Merge branch 'master' into hh/develop/gridsensor-tests

config/ppo/PushBlock.yaml

   PushBlock:
     trainer_type: ppo
     hyperparameters:
-      batch_size: 128
-      buffer_size: 2048
+      batch_size: 1024 #128
+      buffer_size: 10240 #2048
       learning_rate: 0.0003
       beta: 0.01
       epsilon: 0.2
     keep_checkpoints: 5
     max_steps: 2000000
     time_horizon: 64
-    summary_freq: 60000
+    summary_freq: 10000
     threaded: true

Project/Packages/manifest.json

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     "com.unity.package-manager-ui": "2.0.8",
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Project/ProjectSettings/TagManager.asset

   - symbol_O_Goal
   - purpleAgent
   - purpleGoal
+  - hazard
   layers:
   - Default
   - TransparentFX

com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs

         /// </summary>
         private List<byte[]> byteSizesBytesList;
 
-        private Color DebugDefaultColor = new Color(1f, 1f, 1f, 0.25f);
+        private Color DebugDefaultColor = new Color(1f, 1f, 1f, 0.55f);
 
         /// <inheritdoc/>
         public override ISensor CreateSensor()
                 Vector3 offset = new Vector3(0, GizmoYOffset, 0);
                 Matrix4x4 oldGizmoMatrix = Gizmos.matrix;
                 Matrix4x4 cubeTransform = Gizmos.matrix;
+                //                Matrix4x4 cubeTransform = transform.localToWorldMatrix;
                 for (int i = 0; i < NumCells; i++)
                 {
                     if (RotateToAgent)
                     else
                     {
                         cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + transform.position + offset, Quaternion.identity, scale);
+                        //                        cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + offset, Quaternion.identity, scale);
-                    Gizmos.DrawCube(Vector3.zero, Vector3.one);
+                    //                    Gizmos.DrawCube(Vector3.zero, Vector3.one * .75f);
+                    Gizmos.DrawCube(Vector3.zero, new Vector3(.85f, .15f, .85f));
+                    //                    Gizmos.DrawWireCube(Vector3.zero, Vector3.one * .75f);
+                    //                    Gizmos.DrawSphere(Vector3.zero, .5f);
                 }
 
                 Gizmos.matrix = oldGizmoMatrix;

Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockHard.prefab.meta

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Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentGrid.cs

+//Put this script on your blue cube.
+
+using System;
+using System.Collections;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
+using Unity.MLAgents.Sensors;
+
+using Random = UnityEngine.Random;
+
+public class PushAgentGrid : Agent
+{
+    /// <summary>
+    /// The ground. The bounds are used to spawn the elements.
+    /// </summary>
+    public GameObject ground;
+
+    public GameObject area;
+
+    /// <summary>
+    /// The area bounds.
+    /// </summary>
+    [HideInInspector]
+    public Bounds areaBounds;
+
+    PushBlockSettings m_PushBlockSettings;
+
+    /// <summary>
+    /// The goal to push the block to.
+    /// </summary>
+    public GameObject goal;
+
+    /// <summary>
+    /// The block to be pushed to the goal.
+    /// </summary>
+    public GameObject block;
+
+    /// <summary>
+    /// Detects when the block touches the goal.
+    /// </summary>
+    //    [HideInInspector]
+    //    public GoalDetect goalDetect;
+
+    public bool useVectorObs;
+
+    Rigidbody m_BlockRb;  //cached on initialization
+    Rigidbody m_AgentRb;  //cached on initialization
+    Material m_GroundMaterial; //cached on Awake()
+
+    /// <summary>
+    /// We will be changing the ground material based on success/failue
+    /// </summary>
+    Renderer m_GroundRenderer;
+
+    EnvironmentParameters m_ResetParams;
+
+    void Awake()
+    {
+        m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
+    }
+
+    public override void Initialize()
+    {
+        //        goalDetect = block.GetComponent<GoalDetect>();
+        //        goalDetect.agent = this;
+
+        // Cache the agent rigidbody
+        m_AgentRb = GetComponent<Rigidbody>();
+        // Cache the block rigidbody
+        m_BlockRb = block.GetComponent<Rigidbody>();
+        // Get the ground's bounds
+        areaBounds = ground.GetComponent<Collider>().bounds;
+        // Get the ground renderer so we can change the material when a goal is scored
+        m_GroundRenderer = ground.GetComponent<Renderer>();
+        // Starting material
+        m_GroundMaterial = m_GroundRenderer.material;
+
+        m_ResetParams = Academy.Instance.EnvironmentParameters;
+
+        SetResetParameters();
+    }
+
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        if (useVectorObs)
+        {
+            var localVelocity = transform.InverseTransformDirection(m_AgentRb.velocity);
+            sensor.AddObservation(localVelocity.x);
+            sensor.AddObservation(localVelocity.z);
+        }
+    }
+
+    /// <summary>
+    /// Use the ground's bounds to pick a random spawn position.
+    /// </summary>
+    public Vector3 GetRandomSpawnPos()
+    {
+        var foundNewSpawnLocation = false;
+        var randomSpawnPos = Vector3.zero;
+        while (foundNewSpawnLocation == false)
+        {
+            var randomPosX = Random.Range(-areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier,
+                areaBounds.extents.x * m_PushBlockSettings.spawnAreaMarginMultiplier);
+
+            var randomPosZ = Random.Range(-areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier,
+                areaBounds.extents.z * m_PushBlockSettings.spawnAreaMarginMultiplier);
+            randomSpawnPos = ground.transform.position + new Vector3(randomPosX, 1f, randomPosZ);
+            if (Physics.CheckBox(randomSpawnPos, new Vector3(2.5f, 0.01f, 2.5f)) == false)
+            {
+                foundNewSpawnLocation = true;
+            }
+        }
+        return randomSpawnPos;
+    }
+
+    /// <summary>
+    /// Called when the agent moves the block into the goal.
+    /// </summary>
+    public void ScoredAGoal()
+    {
+        // We use a reward of 5.
+        AddReward(5f);
+
+        // By marking an agent as done AgentReset() will be called automatically.
+        EndEpisode();
+
+        // Swap ground material for a bit to indicate we scored.
+        StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
+    }
+
+    /// <summary>
+    /// Swap ground material, wait time seconds, then swap back to the regular material.
+    /// </summary>
+    IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
+    {
+        m_GroundRenderer.material = mat;
+        yield return new WaitForSeconds(time); // Wait for 2 sec
+        m_GroundRenderer.material = m_GroundMaterial;
+    }
+
+    /// <summary>
+    /// Moves the agent according to the selected action.
+    /// </summary>
+    public void MoveAgent(ActionSegment<int> act)
+    {
+        var dirToGo = Vector3.zero;
+        var rotateDir = Vector3.zero;
+
+        var action = act[0];
+
+        switch (action)
+        {
+            case 1:
+                dirToGo = transform.forward * 1f;
+                break;
+            case 2:
+                dirToGo = transform.forward * -1f;
+                break;
+            case 3:
+                rotateDir = transform.up * 1f;
+                break;
+            case 4:
+                rotateDir = transform.up * -1f;
+                break;
+            case 5:
+                dirToGo = transform.right * -0.75f;
+                break;
+            case 6:
+                dirToGo = transform.right * 0.75f;
+                break;
+        }
+        transform.Rotate(rotateDir, Time.fixedDeltaTime * 200f);
+        m_AgentRb.AddForce(dirToGo * m_PushBlockSettings.agentRunSpeed,
+            ForceMode.VelocityChange);
+    }
+
+    /// <summary>
+    /// Called every step of the engine. Here the agent takes an action.
+    /// </summary>
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
+    {
+        // Move the agent using the action.
+        MoveAgent(actionBuffers.DiscreteActions);
+
+        // Penalty given each step to encourage agent to finish task quickly.
+        AddReward(-1f / MaxStep);
+    }
+
+    public override void Heuristic(in ActionBuffers actionsOut)
+    {
+        var discreteActionsOut = actionsOut.DiscreteActions;
+        discreteActionsOut[0] = 0;
+        if (Input.GetKey(KeyCode.D))
+        {
+            discreteActionsOut[0] = 3;
+        }
+        else if (Input.GetKey(KeyCode.W))
+        {
+            discreteActionsOut[0] = 1;
+        }
+        else if (Input.GetKey(KeyCode.A))
+        {
+            discreteActionsOut[0] = 4;
+        }
+        else if (Input.GetKey(KeyCode.S))
+        {
+            discreteActionsOut[0] = 2;
+        }
+    }
+
+    /// <summary>
+    /// Resets the block position and velocities.
+    /// </summary>
+    void ResetBlock()
+    {
+        // Get a random position for the block.
+        block.transform.position = GetRandomSpawnPos();
+
+        // Reset block velocity back to zero.
+        m_BlockRb.velocity = Vector3.zero;
+
+        // Reset block angularVelocity back to zero.
+        m_BlockRb.angularVelocity = Vector3.zero;
+    }
+
+    /// <summary>
+    /// In the editor, if "Reset On Done" is checked then AgentReset() will be
+    /// called automatically anytime we mark done = true in an agent script.
+    /// </summary>
+    public override void OnEpisodeBegin()
+    {
+        var rotation = Random.Range(0, 4);
+        var rotationAngle = rotation * 90f;
+        area.transform.Rotate(new Vector3(0f, rotationAngle, 0f));
+
+        ResetBlock();
+        transform.position = GetRandomSpawnPos();
+        m_AgentRb.velocity = Vector3.zero;
+        m_AgentRb.angularVelocity = Vector3.zero;
+
+        SetResetParameters();
+    }
+
+    public void SetGroundMaterialFriction()
+    {
+        var groundCollider = ground.GetComponent<Collider>();
+
+        groundCollider.material.dynamicFriction = m_ResetParams.GetWithDefault("dynamic_friction", 0);
+        groundCollider.material.staticFriction = m_ResetParams.GetWithDefault("static_friction", 0);
+    }
+
+    public void OnCollisionEnter(Collision col)
+    {
+        if (col.gameObject.CompareTag("hazard"))
+        {
+            SetReward(-1f);
+            EndEpisode();
+        }
+    }
+
+    public void SetBlockProperties()
+    {
+        var scale = m_ResetParams.GetWithDefault("block_scale", 2);
+        //Set the scale of the block
+        m_BlockRb.transform.localScale = new Vector3(scale, 0.75f, scale);
+
+        // Set the drag of the block
+        m_BlockRb.drag = m_ResetParams.GetWithDefault("block_drag", 0.5f);
+    }
+
+    void SetResetParameters()
+    {
+        SetGroundMaterialFriction();
+        SetBlockProperties();
+    }
+}

Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentGrid.cs.meta

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Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/CollisionCallbacks.cs

+using UnityEngine;
+using Random = UnityEngine.Random;
+using Unity.MLAgents;
+using UnityEngine.Events;
+
+namespace Unity.MLAgentsExamples
+{
+    /// <summary>
+    /// Utility class to allow target placement and collision detection with an agent
+    /// Add this script to the target you want the agent to touch.
+    /// Callbacks will be triggered any time the target is touched with a collider tagged as 'tagToDetect'
+    /// </summary>
+    public class CollisionCallbacks : MonoBehaviour
+    {
+
+        [Header("Collider Tag To Detect")]
+        public string tagToDetect = "agent"; //collider tag to detect
+
+        [Header("Target Placement")]
+        public float spawnRadius; //The radius in which a target can be randomly spawned.
+        public bool respawnIfTouched; //Should the target respawn to a different position when touched
+
+        [Header("Target Fell Protection")]
+        public bool respawnIfFallsOffPlatform = true; //If the target falls off the platform, reset the position.
+        public float fallDistance = 5; //distance below the starting height that will trigger a respawn
+
+
+        private Vector3 m_startingPos; //the starting position of the target
+        private Agent m_agentTouching; //the agent currently touching the target
+
+        [System.Serializable]
+        public class TriggerEvent : UnityEvent<Collider>
+        {
+        }
+
+        [Header("Trigger Callbacks")]
+        public TriggerEvent onTriggerEnterEvent = new TriggerEvent();
+        public TriggerEvent onTriggerStayEvent = new TriggerEvent();
+        public TriggerEvent onTriggerExitEvent = new TriggerEvent();
+
+        [System.Serializable]
+        public class CollisionEvent : UnityEvent<Collision>
+        {
+        }
+
+        [Header("Collision Callbacks")]
+        public CollisionEvent onCollisionEnterEvent = new CollisionEvent();
+        public CollisionEvent onCollisionStayEvent = new CollisionEvent();
+        public CollisionEvent onCollisionExitEvent = new CollisionEvent();
+
+        // Start is called before the first frame update
+        void OnEnable()
+        {
+            m_startingPos = transform.position;
+            if (respawnIfTouched)
+            {
+                MoveTargetToRandomPosition();
+            }
+        }
+
+        void Update()
+        {
+            if (respawnIfFallsOffPlatform)
+            {
+                if (transform.position.y < m_startingPos.y - fallDistance)
+                {
+                    Debug.Log($"{transform.name} Fell Off Platform");
+                    MoveTargetToRandomPosition();
+                }
+            }
+        }
+
+        /// <summary>
+        /// Moves target to a random position within specified radius.
+        /// </summary>
+        public void MoveTargetToRandomPosition()
+        {
+            var newTargetPos = m_startingPos + (Random.insideUnitSphere * spawnRadius);
+            newTargetPos.y = m_startingPos.y;
+            transform.position = newTargetPos;
+        }
+
+        private void OnCollisionEnter(Collision col)
+        {
+            if (col.transform.CompareTag(tagToDetect))
+            {
+                onCollisionEnterEvent.Invoke(col);
+                if (respawnIfTouched)
+                {
+                    MoveTargetToRandomPosition();
+                }
+            }
+        }
+
+        private void OnCollisionStay(Collision col)
+        {
+            if (col.transform.CompareTag(tagToDetect))
+            {
+                onCollisionStayEvent.Invoke(col);
+            }
+        }
+
+        private void OnCollisionExit(Collision col)
+        {
+            if (col.transform.CompareTag(tagToDetect))
+            {
+                onCollisionExitEvent.Invoke(col);
+            }
+        }
+
+        private void OnTriggerEnter(Collider col)
+        {
+            if (col.CompareTag(tagToDetect))
+            {
+                onTriggerEnterEvent.Invoke(col);
+            }
+        }
+
+        private void OnTriggerStay(Collider col)
+        {
+            if (col.CompareTag(tagToDetect))
+            {
+                onTriggerStayEvent.Invoke(col);
+            }
+        }
+
+        private void OnTriggerExit(Collider col)
+        {
+            if (col.CompareTag(tagToDetect))
+            {
+                onTriggerExitEvent.Invoke(col);
+            }
+        }
+    }
+}

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