer;
    public bool useVectorObs;


        m_AgentRb = GetComponent<Rigidbody>();
        Monitor.verticalOffset = 1f;
        m_MyArea = area.GetComponent<FoodCollectorArea>();
-        m_RayPer = GetComponent<RayPerception3D>();
        m_MyAcademy = FindObjectOfType<FoodCollectorAcademy>();

        SetResetParameters();
    {
        if (useVectorObs)
        {
-            const float rayDistance = 50f;
-            float[] rayAngles = { 20f, 90f, 160f, 45f, 135f, 70f, 110f };
-            string[] detectableObjects = { "food", "agent", "wall", "badFood", "frozenAgent" };
-            AddVectorObs(m_RayPer.Perceive(rayDistance, rayAngles, detectableObjects));
            var localVelocity = transform.InverseTransformDirection(m_AgentRb.velocity);
            AddVectorObs(localVelocity.x);
            AddVectorObs(localVelocity.z);
--- a/UnitySDK/Assets/ML-Agents/Examples/FoodCollector/TFModels/FoodCollector.nn
+++ b/UnitySDK/Assets/ML-Agents/Examples/FoodCollector/TFModels/FoodCollector.nn
--- a/UnitySDK/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab
+++ b/UnitySDK/Assets/ML-Agents/Examples/Hallway/Prefabs/SymbolFinderArea.prefab
  - component: {fileID: 54112968250075710}
  - component: {fileID: 114907778469006590}
  - component: {fileID: 114286701363010626}
-  - component: {fileID: 114569343444552314}
+  - component: {fileID: 114388598785529460}
  m_Layer: 0
  m_Name: Agent
  m_TagString: agent
  symbolO: {fileID: 1453690758295050}
  symbolX: {fileID: 1915733999209864}
  useVectorObs: 1
--- !u!114 &114569343444552314
+--- !u!114 &114388598785529460
 MonoBehaviour:
  m_ObjectHideFlags: 1
  m_PrefabParentObject: {fileID: 0}
  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: bb172294dbbcc408286b156a2c4b553c, type: 3}
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  sensorName: RayPerceptionSensor
+  detectableTags:
+  - symbol_O_Goal
+  - symbol_X_Goal
+  - symbol_O
+  - symbol_X
+  - wall
+  raysPerDirection: 2
+  maxRayDegrees: 70
+  sphereCastRadius: 0.5
+  rayLength: 12
+  observationStacks: 3
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 0
+  endVerticalOffset: 0
 --- !u!114 &114907778469006590
 MonoBehaviour:
  m_ObjectHideFlags: 1
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 36
+    vectorObservationSize: 1
    numStackedVectorObservations: 3
    vectorActionSize: 05000000
    vectorActionDescriptions: []
--- a/UnitySDK/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs
    public GameObject symbolO;
    public GameObject symbolX;
    public bool useVectorObs;
-    RayPerception m_RayPer;
    Rigidbody m_AgentRb;
    Material m_GroundMaterial;
    Renderer m_GroundRenderer;
    {
        base.InitializeAgent();
        m_Academy = FindObjectOfType<HallwayAcademy>();
-        m_RayPer = GetComponent<RayPerception>();
        m_AgentRb = GetComponent<Rigidbody>();
        m_GroundRenderer = ground.GetComponent<Renderer>();
        m_GroundMaterial = m_GroundRenderer.material;
    {
        if (useVectorObs)
        {
-            var rayDistance = 12f;
-            float[] rayAngles = { 20f, 60f, 90f, 120f, 160f };
-            string[] detectableObjects = { "symbol_O_Goal", "symbol_X_Goal", "symbol_O", "symbol_X", "wall" };
-            AddVectorObs(m_RayPer.Perceive(rayDistance, rayAngles, detectableObjects));
        }
    }

--- a/UnitySDK/Assets/ML-Agents/Examples/Hallway/TFModels/Hallway.nn
+++ b/UnitySDK/Assets/ML-Agents/Examples/Hallway/TFModels/Hallway.nn
--- a/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab
+++ b/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab
  - component: {fileID: 54817351390947638}
  - component: {fileID: 114306175693660464}
  - component: {fileID: 114505490781873732}
-  - component: {fileID: 114421647563711602}
+  - component: {fileID: 114807072692257076}
+  - component: {fileID: 114451319691753174}
  m_Layer: 0
  m_Name: Agent
  m_TagString: agent
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 70
-    numStackedVectorObservations: 3
+    vectorObservationSize: 0
+    numStackedVectorObservations: 2
    vectorActionSize: 07000000
    vectorActionDescriptions: []
    vectorActionSpaceType: 0
  m_BehaviorName: PushBlock
--- !u!114 &114421647563711602
+--- !u!114 &114451319691753174
 MonoBehaviour:
  m_ObjectHideFlags: 1
  m_PrefabParentObject: {fileID: 0}
  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: bb172294dbbcc408286b156a2c4b553c, type: 3}
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  sensorName: OffsetRayPerceptionSensor
+  detectableTags:
+  - block
+  - goal
+  - wall
+  raysPerDirection: 3
+  maxRayDegrees: 90
+  sphereCastRadius: 0.5
+  rayLength: 12
+  observationStacks: 3
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 1.5
+  endVerticalOffset: 1.5
 --- !u!114 &114505490781873732
 MonoBehaviour:
  m_ObjectHideFlags: 1
  block: {fileID: 1831337770648600}
  goalDetect: {fileID: 0}
  useVectorObs: 1
+--- !u!114 &114807072692257076
+MonoBehaviour:
+  m_ObjectHideFlags: 1
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 100100000}
+  m_GameObject: {fileID: 1489716781518988}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  sensorName: RayPerceptionSensor
+  detectableTags:
+  - block
+  - goal
+  - wall
+  raysPerDirection: 3
+  maxRayDegrees: 90
+  sphereCastRadius: 0.5
+  rayLength: 12
+  observationStacks: 3
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 0
+  endVerticalOffset: 0
--- a/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs
    Rigidbody m_BlockRb;  //cached on initialization
    Rigidbody m_AgentRb;  //cached on initialization
    Material m_GroundMaterial; //cached on Awake()
-    RayPerception m_RayPer;
-
-    float[] m_RayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
-    string[] m_DetectableObjects = { "block", "goal", "wall" };

    /// <summary>
    /// We will be changing the ground material based on success/failue
        base.InitializeAgent();
        goalDetect = block.GetComponent<GoalDetect>();
        goalDetect.agent = this;
-        m_RayPer = GetComponent<RayPerception>();

        // Cache the agent rigidbody
        m_AgentRb = GetComponent<Rigidbody>();
        m_GroundMaterial = m_GroundRenderer.material;

        SetResetParameters();
-    }
-
-    public override void CollectObservations()
-    {
-        if (useVectorObs)
-        {
-            var rayDistance = 12f;
-
-            AddVectorObs(m_RayPer.Perceive(rayDistance, m_RayAngles, m_DetectableObjects));
-            AddVectorObs(m_RayPer.Perceive(rayDistance, m_RayAngles, m_DetectableObjects, 1.5f, 1.5f));
-        }
    }

    /// <summary>
--- a/UnitySDK/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlock.nn
+++ b/UnitySDK/Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlock.nn
--- a/UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception.cs
 using System.Collections.Generic;
 using UnityEngine;

+[Obsolete]
 public abstract class RayPerception : MonoBehaviour
 {
    protected float[] m_PerceptionBuffer;
--- a/UnitySDK/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
+++ b/UnitySDK/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
  - component: {fileID: 135232974003521068}
  - component: {fileID: 114734187185382186}
  - component: {fileID: 114492261207303438}
-  - component: {fileID: 114692966630797794}
+  - component: {fileID: 114320493772006642}
+  - component: {fileID: 114413496910417180}
  m_Layer: 13
  m_Name: PurpleStriker
  m_TagString: purpleAgent
  - component: {fileID: 135154818167532598}
  - component: {fileID: 114105115387635628}
  - component: {fileID: 114698199869072806}
-  - component: {fileID: 114381244552195858}
+  - component: {fileID: 114402225209785518}
+  - component: {fileID: 114691053776668376}
  m_Layer: 11
  m_Name: BlueGoalie
  m_TagString: blueAgent
  - component: {fileID: 135208952479003512}
  - component: {fileID: 114387866097048300}
  - component: {fileID: 114850431417842684}
-  - component: {fileID: 114965771318032104}
+  - component: {fileID: 114516244030127556}
+  - component: {fileID: 114736358897902410}
  m_Layer: 13
  m_Name: BlueStriker
  m_TagString: blueAgent
  - component: {fileID: 135133947297127334}
  - component: {fileID: 114529615399004778}
  - component: {fileID: 114284769194328828}
-  - component: {fileID: 114724674330921748}
+  - component: {fileID: 114742734491650780}
+  - component: {fileID: 114206319503468014}
  m_Layer: 11
  m_Name: PurpleGoalie
  m_TagString: purpleAgent
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 112
+    vectorObservationSize: 0
    numStackedVectorObservations: 1
    vectorActionSize: 05000000
    vectorActionDescriptions: []
  m_UseHeuristic: 0
  m_BehaviorName: Goalie
+--- !u!114 &114206319503468014
+MonoBehaviour:
+  m_ObjectHideFlags: 1
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 100100000}
+  m_GameObject: {fileID: 1890219402901316}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  sensorName: PurpleOffsetRayPerceptionSensor
+  detectableTags:
+  - ball
+  - purpleGoal
+  - blueGoal
+  - wall
+  - purpleAgent
+  - blueAgent
+  raysPerDirection: 3
+  maxRayDegrees: 90
+  sphereCastRadius: 0.5
+  rayLength: 20
+  observationStacks: 1
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 1
+  endVerticalOffset: 1
 --- !u!114 &114273807544954564
 MonoBehaviour:
  m_ObjectHideFlags: 1
  agentRole: 1
  area: {fileID: 114559182131992928}
  agentRb: {fileID: 0}
--- !u!114 &114381244552195858
+--- !u!114 &114320493772006642
-  m_GameObject: {fileID: 1124213441168130}
+  m_GameObject: {fileID: 1095606497496374}
-  m_Script: {fileID: 11500000, guid: bb172294dbbcc408286b156a2c4b553c, type: 3}
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  sensorName: PurpleRayPerceptionSensor
+  detectableTags:
+  - ball
+  - purpleGoal
+  - blueGoal
+  - wall
+  - purpleAgent
+  - blueAgent
+  raysPerDirection: 3
+  maxRayDegrees: 90
+  sphereCastRadius: 0.5
+  rayLength: 20
+  observationStacks: 1
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 0
+  endVerticalOffset: 0
 --- !u!114 &114387866097048300
 MonoBehaviour:
  m_ObjectHideFlags: 1
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 112
+    vectorObservationSize: 0
    numStackedVectorObservations: 1
    vectorActionSize: 07000000
    vectorActionDescriptions: []
  m_UseHeuristic: 0
  m_BehaviorName: Striker
+--- !u!114 &114402225209785518
+MonoBehaviour:
+  m_ObjectHideFlags: 1
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 100100000}
+  m_GameObject: {fileID: 1124213441168130}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  sensorName: BlueRayPerceptionSensor
+  detectableTags:
+  - ball
+  - blueGoal
+  - purpleGoal
+  - wall
+  - blueAgent
+  - purpleAgent
+  raysPerDirection: 3
+  maxRayDegrees: 90
+  sphereCastRadius: 0.5
+  rayLength: 20
+  observationStacks: 1
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 0
+  endVerticalOffset: 0
+--- !u!114 &114413496910417180
+MonoBehaviour:
+  m_ObjectHideFlags: 1
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 100100000}
+  m_GameObject: {fileID: 1095606497496374}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  sensorName: PurpleOffsetRayPerceptionSensor
+  detectableTags:
+  - ball
+  - purpleGoal
+  - blueGoal
+  - wall
+  - purpleAgent
+  - blueAgent
+  raysPerDirection: 3
+  maxRayDegrees: 90
+  sphereCastRadius: 0.5
+  rayLength: 20
+  observationStacks: 1
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 1
+  endVerticalOffset: 1
 --- !u!114 &114492261207303438
 MonoBehaviour:
  m_ObjectHideFlags: 1
  agentRole: 0
  area: {fileID: 114559182131992928}
  agentRb: {fileID: 0}
+--- !u!114 &114516244030127556
+MonoBehaviour:
+  m_ObjectHideFlags: 1
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 100100000}
+  m_GameObject: {fileID: 1131626411948014}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  sensorName: BlueRayPerceptionSensor
+  detectableTags:
+  - ball
+  - blueGoal
+  - purpleGoal
+  - wall
+  - blueAgent
+  - purpleAgent
+  raysPerDirection: 3
+  maxRayDegrees: 90
+  sphereCastRadius: 0.5
+  rayLength: 20
+  observationStacks: 1
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 0
+  endVerticalOffset: 0
 --- !u!114 &114529615399004778
 MonoBehaviour:
  m_ObjectHideFlags: 1
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 112
+    vectorObservationSize: 0
    numStackedVectorObservations: 1
    vectorActionSize: 05000000
    vectorActionDescriptions: []
  ballStartingPos: {x: 0, y: 0, z: 0}
  goalTextUI: {fileID: 0}
  canResetBall: 0
--- !u!114 &114692966630797794
+--- !u!114 &114691053776668376
-  m_GameObject: {fileID: 1095606497496374}
+  m_GameObject: {fileID: 1124213441168130}
-  m_Script: {fileID: 11500000, guid: bb172294dbbcc408286b156a2c4b553c, type: 3}
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  sensorName: BlueOffsetRayPerceptionSensor
+  detectableTags:
+  - ball
+  - blueGoal
+  - purpleGoal
+  - wall
+  - blueAgent
+  - purpleAgent
+  raysPerDirection: 3
+  maxRayDegrees: 90
+  sphereCastRadius: 0.5
+  rayLength: 20
+  observationStacks: 1
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 1
+  endVerticalOffset: 1
 --- !u!114 &114698199869072806
 MonoBehaviour:
  m_ObjectHideFlags: 1
  agentRole: 1
  area: {fileID: 114559182131992928}
  agentRb: {fileID: 0}
--- !u!114 &114724674330921748
-MonoBehaviour:
-  m_ObjectHideFlags: 1
-  m_PrefabParentObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 100100000}
-  m_GameObject: {fileID: 1890219402901316}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: bb172294dbbcc408286b156a2c4b553c, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
 --- !u!114 &114734187185382186
 MonoBehaviour:
  m_ObjectHideFlags: 1
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 112
+    vectorObservationSize: 0
    numStackedVectorObservations: 1
    vectorActionSize: 07000000
    vectorActionDescriptions: []
  m_UseHeuristic: 0
  m_BehaviorName: Striker
+--- !u!114 &114736358897902410
+MonoBehaviour:
+  m_ObjectHideFlags: 1
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 100100000}
+  m_GameObject: {fileID: 1131626411948014}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  sensorName: BlueOffsetRayPerceptionSensor
+  detectableTags:
+  - ball
+  - blueGoal
+  - purpleGoal
+  - wall
+  - blueAgent
+  - purpleAgent
+  raysPerDirection: 3
+  maxRayDegrees: 90
+  sphereCastRadius: 0.5
+  rayLength: 20
+  observationStacks: 1
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 1
+  endVerticalOffset: 1
+--- !u!114 &114742734491650780
+MonoBehaviour:
+  m_ObjectHideFlags: 1
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 100100000}
+  m_GameObject: {fileID: 1890219402901316}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 6bb6b867a41448888c1cd4f99643ad71, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  sensorName: PurpleRayPerceptionSensor
+  detectableTags:
+  - ball
+  - purpleGoal
+  - blueGoal
+  - wall
+  - purpleAgent
+  - blueAgent
+  raysPerDirection: 3
+  maxRayDegrees: 90
+  sphereCastRadius: 0.5
+  rayLength: 20
+  observationStacks: 1
+  rayHitColor: {r: 1, g: 0, b: 0, a: 1}
+  rayMissColor: {r: 1, g: 1, b: 1, a: 1}
+  useWorldPositions: 1
+  startVerticalOffset: 0
+  endVerticalOffset: 0
 --- !u!114 &114850431417842684
 MonoBehaviour:
  m_ObjectHideFlags: 1
  agentRole: 0
  area: {fileID: 114559182131992928}
  agentRb: {fileID: 0}
--- !u!114 &114965771318032104
-MonoBehaviour:
-  m_ObjectHideFlags: 1
-  m_PrefabParentObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 100100000}
-  m_GameObject: {fileID: 1131626411948014}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: bb172294dbbcc408286b156a2c4b553c, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
 --- !u!135 &135133947297127334
 SphereCollider:
  m_ObjectHideFlags: 1
--- a/UnitySDK/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
+++ b/UnitySDK/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs

 public class AgentSoccer : Agent
 {
+    // Note that that the detectable tags are different for the blue and purple teams. The order is
+    // * ball
+    // * own goal
+    // * opposing goal
+    // * wall
+    // * own teammate
+    // * opposing player
    public enum Team
    {
        Purple,
    public Rigidbody agentRb;
    SoccerAcademy m_Academy;
    Renderer m_AgentRenderer;
-    RayPerception m_RayPer;
-
-    float[] m_RayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
-    string[] m_DetectableObjectsPurple = { "ball", "purpleGoal", "blueGoal",
-                                           "wall", "purpleAgent", "blueAgent" };
-    string[] m_DetectableObjectsBlue = { "ball", "blueGoal", "purpleGoal",
-                                         "wall", "blueAgent", "purpleAgent" };

    public void ChooseRandomTeam()
    {
    {
        base.InitializeAgent();
        m_AgentRenderer = GetComponentInChildren<Renderer>();
-        m_RayPer = GetComponent<RayPerception>();
        m_Academy = FindObjectOfType<SoccerAcademy>();
        agentRb = GetComponent<Rigidbody>();
        agentRb.maxAngularVelocity = 500;
        area.playerStates.Add(playerState);
        m_PlayerIndex = area.playerStates.IndexOf(playerState);
        playerState.playerIndex = m_PlayerIndex;
-    }
-
-    public override void CollectObservations()
-    {
-        var rayDistance = 20f;
-        string[] detectableObjects;
-        if (team == Team.Purple)
-        {
-            detectableObjects = m_DetectableObjectsPurple;
-        }
-        else
-        {
-            detectableObjects = m_DetectableObjectsBlue;
-        }
-        AddVectorObs(m_RayPer.Perceive(rayDistance, m_RayAngles, detectableObjects));
-        AddVectorObs(m_RayPer.Perceive(rayDistance, m_RayAngles, detectableObjects, 1f, 1f));
    }

    public void MoveAgent(float[] act)
--- a/UnitySDK/Assets/ML-Agents/Scripts/Sensor/RayPerceptionSensor.cs
+++ b/UnitySDK/Assets/ML-Agents/Scripts/Sensor/RayPerceptionSensor.cs
 using System;
 using System.Collections.Generic;
-using System.Timers;
 using UnityEngine;

 namespace MLAgents.Sensor