do raycasting during heuristic

UnitySDK/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2017.4.32f1
+m_EditorVersion: 2017.4.35f1

UnitySDK/Assets/ML-Agents/Scripts/Agent.cs

         {
             m_Id = gameObject.GetInstanceID();
             var academy = FindObjectOfType<Academy>();
+            if (academy == null)
+            {
+                throw new UnityAgentsException(
+                    "No Academy Component could be found in the scene.");
+            }
             academy.LazyInitialization();
             OnEnableHelper(academy);
 
             m_Info = new AgentInfo();
             m_Action = new AgentAction();
             sensors = new List<ISensor>();
-
-            if (academy == null)
-            {
-                throw new UnityAgentsException(
-                    "No Academy Component could be found in the scene.");
-            }
 
             academy.AgentSetStatus += SetStatus;
             academy.AgentResetIfDone += ResetIfDone;

UnitySDK/Assets/ML-Agents/Examples/WallJump/Scenes/WallJump2D.unity

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UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJump2DAcademy.cs

+using UnityEngine;
+using MLAgents;
+
+public class WallJump2DAcademy : 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;
+    }
+}

UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJump2DAcademy.cs.meta

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UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJump2DAgent.cs.meta

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UnitySDK/Assets/ML-Agents/Examples/WallJump/Scripts/WallJump2DAgent.cs

+//Put this script on your blue cube.
+
+using System.Collections;
+using UnityEngine;
+using MLAgents;
+using Barracuda;
+
+
+public class WallJump2DAgent : Agent
+{
+    // Depending on this value, the wall will have different height
+    int m_Configuration;
+
+    public GameObject ground;
+    public GameObject spawnArea;
+    Bounds m_SpawnAreaBounds;
+
+
+    public GameObject goal;
+    public GameObject shortBlock;
+    public GameObject wall;
+    Rigidbody2D m_AgentRb;
+    Material m_GroundMaterial;
+    Renderer m_GroundRenderer;
+    WallJump2DAcademy m_Academy;
+
+    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 Collider2D[] hitGroundColliders = new Collider2D[3];
+    Vector3 m_JumpTargetPos;
+    Vector3 m_JumpStartingPos;
+
+    public override void InitializeAgent()
+    {
+        m_Academy = FindObjectOfType<WallJump2DAcademy>();
+        m_Configuration = Random.Range(0, 5);
+
+        m_AgentRb = GetComponent<Rigidbody2D>();
+        m_SpawnAreaBounds = spawnArea.GetComponent<Collider2D>().bounds;
+        m_GroundRenderer = ground.GetComponent<Renderer>();
+        m_GroundMaterial = m_GroundRenderer.material;
+
+        spawnArea.SetActive(false);
+    }
+
+    // Begin the jump sequence
+    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)
+    {
+        return true;
+//        if (!smallCheck)
+//        {
+//            hitGroundColliders = new Collider2D[3];
+//            var o = gameObject;
+//            Physics2D.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
+        {
+            RaycastHit2D hit = Physics2D.Raycast(
+                (Vector2)transform.position + new Vector2(0, -0.05f),
+                -Vector2.up,
+                1f
+            );
+
+            if (hit.collider != null &&
+                (hit.collider.CompareTag("walkableSurface") ||
+                 hit.collider.CompareTag("block") ||
+                 hit.collider.CompareTag("wall"))
+                && hit.normal.y > 0.95f)
+            {
+                return true;
+            }
+
+            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(
+        Vector2 targetPos, Rigidbody2D rb, float targetVel, float maxVel)
+    {
+        var moveToPos = targetPos - rb.worldCenterOfMass;
+        var velocityTarget = Time.fixedDeltaTime * targetVel * moveToPos;
+        if (float.IsNaN(velocityTarget.x) == false)
+        {
+            rb.velocity = Vector2.MoveTowards(rb.velocity, velocityTarget, maxVel);
+        }
+    }
+
+    public override void CollectObservations()
+    {
+        var agentPos = m_AgentRb.position - (Vector2) ground.transform.position;
+
+        AddVectorObs(agentPos / 20f);
+        //AddVectorObs(DoGroundCheck(true) ? 1 : 0);
+    }
+
+    /// <summary>
+    /// Gets a random spawn position in the spawningArea.
+    /// </summary>
+    /// <returns>The random spawn position.</returns>
+    public Vector2 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 transformPos = (Vector2) spawnArea.transform.position;
+        var randomSpawnPos = transformPos + new Vector2(randomPosX, randomPosY);
+        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)
+    {
+        m_GroundRenderer.material = mat;
+        yield return new WaitForSeconds(time); //wait for 2 sec
+        m_GroundRenderer.material = m_GroundMaterial;
+    }
+
+    public void MoveAgent(float[] act)
+    {
+        AddReward(-0.0005f);
+        var smallGrounded = DoGroundCheck(true);
+        var largeGrounded = DoGroundCheck(false);
+
+        var dirToGo = Vector2.zero;
+        var dirToGoSideAction = (int)act[0];
+        var jumpAction = (int)act[1];
+
+        if (dirToGoSideAction != 0)
+        {
+            Debug.Log($"dirToGoSideAction={dirToGoSideAction}, transform.right={transform.right} transform.up={transform.up} transform.fwd={transform.forward}");
+        }
+        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();
+            }
+
+        //transform.Rotate(rotateDir, Time.fixedDeltaTime * 300f);
+        m_AgentRb.AddForce(dirToGo * m_Academy.agentRunSpeed,
+            ForceMode2D.Impulse);
+
+        if (jumpingTime > 0f)
+        {
+            m_JumpTargetPos =
+                new Vector2(m_AgentRb.position.x,
+                    m_JumpStartingPos.y + m_Academy.agentJumpHeight) + dirToGo;
+            MoveTowards(m_JumpTargetPos, m_AgentRb, m_Academy.agentJumpVelocity,
+                m_Academy.agentJumpVelocityMaxChange);
+        }
+
+        if (!(jumpingTime > 0f) && !largeGrounded)
+        {
+            m_AgentRb.AddForce(
+                Vector3.down * fallingForce, ForceMode2D.Force);
+        }
+        jumpingTime -= Time.fixedDeltaTime;
+    }
+
+    public override void AgentAction(float[] vectorAction)
+    {
+        MoveAgent(vectorAction);
+        // TODO can't happen in 2D?
+        if (!Physics2D.Raycast(m_AgentRb.position, Vector2.down, 20))
+        {
+            Done();
+            SetReward(-1f);
+            StartCoroutine(
+                GoalScoredSwapGroundMaterial(m_Academy.failMaterial, .5f));
+        }
+    }
+
+    public override float[] Heuristic()
+    {
+        GenerateSensorData();
+        bool pressed = false;
+        var action = new float[4];
+        if (Input.GetKey(KeyCode.D))
+        {
+            pressed = true;
+            action[0] = 2f;
+        }
+        if (Input.GetKey(KeyCode.A))
+        {
+            pressed = true;
+            action[0] = 1f;
+        }
+
+        if (Input.GetKey(KeyCode.Space))
+        {
+            pressed = true;
+            action[1] = 1.0f;
+        }
+
+        if (pressed)
+        {
+            Debug.Log($"({action[0]}, {action[1]}, {action[2]}, {action[3]})");
+        }
+
+        return action;
+    }
+
+    // Detect when the agent hits the goal
+    void OnTriggerStay2D(Collider2D col)
+    {
+        if (col.gameObject.CompareTag("goal") && DoGroundCheck(true))
+        {
+            SetReward(1f);
+            Done();
+            StartCoroutine(
+                GoalScoredSwapGroundMaterial(m_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()
+    {
+        Debug.Log("AgentReset");
+        transform.localPosition = new Vector3(4 * (Random.value - 0.5f), 1, -2);
+        //var randomPos2d = GetRandomSpawnPos();
+        //var randomPos = new Vector3(randomPos2d.x, randomPos2d.y, transform.localPosition.z);
+        //transform.localPosition = randomPos;
+        m_Configuration = Random.Range(0, 5);
+        m_AgentRb.velocity = default(Vector3);
+    }
+
+    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)
+    {
+        if (wall == null)
+        {
+            // TODO handle reset here
+            return;
+        }
+        var localScale = wall.transform.localScale;
+        if (config == 0)
+        {
+            localScale = new Vector3(
+                localScale.x,
+                m_Academy.FloatProperties.GetPropertyWithDefault("no_wall_height", 0),
+                localScale.z);
+            wall.transform.localScale = localScale;
+        }
+        else if (config == 1)
+        {
+            localScale = new Vector3(
+                localScale.x,
+                m_Academy.FloatProperties.GetPropertyWithDefault("small_wall_height", 4),
+                localScale.z);
+            wall.transform.localScale = localScale;
+        }
+        else
+        {
+            var min = m_Academy.FloatProperties.GetPropertyWithDefault("big_wall_min_height", 8);
+            var max = m_Academy.FloatProperties.GetPropertyWithDefault("big_wall_max_height", 8);
+            var height = min + Random.value * (max - min);
+            localScale = new Vector3(
+                localScale.x,
+                height,
+                localScale.z);
+            wall.transform.localScale = localScale;
+        }
+    }
+}