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

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

 {
     [Header("Specific to WallJump")]
     public float agentRunSpeed;
+    public float agentMaxVel = 5; //maximum agent velocity
+    public float agentRotationSpeed = 5;
+    public float agentFallingSpeed = 100;
-    [HideInInspector]
+    // [HideInInspector]
-    [HideInInspector]
-    public float agentJumpVelocity = 777;
+    // [HideInInspector]
+    public float agentJumpVelocity = 3;
+    // public float agentJumpVelocity = 777;
     [HideInInspector]
     public float agentJumpVelocityMaxChange = 10;
 

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

 using UnityEngine;
 using MLAgents;
 
+[RequireComponent(typeof(AgentCubeGroundCheck))] // Required for groundcheck
 public class WallJumpAgent : Agent
 {
     // Depending on this value, the wall will have different height
     Bounds m_SpawnAreaBounds;
 
 
-    public GameObject goal;
+    // public GameObject goal;
     public GameObject shortBlock;
     public GameObject wall;
     Rigidbody m_ShortBlockRb;
     WallJumpAcademy m_Academy;
     RayPerception m_RayPer;
 
-    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;
+    // 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;
+    // public bool grounded;
+    // public bool largeGround;
+    public float m_currentVelMag;
+
+    //Groundcheck
+    AgentCubeGroundCheck m_groundCheck;
+    int fuTimer;
+        m_groundCheck = GetComponent<AgentCubeGroundCheck>();
         m_Academy = FindObjectOfType<WallJumpAcademy>();
         m_RayPer = GetComponent<RayPerception>();
         m_Configuration = Random.Range(0, 5);
         m_SpawnAreaBounds = spawnArea.GetComponent<Collider>().bounds;
         m_GroundRenderer = ground.GetComponent<Renderer>();
         m_GroundMaterial = m_GroundRenderer.material;
+        
-    public void Jump()
-    {
-        jumpingTime = 0.2f;
-        m_JumpStartingPos = m_AgentRb.position;
-    }
+    // 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);
+    // /// <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")))
+    //             // {
+    //             if (col != null && col.transform != transform &&
+    //                 (col.CompareTag("walkableSurface") ||
+    //                  col.CompareTag("block")))
+    //             {
+    //                 grounded = true; //then we're grounded
+    //                 break;
+    //             }
+    //         }
+    //         return grounded;
+    //     }
+    //     else
+    //     {
+    //         RaycastHit hit;
+    //         // Physics.SphereCast(m_AgentRb.position + new Vector3(0, .5f, 0), .55f, -Vector3.up, out hit,
+    //         //     1f);
+    //         Physics.Raycast(transform.position + new Vector3(0, -0.05f, 0), -Vector3.up, out hit,
+    //             .51f);
-            if (hit.collider != null &&
-                (hit.collider.CompareTag("walkableSurface") ||
-                 hit.collider.CompareTag("block") ||
-                 hit.collider.CompareTag("wall"))
-                && hit.normal.y > 0.95f)
-            {
-                return true;
-            }
+    //         // if (hit.collider != null &&
+    //         //     (hit.collider.CompareTag("walkableSurface") ||
+    //         //      hit.collider.CompareTag("block") ||
+    //         //      hit.collider.CompareTag("wall"))
+    //         //     && hit.normal.y > 0.95f)
+    //         // {
+    //         if (hit.collider != null &&
+    //             (hit.collider.CompareTag("walkableSurface") ||
+    //              hit.collider.CompareTag("block"))
+    //             && hit.normal.y > 0.95f)
+    //         {
+    //             return true;
+    //         }
-            return false;
-        }
-    }
+    //         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);
-        }
-    }
+    // /// <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);
+    //     }
+    // }
+        // grounded = DoGroundCheck(true);
+        // largeGround = DoGroundCheck(false);
+        // print($"Observation: {m_Academy.GetStepCount()} {fuTimer}");
+        // print($"Observation: {GetStepCount()} {fuTimer}");
+
         var rayDistance = 20f;
         float[] rayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
         AddVectorObs(m_RayPer.Perceive(
         var agentPos = m_AgentRb.position - ground.transform.position;
 
         AddVectorObs(agentPos / 20f);
-        AddVectorObs(DoGroundCheck(true) ? 1 : 0);
+        // AddVectorObs(grounded? 1 : 0);
+        AddVectorObs(m_groundCheck.isGrounded);
+        AddVectorObs(m_AgentRb.velocity/m_Academy.agentMaxVel);
+        AddVectorObs(m_AgentRb.angularVelocity/m_AgentRb.maxAngularVelocity);
+        AddVectorObs(m_AgentRb.transform.forward);
     }
 
     /// <summary>
     public void MoveAgent(float[] act)
     {
         AddReward(-0.0005f);
-        var smallGrounded = DoGroundCheck(true);
-        var largeGrounded = DoGroundCheck(false);
+        // var smallGrounded = DoGroundCheck(true);
+        // var smallGrounded = grounded;
+        // var largeGrounded = largeGround;
+        // largeGround = largeGrounded;
 
         var dirToGo = Vector3.zero;
         var rotateDir = Vector3.zero;
         var jumpAction = (int)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;
+        // print($"Academy: {m_Academy.GetStepCount()}");
+        // print($"Agent: {GetStepCount()}");
+        // print($"Action: {GetStepCount()} {fuTimer}");
+        // if (smallGrounded)
+        // {
+        //     if (dirToGoForwardAction == 1)
+        //         dirToGo = 1f * transform.forward;
+        //     else if (dirToGoForwardAction == 2)
+        //         dirToGo = -1f * transform.forward;
+        //     if (dirToGoSideAction == 1)
+        //         dirToGo = -0.6f * transform.right;
+        //     else if (dirToGoSideAction == 2)
+        //         dirToGo = 0.6f * transform.right;
+        // }
+        // // if (smallGrounded)
+        // // {
+            // if (dirToGoForwardAction == 1)
+            //     dirToGo = (largeGrounded ? 1f : 0.1f) * 1f * transform.forward;
+            // else if (dirToGoForwardAction == 2)
+            //     dirToGo = (largeGrounded ? 1f : 0.1f) * -1f * transform.forward;
+            // if (dirToGoSideAction == 1)
+            //     dirToGo = (largeGrounded ? 1f : 0.1f) * -0.6f * transform.right;
+            // else if (dirToGoSideAction == 2)
+            //     dirToGo = (largeGrounded ? 1f : 0.1f) * 0.6f * transform.right;
+            if (dirToGoForwardAction == 1)
+                dirToGo += transform.forward;
+            else if (dirToGoForwardAction == 2)
+                dirToGo += -transform.forward;
+            if (dirToGoSideAction == 1)
+                dirToGo += -transform.right;
+            else if (dirToGoSideAction == 2)
+                dirToGo += transform.right;
+        // // }
-        if (dirToGoSideAction == 1)
-            dirToGo = (largeGrounded ? 1f : 0.5f) * -0.6f * transform.right;
-        else if (dirToGoSideAction == 2)
-            dirToGo = (largeGrounded ? 1f : 0.5f) * 0.6f * transform.right;
-            if ((jumpingTime <= 0f) && smallGrounded)
+        {
+            // if (largeGrounded)
+            if (m_groundCheck.isGrounded)
-                Jump();
+                // Jump();
+                // print($"JUMP {m_groundCheck.isGrounded}");
+                // m_AgentRb.velocity = Vector3.zero;
+                Vector3 velToUse = m_AgentRb.velocity;
+                velToUse.y = m_Academy.agentJumpVelocity;
+                m_AgentRb.velocity = velToUse;
+                // m_AgentRb.AddForce(Vector3.up * m_Academy.agentJumpVelocity,
+                //     ForceMode.VelocityChange);
+                // AddReward(-0.01f); //don't constantly jump
+        }
-        transform.Rotate(rotateDir, Time.fixedDeltaTime * 300f);
-        m_AgentRb.AddForce(dirToGo * m_Academy.agentRunSpeed,
-            ForceMode.VelocityChange);
+        // transform.Rotate(rotateDir, Time.fixedDeltaTime * 300f);
+        transform.Rotate(rotateDir, m_Academy.agentRotationSpeed);
-        if (jumpingTime > 0f)
+        float runSpeed = m_groundCheck.isGrounded? m_Academy.agentRunSpeed: m_Academy.agentRunSpeed * .25f;
+        if(m_currentVelMag < m_Academy.agentMaxVel)
-            m_JumpTargetPos =
-                new Vector3(m_AgentRb.position.x,
-                    m_JumpStartingPos.y + m_Academy.agentJumpHeight,
-                    m_AgentRb.position.z) + dirToGo;
-            MoveTowards(m_JumpTargetPos, m_AgentRb, m_Academy.agentJumpVelocity,
-                m_Academy.agentJumpVelocityMaxChange);
+            // if (m_groundCheck.isGrounded)
+            // {
+                m_AgentRb.AddForce(dirToGo.normalized * runSpeed,
+                    ForceMode.VelocityChange);
+            // }
+        // if(m_currentVelMag < m_Academy.agentMaxVel)
+        // {
+        //     m_AgentRb.AddForce(dirToGo * m_Academy.agentRunSpeed,
+        //         ForceMode.VelocityChange);
+        // }
-        if (!(jumpingTime > 0f) && !largeGrounded)
+        // if (jumpingTime > 0f)
+        // {
+        //     m_JumpTargetPos =
+        //         new Vector3(m_AgentRb.position.x,
+        //             m_JumpStartingPos.y + m_Academy.agentJumpHeight,
+        //             m_AgentRb.position.z) + dirToGo;
+        //     MoveTowards(m_JumpTargetPos, m_AgentRb, m_Academy.agentJumpVelocity,
+        //         m_Academy.agentJumpVelocityMaxChange);
+        // }
+
+        if (!m_groundCheck.isGrounded)
-                Vector3.down * fallingForce, ForceMode.Acceleration);
+                // Vector3.down * fallingForce, ForceMode.Acceleration);
+                Vector3.down * m_Academy.agentFallingSpeed, ForceMode.Acceleration);
-        jumpingTime -= Time.fixedDeltaTime;
+        // if (!(jumpingTime > 0f) && !m_groundCheck.isGrounded)
+        // {
+        //     m_AgentRb.AddForce(
+        //         // Vector3.down * fallingForce, ForceMode.Acceleration);
+        //         Vector3.down * m_Academy.agentFallingSpeed, ForceMode.Acceleration);
+        // }
+        // jumpingTime -= Time.fixedDeltaTime;
+    // public void MoveAgent(float[] act)
+    // {
+    //     AddReward(-0.0005f);
+    //     var smallGrounded = DoGroundCheck(true);
+    //     grounded = smallGrounded;
+    //     var largeGrounded = DoGroundCheck(false);
+
+    //     var dirToGo = Vector3.zero;
+    //     var rotateDir = Vector3.zero;
+    //     var dirToGoForwardAction = (int)act[0];
+    //     var rotateDirAction = (int)act[1];
+    //     var dirToGoSideAction = (int)act[2];
+    //     var jumpAction = (int)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();
+    //             AddReward(-0.01f); //don't constantly jump
+    //         }
+
+    //     transform.Rotate(rotateDir, Time.fixedDeltaTime * 300f);
+    //     m_AgentRb.AddForce(dirToGo * m_Academy.agentRunSpeed,
+    //         ForceMode.VelocityChange);
+
+    //     if (jumpingTime > 0f)
+    //     {
+    //         m_JumpTargetPos =
+    //             new Vector3(m_AgentRb.position.x,
+    //                 m_JumpStartingPos.y + m_Academy.agentJumpHeight,
+    //                 m_AgentRb.position.z) + dirToGo;
+    //         MoveTowards(m_JumpTargetPos, m_AgentRb, m_Academy.agentJumpVelocity,
+    //             m_Academy.agentJumpVelocityMaxChange);
+    //     }
+
+    //     if (!(jumpingTime > 0f) && !largeGrounded)
+    //     {
+    //         m_AgentRb.AddForce(
+    //             Vector3.down * fallingForce, ForceMode.Acceleration);
+    //     }
+    //     jumpingTime -= Time.fixedDeltaTime;
+    // }
-        if ((!Physics.Raycast(m_AgentRb.position, Vector3.down, 20))
-            || (!Physics.Raycast(m_ShortBlockRb.position, Vector3.down, 20)))
+        // if ((!Physics.Raycast(m_AgentRb.position, Vector3.down, 20))
+        //     || (!Physics.Raycast(m_ShortBlockRb.position, Vector3.down, 20)))
+        if(m_AgentRb.position.y < -1 || m_ShortBlockRb.position.y < -1)
         {
             Done();
             SetReward(-1f);
     }
 
     // Detect when the agent hits the goal
+    // void OnTriggerEnter(Collider col)
-        if (col.gameObject.CompareTag("goal") && DoGroundCheck(true))
+        // if (col.gameObject.CompareTag("goal") && DoGroundCheck(true))
+        if (col.gameObject.CompareTag("goal") && m_groundCheck.isGrounded)
-            Done();
+            Done();
         }
     }
 
         transform.localPosition = new Vector3(
             18 * (Random.value - 0.5f), 1, -12);
         m_Configuration = Random.Range(0, 5);
-        m_AgentRb.velocity = default(Vector3);
+        // m_AgentRb.velocity = default(Vector3);
+        m_AgentRb.velocity = Vector3.zero;
+        m_currentVelMag = m_AgentRb.velocity.magnitude;
+        fuTimer++;
         if (m_Configuration != -1)
         {
             ConfigureAgent(m_Configuration);

UnitySDK/ProjectSettings/EditorBuildSettings.asset

 EditorBuildSettings:
   m_ObjectHideFlags: 0
   serializedVersion: 2
-  m_Scenes: []
+  m_Scenes:
+  - enabled: 1
+    path: Assets/ML-Agents/Examples/WallJump/Scenes/WallJump.unity
+    guid: 56024e8d040d344709949bc88128944d

UnitySDK/ProjectSettings/ProjectSettings.asset

 --- !u!129 &1
 PlayerSettings:
   m_ObjectHideFlags: 0
-  serializedVersion: 14
+  serializedVersion: 15
   productGUID: cd7e9a0e0d1d14312ad9e89757262f3b
   AndroidProfiler: 0
   AndroidFilterTouchesWhenObscured: 0
     oculus:
       sharedDepthBuffer: 0
       dashSupport: 0
+      v2Signing: 0
   protectGraphicsMemory: 0
   useHDRDisplay: 0
   m_ColorGamuts: 00000000
   tvOSManualSigningProvisioningProfileID: 
   appleEnableAutomaticSigning: 0
   clonedFromGUID: 00000000000000000000000000000000
-  AndroidTargetDevice: 0
+  AndroidTargetArchitectures: 5
   AndroidSplashScreenScale: 0
   androidSplashScreen: {fileID: 0}
   AndroidKeystoreName: 
   switchAllowsVideoCapturing: 1
   switchAllowsRuntimeAddOnContentInstall: 0
   switchDataLossConfirmation: 0
+  switchUserAccountLockEnabled: 0
   switchSupportedNpadStyles: 3
   switchSocketConfigEnabled: 0
   switchTcpInitialSendBufferSize: 32

UnitySDK/ProjectSettings/TimeManager.asset

+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!5 &1
+TimeManager:
+  m_ObjectHideFlags: 0
+  Fixed Timestep: 0.02
+  Maximum Allowed Timestep: 0.33333334
+  m_TimeScale: 1
+  Maximum Particle Timestep: 0.03

config/trainer_config.yaml

     num_layers: 2
 
 SmallWallJumpLearning:
-    max_steps: 1.0e6
+    max_steps: 2.0e5
     batch_size: 128
     buffer_size: 2048
     beta: 5.0e-3
     num_layers: 2
     normalize: false
 
+# BigWallJumpLearning:
+#     max_steps: 1.0e6
+#     batch_size: 128
+#     buffer_size: 2048
+#     beta: 5.0e-3
+#     hidden_units: 256
+#     summary_freq: 2000
+#     time_horizon: 128
+#     num_layers: 2
+#     normalize: false
+
-    max_steps: 1.0e6
-    batch_size: 128
-    buffer_size: 2048
-    beta: 5.0e-3
-    hidden_units: 256
-    summary_freq: 2000
-    time_horizon: 128
+    normalize: true
+    num_epoch: 8
+    time_horizon: 1000
+    batch_size: 512
+    buffer_size: 4096
+    max_steps: 1e6
+    summary_freq: 3000
-    normalize: false
+    hidden_units: 128
+    reward_signals:
+        extrinsic:
+            strength: 1.0
+            gamma: 0.99
+        curiosity:
+            strength: 0.02
+            gamma: 0.99
+            encoding_size: 256
+
+# BigWallJumpLearning:
+#     normalize: true
+#     num_epoch: 3
+#     time_horizon: 1000
+#     batch_size: 2024
+#     buffer_size: 20240
+#     max_steps: 1e6
+#     summary_freq: 3000
+#     num_layers: 3
+#     hidden_units: 512
+#     reward_signals:
+#         extrinsic:
+#             strength: 1.0
+#             gamma: 0.99
+#         curiosity:
+#             strength: 0.02
+#             gamma: 0.99
+#             encoding_size: 256
+
 
 StrikerLearning: