Merge branch 'soccer-2v1' into asymm-envs

4 年前 · e2d68e4f
--- a/Project/Assets/ML-Agents/Examples/Tennis/Prefabs/TennisArea.prefab
+++ b/Project/Assets/ML-Agents/Examples/Tennis/Prefabs/TennisArea.prefab
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 10
+    vectorObservationSize: 9
-  m_Model: {fileID: 11400000, guid: af0e636edb8584db08624f42c5f71f97, type: 3}
+  m_Model: {fileID: 11400000, guid: d6c5e749e4ceb4cf79640a5955706d3d, type: 3}
  m_InferenceDevice: 0
  m_BehaviorType: 0
  m_BehaviorName: Tennis
  m_PrefabAsset: {fileID: 0}
  m_GameObject: {fileID: 1485570486708108}
  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: -5.9507, y: -3, z: 0}
-  m_LocalScale: {x: 1.0831101, y: 1, z: 1.1727886}
+  m_LocalPosition: {x: -6.07, y: -1.4, z: 0}
+  m_LocalScale: {x: 1.1, y: 1, z: 1.2}
  m_Children: []
  m_Father: {fileID: 4275308033819996}
  m_RootOrder: 0
  m_PrefabInstance: {fileID: 0}
  m_PrefabAsset: {fileID: 0}
  m_GameObject: {fileID: 1485570486708108}
-  m_Material: {fileID: 0}
+  m_Material: {fileID: 13400000, guid: 56162663048874fd4b10e065f9cf78b7, type: 2}
  m_IsTrigger: 0
  m_Enabled: 1
  serializedVersion: 2
  m_GameObject: {fileID: 1600389029549348}
  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
  m_LocalPosition: {x: 0, y: -7.5, z: 0}
-  m_LocalScale: {x: 0.01, y: 0.01, z: 0.01}
+  m_LocalScale: {x: 0.02, y: 0.02, z: 0.02}
  m_Children:
  - {fileID: 4859823443517042}
  - {fileID: 4821769212579210}
  m_PrefabAsset: {fileID: 0}
  m_GameObject: {fileID: 1730923431341952}
  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 6.07, y: -3, z: 0}
-  m_LocalScale: {x: 1.0919912, y: 1, z: 1.1119019}
+  m_LocalPosition: {x: 6.07, y: -1.4, z: 0}
+  m_LocalScale: {x: 1.09, y: 1, z: 1.2}
  m_Children: []
  m_Father: {fileID: 4275308033819996}
  m_RootOrder: 1
  m_PrefabInstance: {fileID: 0}
  m_PrefabAsset: {fileID: 0}
  m_GameObject: {fileID: 1730923431341952}
-  m_Material: {fileID: 0}
+  m_Material: {fileID: 13400000, guid: 56162663048874fd4b10e065f9cf78b7, type: 2}
  m_IsTrigger: 0
  m_Enabled: 1
  serializedVersion: 2
  m_Name: 
  m_EditorClassIdentifier: 
  m_BrainParameters:
-    vectorObservationSize: 10
+    vectorObservationSize: 9
-  m_Model: {fileID: 11400000, guid: af0e636edb8584db08624f42c5f71f97, type: 3}
+  m_Model: {fileID: 11400000, guid: d6c5e749e4ceb4cf79640a5955706d3d, type: 3}
  m_InferenceDevice: 0
  m_BehaviorType: 0
  m_BehaviorName: Tennis
  m_GameObject: {fileID: 1969551055586186}
  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
  m_LocalPosition: {x: 0, y: -4, z: 0}
-  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_LocalScale: {x: 2, y: 2, z: 2}
  m_Children:
  - {fileID: 4733128113887812}
  - {fileID: 4535263776590958}
--- a/Project/Assets/ML-Agents/Examples/Tennis/Scenes/Tennis.unity
+++ b/Project/Assets/ML-Agents/Examples/Tennis/Scenes/Tennis.unity
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.x
-      value: 44.4
+      value: 60
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.y
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.x
-      value: 44.4
+      value: 60
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.y
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.x
-      value: -45.6
+      value: -60
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.y
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.x
-      value: -45.6
+      value: -60
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.y
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.x
-      value: -45.6
+      value: -60
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.y
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.x
-      value: 44.4
+      value: 60
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.y
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.x
-      value: -45.6
+      value: -60
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.y
  m_PrefabInstance: {fileID: 0}
  m_PrefabAsset: {fileID: 0}
  m_GameObject: {fileID: 957430531}
-  m_LocalRotation: {x: 0.13052616, y: 0, z: 0, w: 0.9914449}
-  m_LocalPosition: {x: 0, y: 6.25, z: -25.6}
+  m_LocalRotation: {x: 0.17364816, y: 0, z: 0, w: 0.9848078}
+  m_LocalPosition: {x: 0, y: 15, z: -42}
-  m_LocalEulerAnglesHint: {x: 15, y: 0, z: 0}
+  m_LocalEulerAnglesHint: {x: 20, y: 0, z: 0}
 --- !u!1001 &978771510
 PrefabInstance:
  m_ObjectHideFlags: 0
      propertyPath: m_IsActive
      value: 1
      objectReference: {fileID: 0}
+    - target: {fileID: 1969551055586186, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
+      propertyPath: m_IsActive
+      value: 0
+      objectReference: {fileID: 0}
-      value: -45.6
+      value: -60
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.y
    - target: {fileID: 1541947554534326, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_Name
      value: TennisArea (3)
+      objectReference: {fileID: 0}
+    - target: {fileID: 1541947554534326, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
+      propertyPath: m_IsActive
+      value: 1
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.x
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.x
-      value: 44.4
+      value: 60
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.y
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.x
-      value: 44.4
+      value: 60
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.y
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.x
-      value: 44.4
+      value: 60
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.y
  m_Name: 
  m_EditorClassIdentifier: 
  gravityMultiplier: 1
-  monitorVerticalOffset: 0
  fixedDeltaTime: 0.02
  maximumDeltaTime: 0.33333334
  solverIterations: 6
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.x
-      value: -45.6
+      value: -60
      objectReference: {fileID: 0}
    - target: {fileID: 4172342666475122, guid: 812997c7bc2544b6f927ff684c03450f, type: 3}
      propertyPath: m_LocalPosition.y
--- a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/HitWall.cs
+++ b/Project/Assets/ML-Agents/Examples/Tennis/Scripts/HitWall.cs
            FloorAHit,
            FloorBHit
        }
-    [HideInInspector]
-    public FloorHit LastFloorHit;
+
+    FloorHit m_LastFloorHit;

    TennisArea m_Area;
    TennisAgent m_AgentA;

    public void ResetPoint()
    {
-        LastFloorHit = FloorHit.Service;
+        m_LastFloorHit = FloorHit.Service;
        m_LastAgentHit = -1;
    }

            if (collision.gameObject.name == "wallA")
            {
                // Agent A hits into wall or agent B hit a winner
-                if (m_LastAgentHit == 0 || LastFloorHit == FloorHit.FloorAHit)
+                if (m_LastAgentHit == 0 || m_LastFloorHit == FloorHit.FloorAHit)
                {
                    AgentBWins();
                }
            else if (collision.gameObject.name == "wallB")
            {
                // Agent B hits into wall or agent A hit a winner
-                if (m_LastAgentHit == 1 || LastFloorHit == FloorHit.FloorBHit)
+                if (m_LastAgentHit == 1 || m_LastFloorHit == FloorHit.FloorBHit)
                {
                    AgentAWins();
                }
            else if (collision.gameObject.name == "floorA")
            {
                // Agent A hits into floor, double bounce or service
-                if (m_LastAgentHit == 0 || LastFloorHit == FloorHit.FloorAHit || LastFloorHit == FloorHit.Service)
+                if (m_LastAgentHit == 0 || m_LastFloorHit == FloorHit.FloorAHit || m_LastFloorHit == FloorHit.Service)
-                    LastFloorHit = FloorHit.FloorAHit;
+                    m_LastFloorHit = FloorHit.FloorAHit;
-                if (m_LastAgentHit == 1 || LastFloorHit == FloorHit.FloorBHit || LastFloorHit == FloorHit.Service)
+                if (m_LastAgentHit == 1 || m_LastFloorHit == FloorHit.FloorBHit || m_LastFloorHit == FloorHit.Service)
-                    LastFloorHit = FloorHit.FloorBHit;
+                    m_LastFloorHit = FloorHit.FloorBHit;
                }
            }
        }
            {

                m_LastAgentHit = 0;
-                LastFloorHit = FloorHit.FloorHitUnset;
+                m_LastFloorHit = FloorHit.FloorHitUnset;
            }
        }
        else if (collision.gameObject.name == "AgentB")
            else
            {
                m_LastAgentHit = 1;
-                LastFloorHit = FloorHit.FloorHitUnset;
+                m_LastFloorHit = FloorHit.FloorHitUnset;
            }
        }
    }
--- a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs
    Text m_TextComponent;
    Rigidbody m_AgentRb;
    Rigidbody m_BallRb;
-    HitWall m_BallScript;
    TennisArea m_Area;
    float m_InvertMult;
    FloatPropertiesChannel m_ResetParams;
    {
        m_AgentRb = GetComponent<Rigidbody>();
        m_BallRb = ball.GetComponent<Rigidbody>();
-        m_BallScript = ball.GetComponent<HitWall>();
        m_Area = myArea.GetComponent<TennisArea>();
        var canvas = GameObject.Find(k_CanvasName);
        GameObject scoreBoard;
        sensor.AddObservation(m_BallRb.velocity.y);

        sensor.AddObservation(m_InvertMult * gameObject.transform.rotation.z);
-        if (m_BallScript.LastFloorHit == HitWall.FloorHit.FloorHitUnset)
-        {
-            sensor.AddObservation(1.0f);
-        }
-        else
-        {
-            sensor.AddObservation(0.0f);
-        }
    }

    public override void OnActionReceived(float[] vectorAction)
        {
            m_Area.MatchReset();
        }
-        transform.position = new Vector3(-m_InvertMult * Random.Range(6f, 8f), -1.5f, -1.8f) + transform.parent.transform.position;
+        transform.position = new Vector3(-m_InvertMult * 14f, 5f, -1.8f) + transform.parent.transform.position;
        m_AgentRb.velocity = new Vector3(0f, 0f, 0f);
        SetResetParameters();
    }
--- a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisArea.cs
+++ b/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisArea.cs

    public void MatchReset()
    {
-        var ballOut = Random.Range(6f, 8f);
+        var ballOut = 14f;
-            ball.transform.position = new Vector3(-ballOut, 6f, 0f) + transform.position;
+            ball.transform.position = new Vector3(-ballOut, 10f, 0f) + transform.position;
-            ball.transform.position = new Vector3(ballOut, 6f, 0f) + transform.position;
+            ball.transform.position = new Vector3(ballOut, 10f, 0f) + transform.position;
        }
        m_BallRb.velocity = new Vector3(0f, 0f, 0f);
        ball.transform.localScale = new Vector3(.5f, .5f, .5f);
    {
        m_BallRb.AddForce(down);
        var rgV = m_BallRb.velocity;
-        m_BallRb.velocity = new Vector3(Mathf.Clamp(rgV.x, -20f, 20f), Mathf.Clamp(rgV.y, -30f, 30f), rgV.z);
+        m_BallRb.velocity = new Vector3(Mathf.Clamp(rgV.x, -30f, 30f), Mathf.Clamp(rgV.y, -35f, 35f), rgV.z);
    }
 }