Feature/new wall jump (#446)

* [New Environment] Added the WallJump and its configuration

* [Documentation] Added the WallJump doc

* [Fixes] Now uses switch and added comment

docs/Learning-Environment-Examples.md

 
 * Set-up: A platforming environment where the agent can jump over a wall.
 * Goal: The agent must use the block to scale the wall and reach the goal.
-* Agents: The environment contains one agent linked to a single brain.
+* Agents: The environment contains one agent linked to two different brains. The brain the agent is linked to changes depending on the height of the wall.
-    * -0.01 for every step.
+    * -0.0005 for every step.
-    * Vector Action space: (Discrete) Size of 6, corresponding to movement in cardinal directions, jumping, and no movement.
+    * Vector Action space: (Discrete) Size of 74, corresponding to 14 raycasts each detecting 4 possible objects. plus the global position of the agent and whether or not the agent is grounded.
-* Reset Parameters: One, corresponding to number of steps in training. Used to adjust size of the wall for Curriculum Learning.
+* Reset Parameters: 4, corresponding to the height of the possible walls.
 
 ## Reacher
 

python/trainer_config.yaml

     time_horizon: 64
     num_layers: 2
 
+SmallWallBrain: 
+    max_steps: 2.0e5
+    batch_size: 128
+    buffer_size: 2048
+    beta: 5.0e-3
+    hidden_units: 256
+    summary_freq: 2000
+    time_horizon: 128
+    num_layers: 2
+    normalize: false
+
+BigWallBrain: 
+    max_steps: 2.0e5
+    batch_size: 128
+    buffer_size: 2048
+    beta: 5.0e-3
+    hidden_units: 256
+    summary_freq: 2000
+    time_horizon: 128
+    num_layers: 2
+    normalize: false
+
 StrikerBrain:
     max_steps: 1.0e5
     batch_size: 128

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unity-environment/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAcademy.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class WallJumpAcademy : Academy {
+
+    [Header("Specific to WallJump")]
+	public float agentRunSpeed;
+    public float agentJumpHeight;
+    //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;
+
+    [HideInInspector]
+    //use ~3 to make things less floaty
+	public float gravityMultiplier = 2.5f; 
+    [HideInInspector]
+	public float agentJumpVelocity = 777;
+    [HideInInspector]
+	public float agentJumpVelocityMaxChange = 10;
+
+    // Use this for initialization
+    public override void InitializeAcademy()
+    {
+        Physics.gravity *= gravityMultiplier;
+    }
+}

unity-environment/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAcademy.cs.meta

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unity-environment/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs

+//Put this script on your blue cube.
+
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using System.Linq;
+
+public class WallJumpAgent : Agent
+{
+    // Depending on this value, the wall will have different height
+    int configuration;
+    // Brain to use when no wall is present
+    public Brain noWallBrain;
+    // Brain to use when a jumpable wall is present
+    public Brain smallWallBrain;
+    // Brain to use when a wall requiring a block to jump over is present
+    public Brain bigWallBrain;
+
+    public GameObject ground;
+    public GameObject spawnArea;
+    Bounds spawnAreaBounds;
+
+
+    public GameObject goal;
+    public GameObject shortBlock;
+    public GameObject wall;
+    Rigidbody shortBlockRB;
+    Rigidbody agentRB;
+    Material groundMaterial;
+    Renderer groundRenderer;
+    WallJumpAcademy academy;
+    RayPerception 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 jumpTargetPos;
+    Vector3 jumpStartingPos;
+
+    string[] detectableObjects;
+
+    public override void InitializeAgent()
+    {
+        academy = FindObjectOfType<WallJumpAcademy>();
+        rayPer = GetComponent<RayPerception>();
+        configuration = Random.Range(0, 5);
+        detectableObjects = new string[] { "wall", "goal", "block" };
+
+        agentRB = GetComponent<Rigidbody>();
+        shortBlockRB = shortBlock.GetComponent<Rigidbody>();
+        spawnAreaBounds = spawnArea.GetComponent<Collider>().bounds;
+        groundRenderer = ground.GetComponent<Renderer>();
+        groundMaterial = groundRenderer.material;
+
+        spawnArea.SetActive(false);
+    }
+
+
+    // Begin the jump sequence
+    public void Jump()
+    {
+
+        jumpingTime = 0.2f;
+        jumpStartingPos = 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="boxWidth">The width of the box used to perform 
+    /// the ground check. </param>
+    public bool DoGroundCheck(float boxWidth)
+    {
+        hitGroundColliders = new Collider[3];
+        Physics.OverlapBoxNonAlloc(
+            gameObject.transform.position + new Vector3(0, -0.05f, 0),
+                            new Vector3(boxWidth / 2f, 0.5f, boxWidth / 2f),
+                            hitGroundColliders,
+                            gameObject.transform.rotation);
+        bool grounded = false;
+        foreach (Collider col in hitGroundColliders)
+        {
+
+            if (col != null && col.transform != this.transform &&
+                (col.CompareTag("walkableSurface") ||
+                col.CompareTag("block") ||
+                 col.CompareTag("wall")))
+            {
+                grounded = true; //then we're grounded
+                break;
+            }
+        }
+        return grounded;
+    }
+
+
+    /// <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)
+    {
+        Vector3 moveToPos = targetPos - rb.worldCenterOfMass;
+        Vector3 velocityTarget = moveToPos * targetVel * Time.fixedDeltaTime;
+        if (float.IsNaN(velocityTarget.x) == false)
+        {
+            rb.velocity = Vector3.MoveTowards(
+                rb.velocity, velocityTarget, maxVel);
+        }
+    }
+
+    public override void CollectObservations()
+    {
+        float rayDistance = 20f;
+        float[] rayAngles = { 0f, 45f, 90f, 135f, 180f, 110f, 70f };
+        AddVectorObs(rayPer.Perceive(
+            rayDistance, rayAngles, detectableObjects, 0f, 0f));
+        AddVectorObs(rayPer.Perceive(
+            rayDistance, rayAngles, detectableObjects, 2.5f, 2.5f));
+        Vector3 agentPos = agentRB.position - ground.transform.position;
+
+        AddVectorObs(agentPos / 20f);
+        AddVectorObs(DoGroundCheck(0.4f) ? 1 : 0);
+
+
+    }
+
+    /// <summary>
+    /// Gets a random spawn position in the spawningArea.
+    /// </summary>
+    /// <returns>The random spawn position.</returns>
+    public Vector3 GetRandomSpawnPos()
+    {
+        Vector3 randomSpawnPos = Vector3.zero;
+        float randomPosX = Random.Range(-spawnAreaBounds.extents.x,
+                                        spawnAreaBounds.extents.x);
+        float randomPosZ = Random.Range(-spawnAreaBounds.extents.z,
+                                        spawnAreaBounds.extents.z);
+
+        randomSpawnPos = spawnArea.transform.position +
+                                  new Vector3(randomPosX, 0.45f, randomPosZ);
+        return randomSpawnPos;
+    }
+
+    /// <summary>
+    /// Chenges 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)
+    {
+        groundRenderer.material = mat;
+        yield return new WaitForSeconds(time); //wait for 2 sec
+        groundRenderer.material = groundMaterial;
+    }
+
+
+    public void MoveAgent(float[] act)
+    {
+
+        AddReward(-0.0005f);
+        bool smallGrounded = DoGroundCheck(0.4f);
+        bool largeGrounded = DoGroundCheck(1.0f);
+
+        Vector3 dirToGo = Vector3.zero;
+        Vector3 rotateDir = Vector3.zero;
+
+        int action = Mathf.FloorToInt(act[0]);
+        switch (action)
+        {
+            case 0:
+                dirToGo = transform.forward * 1f * (largeGrounded ? 1f : 0.5f);
+                break;
+            case 1:
+                dirToGo = transform.forward * -1f * (largeGrounded ? 1f : 0.5f);
+                break;
+            case 2:
+
+                rotateDir = transform.up * -1f;
+                break;
+            case 3:
+                rotateDir = transform.up * 1f;
+                break;
+            case 4:
+                dirToGo = transform.right * -0.6f * (largeGrounded ? 1f : 0.5f);
+                break;
+            case 5:
+                dirToGo = transform.right * 0.6f * (largeGrounded ? 1f : 0.5f);
+                break;
+            case 6:
+                if ((jumpingTime <= 0f) && smallGrounded)
+                {
+                    Jump();
+                }
+                break;
+        }
+
+        transform.Rotate(rotateDir, Time.fixedDeltaTime * 300f);
+        agentRB.AddForce(dirToGo * academy.agentRunSpeed,
+                         ForceMode.VelocityChange);
+
+        if (jumpingTime > 0f)
+        {
+            jumpTargetPos =
+            new Vector3(agentRB.position.x,
+                        jumpStartingPos.y + academy.agentJumpHeight,
+                        agentRB.position.z) + dirToGo;
+            MoveTowards(jumpTargetPos, agentRB, academy.agentJumpVelocity,
+                        academy.agentJumpVelocityMaxChange);
+
+        }
+
+        if (!(jumpingTime > 0f) && !largeGrounded)
+        {
+            agentRB.AddForce(
+            Vector3.down * fallingForce, ForceMode.Acceleration);
+        }
+        jumpingTime -= Time.fixedDeltaTime;
+    }
+
+    public override void AgentAction(float[] vectorAction, string textAction)
+    {
+        MoveAgent(vectorAction);
+        if ((!Physics.Raycast(agentRB.position, Vector3.down, 20))
+            || (!Physics.Raycast(shortBlockRB.position, Vector3.down, 20)))
+        {
+            Done();
+            SetReward(-1f);
+            ResetBlock(shortBlockRB);
+            StartCoroutine(
+                GoalScoredSwapGroundMaterial(academy.failMaterial, .5f));
+        }
+    }
+
+    // Detect when the agent hits the goal
+    void OnTriggerEnter(Collider col)
+    {
+        if (col.gameObject.CompareTag("goal") && DoGroundCheck(0.4f))
+        {
+            SetReward(1f);
+            Done();
+            StartCoroutine(
+                GoalScoredSwapGroundMaterial(academy.goalScoredMaterial, 2));
+        }
+    }
+
+
+    //Reset the orange block position
+    void ResetBlock(Rigidbody blockRB)
+    {
+        blockRB.transform.position = GetRandomSpawnPos();
+        blockRB.velocity = Vector3.zero;
+        blockRB.angularVelocity = Vector3.zero;
+    }
+
+    public override void AgentReset()
+    {
+        ResetBlock(shortBlockRB);
+        transform.localPosition = new Vector3(
+            18 * (Random.value - 0.5f), 1, -12);
+        configuration = Random.Range(0, 5);
+        agentRB.velocity = default(Vector3);
+
+    }
+
+    private void FixedUpdate()
+    {
+        if (configuration != -1)
+        {
+            ConfigureAgent(configuration);
+            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)
+    {
+        if (config == 0)
+        {
+            wall.transform.localScale = new Vector3(
+                wall.transform.localScale.x,
+                academy.resetParameters["no_wall_height"],
+                wall.transform.localScale.z);
+            GiveBrain(noWallBrain);
+        }
+        else if (config == 1)
+        {
+            wall.transform.localScale = new Vector3(
+                wall.transform.localScale.x,
+                academy.resetParameters["small_wall_height"],
+                wall.transform.localScale.z);
+            GiveBrain(smallWallBrain);
+        }
+        else
+        {
+            float height =
+                academy.resetParameters["big_wall_min_height"] +
+                Random.value * (academy.resetParameters["big_wall_max_height"] -
+                academy.resetParameters["big_wall_min_height"]);
+            wall.transform.localScale = new Vector3(
+                wall.transform.localScale.x,
+                height,
+                wall.transform.localScale.z);
+            GiveBrain(bigWallBrain);
+        }
+    }
+}
+

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