Update PushBlockActuatedSensor.unity

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
       extrinsic:
         gamma: 0.99
         strength: 1.0
+      # curiosity:
+      #   strength: 0.02
+      #   gamma: 0.99
+      #   encoding_size: 256
-    summary_freq: 60000
+    summary_freq: 10000
     threaded: true

config/sac/PushBlock.yaml

     keep_checkpoints: 5
     max_steps: 2000000
     time_horizon: 64
-    summary_freq: 100000
+    summary_freq: 10000
     threaded: true

com.unity.ml-agents.extensions/Documentation~/Grid-Sensor.md

 
 The Grid Sensor combines the generality of data extraction from Raycasts with the image processing power of Convolutional Neural Networks. The Grid Sensor can be used to collect data in the general form of a "Width x Height x Channel" matrix which can be used for training Reinforcement Learning agents or for data analysis.
 
+<img src="images/gridsensor-debug.png" align="middle" width="3000"/>
 
 # Motivation
 

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

         [Tooltip("Rotate the grid based on the direction the agent is facing")]
         public bool RotateToAgent;
 
+        public bool TranslateToAgent; //should the grid move with the agent
+                                      //        public bool MapThisAgent = false; //should this agent be mapped
+        public List<Collider> collidersToIgnore;
+
         /// <summary>
         /// Array holding the depth of each channel.
         /// </summary>
         /// <summary>
         /// Texture where the colors are written to so that they can be compressed in PNG format.
         /// </summary>
-        protected Texture2D m_perceptionTexture2D;
+        public Texture2D m_perceptionTexture2D;
 
         //
         // Utility Constants Calculated on Init
         /// </summary>
         private List<byte[]> byteSizesBytesList;
 
-        private Color DebugDefaultColor = new Color(1f, 1f, 1f, 0.25f);
+        public Color DebugDefaultColor = new Color(1f, 1f, 1f, 0.55f);
 
         /// <inheritdoc/>
         public override ISensor CreateSensor()
             byteSizesBytesList = new List<byte[]>();
 
             m_perceptionTexture2D = new Texture2D(GridNumSideX, GridNumSideZ, TextureFormat.RGB24, false);
+            testTexture = new Texture2D(GridNumSideX, GridNumSideZ, TextureFormat.RGB24, false);
         }
 
         /// <summary>
             return SensorCompressionType.PNG;
         }
 
+
+        //        public Texture aTexture;
+        public Texture2D testTexture;
+        public bool showGridObservationGUI;
+        void OnGUI()
+        {
+            //            if (!aTexture)
+            if (!testTexture)
+            {
+                Debug.LogError("Assign a Texture in the inspector.");
+                return;
+            }
+
+            if (showGridObservationGUI)
+            {
+                //            GUI.DrawTexture(new Rect(10, 10, 60, 60), aTexture, ScaleMode.ScaleToFit, true, 10.0F);
+                GUI.DrawTexture(new Rect(10, 10, 600, 600), testTexture, ScaleMode.ScaleToFit, true, 1f);
+            }
+        }
+
         /// <summary>
         /// GetCompressedObservation - Calls Perceive then puts the data stored on the perception buffer
         /// onto the m_perceptionTexture2D to be converted to a byte array and returned
                 }
             }
             m_perceptionTexture2D.SetPixels(m_PerceptionColors);
+            if (showGridObservationGUI)
+            {
+                testTexture.SetPixels(m_PerceptionColors);
+                //            testTexture.EncodeToPNG();
+                testTexture.Apply();
+
+            }
+        public float overlapBoxScale = .5f;
         /// <summary>
         /// Perceive - Clears the buffers, calls overlap box on the actual cell (the actual perception part)
         /// for all found colliders, LoadObjectData is called
                 Collider[] foundColliders = null;
                 Vector3 cellCenter = Vector3.zero;
 
-                Vector3 halfCellScale = new Vector3(CellScaleX / 2f, CellScaleY, CellScaleZ / 2f);
+                Vector3 halfCellScale = Vector3.one * (overlapBoxScale * .5f);
+                //                Vector3 halfCellScale = new Vector3(CellScaleX / 2f, CellScaleY, CellScaleZ / 2f);
-                        cellCenter = transform.TransformPoint(CellPoints[cellIndex]);
-                        foundColliders = Physics.OverlapBox(cellCenter, halfCellScale, transform.rotation, ObserveMask);
+                        //                        cellCenter = transform.TransformPoint(CellPoints[cellIndex]);
+                        cellCenter = rootReference.transform.TransformPoint(CellPoints[cellIndex]);
+                        //                        foundColliders = Physics.OverlapBox(cellCenter, halfCellScale, transform.rotation, ObserveMask);
+                        foundColliders = Physics.OverlapBox(cellCenter, halfCellScale, rootReference.transform.rotation, ObserveMask);
-                        cellCenter = transform.position + CellPoints[cellIndex];
+                        cellCenter = rootReference.transform.position + CellPoints[cellIndex];
+                        //                        cellCenter = transform.position + CellPoints[cellIndex];
                         foundColliders = Physics.OverlapBox(cellCenter, halfCellScale, Quaternion.identity, ObserveMask);
                     }
 
                 currentColliderGo = foundColliders[i].gameObject;
 
                 // Continue if the current collider go is the root reference
-                if (currentColliderGo == rootReference)
+                if (collidersToIgnore.Contains(foundColliders[i]))
+                    //                if (currentColliderGo == rootReference && !MapThisAgent)
+                    //                if (!MapThisAgent)
                     continue;
 
                 closestColliderPoint = foundColliders[i].ClosestPointOnBounds(cellCenter);
             float z = (cell / GridNumSideZ - OffsetGridNumSide) * CellScaleZ - DiffNumSideZX;
 
             if (shouldTransformPoint)
-                return transform.TransformPoint(new Vector3(x, 0, z));
+                //                return transform.TransformPoint(new Vector3(x, 0, z));
+                return rootReference.transform.TransformPoint(new Vector3(x, 0, z));
             return new Vector3(x, 0, z);
         }
 
         /// <param name="globalPoint">The 3D point in global space</param>
         public int PointToCell(Vector3 globalPoint)
         {
-            Vector3 point = transform.InverseTransformPoint(globalPoint);
+            //            Vector3 point = transform.InverseTransformPoint(globalPoint);
+            Vector3 point = rootReference.transform.InverseTransformPoint(globalPoint);
 
             if (point.x < -HalfOfGridX || point.x > HalfOfGridX || point.z < -HalfOfGridZ || point.z > HalfOfGridZ)
                 return -1;
                 Vector3 offset = new Vector3(0, GizmoYOffset, 0);
                 Matrix4x4 oldGizmoMatrix = Gizmos.matrix;
                 Matrix4x4 cubeTransform = Gizmos.matrix;
+                //                Matrix4x4 cubeTransform = rootReference.transform.localToWorldMatrix;
+                //                Matrix4x4 cubeTransform = transform.localToWorldMatrix;
-                        cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, transform.rotation, scale);
+                        //                        cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, transform.rotation, scale);
+                        cubeTransform = Matrix4x4.TRS(CellToPoint(i) + offset, rootReference.transform.rotation, scale);
-                        cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + transform.position + offset, Quaternion.identity, scale);
+                        //                        cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + transform.position + offset, Quaternion.identity, scale);
+                        cubeTransform = Matrix4x4.TRS(CellToPoint(i, false) + rootReference.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, Vector3.one * overlapBoxScale);
+                    //                    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/Packages/manifest.json

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+    "com.unity.test-framework": "1.1.22",
+    "com.unity.textmeshpro": "2.0.1",
+    "com.unity.timeline": "1.2.6",
+    "com.unity.ugui": "1.0.0",
+    "com.unity.xr.legacyinputhelpers": "2.1.7",
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     "com.unity.modules.assetbundle": "1.0.0",
     "com.unity.modules.audio": "1.0.0",

Project/ProjectSettings/TagManager.asset

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

Project/ProjectSettings/ProjectVersion.txt

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+m_EditorVersion: 2019.4.20f1
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config/sac/PushBlockcopy.yaml

+behaviors:
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Project/Assets/ML-Agents/Examples/Crawler/Scripts/CreatureAgent.cs

+using System;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.Barracuda;
+using Unity.MLAgents.Actuators;
+using Unity.MLAgentsExamples;
+using Unity.MLAgents.Sensors;
+using Random = UnityEngine.Random;
+
+[RequireComponent(typeof(JointDriveController))] // Required to set joint forces
+public class CreatureAgent : Agent
+{
+    //The type of crawler behavior we want to use.
+    //This setting will determine how the agent is set up during initialization.
+    public enum CrawlerAgentBehaviorType
+    {
+        CrawlerDynamic,
+        CrawlerDynamicVariableSpeed,
+        CrawlerStatic,
+        CrawlerStaticVariableSpeed
+    }
+
+    [Tooltip(
+        "VariableSpeed - The agent will sample random speed magnitudes while training.\n" +
+        "Dynamic - The agent will run towards a target that changes position.\n" +
+        "Static - The agent will run towards a static target. "
+    )]
+    public CrawlerAgentBehaviorType typeOfCrawler;
+
+    //Crawler Brains
+    //A different brain will be used depending on the CrawlerAgentBehaviorType selected
+    [Header("NN Models")] public NNModel crawlerDyModel;
+    public NNModel crawlerDyVSModel;
+    public NNModel crawlerStModel;
+    public NNModel crawlerStVSModel;
+
+    [Header("Walk Speed")]
+    [Range(m_minWalkingSpeed, m_maxWalkingSpeed)]
+    [SerializeField]
+    [Tooltip(
+        "The speed the agent will try to match.\n\n" +
+        "TRAINING:\n" +
+        "For VariableSpeed envs, this value will randomize at the start of each training episode.\n" +
+        "Otherwise the agent will try to match the speed set here.\n\n" +
+        "INFERENCE:\n" +
+        "During inference, VariableSpeed agents will modify their behavior based on this value " +
+        "whereas the CrawlerDynamic & CrawlerStatic agents will run at the speed specified during training "
+    )]
+    //The walking speed to try and achieve
+    private float m_TargetWalkingSpeed = m_maxWalkingSpeed;
+
+    const float m_minWalkingSpeed = .01f; //The max walking speed
+    const float m_maxWalkingSpeed = 15; //The max walking speed
+
+    //The current target walking speed. Clamped because a value of zero will cause NaNs
+    public float TargetWalkingSpeed
+    {
+        get { return m_TargetWalkingSpeed; }
+        set { m_TargetWalkingSpeed = Mathf.Clamp(value, m_minWalkingSpeed, m_maxWalkingSpeed); }
+    }
+
+    //Should the agent sample a new goal velocity each episode?
+    //If true, TargetWalkingSpeed will be randomly set between 0.1 and m_maxWalkingSpeed in OnEpisodeBegin()
+    //If false, the goal velocity will be m_maxWalkingSpeed
+    private bool m_RandomizeWalkSpeedEachEpisode;
+
+    //The direction an agent will walk during training.
+    [Header("Target To Walk Towards")]
+
+    public Transform dynamicTargetPrefab; //Target prefab to use in Dynamic envs
+    public Transform staticTargetPrefab; //Target prefab to use in Static envs
+    public Transform m_Target; //Target the agent will walk towards during training.
+
+    [Header("Body Parts")] [Space(10)] public Transform body;
+    public Transform bodyMiddle;
+    public Transform body1;
+    public Transform leg0Upper;
+    public Transform leg0Lower;
+    public Transform leg1Upper;
+    public Transform leg1Lower;
+    public Transform leg2Upper;
+    public Transform leg2Lower;
+    public Transform leg3Upper;
+    public Transform leg3Lower;
+    public Transform leg4Upper;
+    public Transform leg4Lower;
+    public Transform leg5Upper;
+    public Transform leg5Lower;
+
+    //This will be used as a stabilized model space reference point for observations
+    //Because ragdolls can move erratically during training, using a stabilized reference transform improves learning
+    OrientationCubeController m_OrientationCube;
+
+    //The indicator graphic gameobject that points towards the target
+    DirectionIndicator m_DirectionIndicator;
+    JointDriveController m_JdController;
+
+    [Header("Foot Grounded Visualization")]
+    [Space(10)]
+    public bool useFootGroundedVisualization;
+
+    public MeshRenderer foot0;
+    public MeshRenderer foot1;
+    public MeshRenderer foot2;
+    public MeshRenderer foot3;
+    public Material groundedMaterial;
+    public Material unGroundedMaterial;
+    private Vector3 m_StartingPos; //starting position of the agent
+
+    public override void Initialize()
+    {
+        SetAgentType();
+        m_StartingPos = body.position;
+
+        m_OrientationCube = GetComponentInChildren<OrientationCubeController>();
+        m_DirectionIndicator = GetComponentInChildren<DirectionIndicator>();
+        m_JdController = GetComponent<JointDriveController>();
+
+        //Setup each body part
+        m_JdController.SetupBodyPart(body);
+        m_JdController.SetupBodyPart(bodyMiddle, false);
+        m_JdController.SetupBodyPart(body1, false);
+        m_JdController.SetupBodyPart(leg0Upper);
+        m_JdController.SetupBodyPart(leg0Lower);
+        m_JdController.SetupBodyPart(leg1Upper);
+        m_JdController.SetupBodyPart(leg1Lower);
+        m_JdController.SetupBodyPart(leg2Upper);
+        m_JdController.SetupBodyPart(leg2Lower);
+        m_JdController.SetupBodyPart(leg3Upper);
+        m_JdController.SetupBodyPart(leg3Lower);
+        m_JdController.SetupBodyPart(leg4Upper);
+        m_JdController.SetupBodyPart(leg4Lower);
+        m_JdController.SetupBodyPart(leg5Upper);
+        m_JdController.SetupBodyPart(leg5Lower);
+    }
+
+    /// <summary>
+    /// Spawns a target prefab at pos
+    /// </summary>
+    /// <param name="prefab"></param>
+    /// <param name="pos"></param>
+    void SpawnTarget(Transform prefab, Vector3 pos)
+    {
+        m_Target = Instantiate(prefab, pos, Quaternion.identity, transform);
+    }
+
+    /// <summary>
+    /// Set up the agent based on the typeOfCrawler
+    /// </summary>
+    void SetAgentType()
+    {
+        var behaviorParams = GetComponent<Unity.MLAgents.Policies.BehaviorParameters>();
+        switch (typeOfCrawler)
+        {
+            case CrawlerAgentBehaviorType.CrawlerDynamic:
+                {
+                    behaviorParams.BehaviorName = "CrawlerDynamic"; //set behavior name
+                    if (crawlerDyModel)
+                        behaviorParams.Model = crawlerDyModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = false; //do not randomize m_TargetWalkingSpeed during training
+                    SpawnTarget(dynamicTargetPrefab, transform.position); //spawn target
+                    break;
+                }
+            case CrawlerAgentBehaviorType.CrawlerDynamicVariableSpeed:
+                {
+                    behaviorParams.BehaviorName = "CrawlerDynamicVariableSpeed"; //set behavior name
+                    if (crawlerDyVSModel)
+                        behaviorParams.Model = crawlerDyVSModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = true; //randomize m_TargetWalkingSpeed during training
+                    SpawnTarget(dynamicTargetPrefab, transform.position); //spawn target
+                    break;
+                }
+            case CrawlerAgentBehaviorType.CrawlerStatic:
+                {
+                    behaviorParams.BehaviorName = "CrawlerStatic"; //set behavior name
+                    if (crawlerStModel)
+                        behaviorParams.Model = crawlerStModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = false; //do not randomize m_TargetWalkingSpeed during training
+                    SpawnTarget(staticTargetPrefab, transform.TransformPoint(new Vector3(0, 0, 1000))); //spawn target
+                    break;
+                }
+            case CrawlerAgentBehaviorType.CrawlerStaticVariableSpeed:
+                {
+                    behaviorParams.BehaviorName = "CrawlerStaticVariableSpeed"; //set behavior name
+                    if (crawlerStVSModel)
+                        behaviorParams.Model = crawlerStVSModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = true; //randomize m_TargetWalkingSpeed during training
+                    SpawnTarget(staticTargetPrefab, transform.TransformPoint(new Vector3(0, 0, 1000))); //spawn target
+                    break;
+                }
+        }
+    }
+
+    /// <summary>
+    /// Loop over body parts and reset them to initial conditions.
+    /// </summary>
+    public override void OnEpisodeBegin()
+    {
+        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        {
+            bodyPart.Reset(bodyPart);
+        }
+
+        //Random start rotation to help generalize
+        body.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
+
+        UpdateOrientationObjects();
+
+        //Set our goal walking speed
+        TargetWalkingSpeed =
+            m_RandomizeWalkSpeedEachEpisode ? Random.Range(m_minWalkingSpeed, m_maxWalkingSpeed) : TargetWalkingSpeed;
+    }
+
+    /// <summary>
+    /// Add relevant information on each body part to observations.
+    /// </summary>
+    public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
+    {
+        //GROUND CHECK
+        sensor.AddObservation(bp.groundContact.touchingGround); // Is this bp touching the ground
+
+        if (bp.rb.transform != body)
+        {
+            sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
+        }
+    }
+
+    /// <summary>
+    /// Loop over body parts to add them to observation.
+    /// </summary>
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        var cubeForward = m_OrientationCube.transform.forward;
+
+        //velocity we want to match
+        var velGoal = cubeForward * TargetWalkingSpeed;
+        //ragdoll's avg vel
+        var avgVel = GetAvgVelocity();
+        //        sensor.AddObservation((Vector3.Dot(cubeForward, body.forward) + 1) * .5F);
+        //        sensor.AddObservation((Vector3.Dot(m_OrientationCube.transform.up, body.up) + 1) * .5F);
+        //current ragdoll velocity. normalized
+        sensor.AddObservation(Vector3.Distance(velGoal, avgVel));
+        //avg body vel relative to cube
+        sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(avgVel));
+        //vel goal relative to cube
+        sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(velGoal));
+        //        //rotation delta
+        sensor.AddObservation(Quaternion.FromToRotation(body.forward, cubeForward));
+
+        //Add pos of target relative to orientation cube
+        sensor.AddObservation(m_OrientationCube.transform.InverseTransformPoint(m_Target.transform.position));
+
+        RaycastHit hit;
+        float maxRaycastDist = 10;
+        //        if (Physics.Raycast(body.position, Vector3.down, out hit, maxRaycastDist))
+        if (Physics.Raycast(body.position, -body.up, out hit, maxRaycastDist))
+        {
+            sensor.AddObservation(hit.distance / maxRaycastDist);
+        }
+        else
+            sensor.AddObservation(1);
+
+        foreach (var bodyPart in m_JdController.bodyPartsList)
+        {
+            CollectObservationBodyPart(bodyPart, sensor);
+        }
+    }
+
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+    {
+        // The dictionary with all the body parts in it are in the jdController
+        var bpDict = m_JdController.bodyPartsDict;
+
+        var continuousActions = actionBuffers.ContinuousActions;
+        var i = -1;
+        // Pick a new target joint rotation
+        bpDict[leg0Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[leg1Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[leg2Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[leg3Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[leg4Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[leg5Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[leg0Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+        bpDict[leg1Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+        bpDict[leg2Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+        bpDict[leg3Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+        bpDict[leg4Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+        bpDict[leg5Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+
+        // Update joint strength
+        bpDict[leg0Upper].SetJointStrength(continuousActions[++i]);
+        bpDict[leg1Upper].SetJointStrength(continuousActions[++i]);
+        bpDict[leg2Upper].SetJointStrength(continuousActions[++i]);
+        bpDict[leg3Upper].SetJointStrength(continuousActions[++i]);
+        bpDict[leg4Upper].SetJointStrength(continuousActions[++i]);
+        bpDict[leg5Upper].SetJointStrength(continuousActions[++i]);
+        bpDict[leg0Lower].SetJointStrength(continuousActions[++i]);
+        bpDict[leg1Lower].SetJointStrength(continuousActions[++i]);
+        bpDict[leg2Lower].SetJointStrength(continuousActions[++i]);
+        bpDict[leg3Lower].SetJointStrength(continuousActions[++i]);
+        bpDict[leg4Lower].SetJointStrength(continuousActions[++i]);
+        bpDict[leg5Lower].SetJointStrength(continuousActions[++i]);
+
+        //Reset if Worm fell through floor;
+        if (body.position.y < m_StartingPos.y - 5)
+        {
+            EndEpisode();
+        }
+    }
+    //    public override void OnActionReceived(ActionBuffers actionBuffers)
+    //    {
+    //        // The dictionary with all the body parts in it are in the jdController
+    //        var bpDict = m_JdController.bodyPartsDict;
+    //
+    //        var continuousActions = actionBuffers.ContinuousActions;
+    //        var i = -1;
+    //        // Pick a new target joint rotation
+    //        bpDict[leg0Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+    //        bpDict[leg1Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+    //        bpDict[leg2Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+    //        bpDict[leg3Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+    //        bpDict[leg0Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+    //        bpDict[leg1Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+    //        bpDict[leg2Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+    //        bpDict[leg3Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+    //
+    //        // Update joint strength
+    //        bpDict[leg0Upper].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg1Upper].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg2Upper].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg3Upper].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg0Lower].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg1Lower].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg2Lower].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg3Lower].SetJointStrength(continuousActions[++i]);
+    //
+    //        //Reset if Worm fell through floor;
+    //        if (body.position.y < m_StartingPos.y - 5)
+    //        {
+    //            EndEpisode();
+    //        }
+    //    }
+
+    //    public override void OnActionReceived(ActionBuffers actionBuffers)
+    //    {
+    //        // The dictionary with all the body parts in it are in the jdController
+    //        var bpDict = m_JdController.bodyPartsDict;
+    //
+    //        var continuousActions = actionBuffers.ContinuousActions;
+    //        var i = -1;
+    //        // Pick a new target joint rotation
+    //        bpDict[leg0Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+    ////        bpDict[leg1Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+    //        bpDict[leg2Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+    ////        bpDict[leg3Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+    //        bpDict[leg0Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+    ////        bpDict[leg1Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+    //        bpDict[leg2Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+    ////        bpDict[leg3Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+    //
+    //        // Update joint strength
+    //        bpDict[leg0Upper].SetJointStrength(continuousActions[++i]);
+    ////        bpDict[leg1Upper].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg2Upper].SetJointStrength(continuousActions[++i]);
+    ////        bpDict[leg3Upper].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg0Lower].SetJointStrength(continuousActions[++i]);
+    ////        bpDict[leg1Lower].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg2Lower].SetJointStrength(continuousActions[++i]);
+    ////        bpDict[leg3Lower].SetJointStrength(continuousActions[++i]);
+    //    }
+
+    void FixedUpdate()
+    {
+        UpdateOrientationObjects();
+
+        // If enabled the feet will light up green when the foot is grounded.
+        // This is just a visualization and isn't necessary for function
+        if (useFootGroundedVisualization)
+        {
+            foot0.material = m_JdController.bodyPartsDict[leg0Lower].groundContact.touchingGround
+                ? groundedMaterial
+                : unGroundedMaterial;
+            foot1.material = m_JdController.bodyPartsDict[leg1Lower].groundContact.touchingGround
+                ? groundedMaterial
+                : unGroundedMaterial;
+            foot2.material = m_JdController.bodyPartsDict[leg2Lower].groundContact.touchingGround
+                ? groundedMaterial
+                : unGroundedMaterial;
+            foot3.material = m_JdController.bodyPartsDict[leg3Lower].groundContact.touchingGround
+                ? groundedMaterial
+                : unGroundedMaterial;
+        }
+
+        var cubeForward = m_OrientationCube.transform.forward;
+
+        // Set reward for this step according to mixture of the following elements.
+        // a. Match target speed
+        //This reward will approach 1 if it matches perfectly and approach zero as it deviates
+        var matchSpeedReward = GetMatchingVelocityReward(cubeForward * TargetWalkingSpeed, GetAvgVelocity());
+
+        // b. Rotation alignment with target direction.
+        //This reward will approach 1 if it faces the target direction perfectly and approach zero as it deviates
+        var lookAtTargetReward = (Vector3.Dot(cubeForward, body.forward) + 1) * .5F;
+        //        AddReward(matchSpeedReward * lookAtTargetReward);
+        //        var dontLayDownReward = (Vector3.Dot(m_OrientationCube.transform.up, body.up) + 1) * .5F;
+        var dontLayDownReward = Vector3.Dot(m_OrientationCube.transform.up, body.up);
+        AddReward(matchSpeedReward * lookAtTargetReward * dontLayDownReward);
+
+    }
+
+    /// <summary>
+    /// Update OrientationCube and DirectionIndicator
+    /// </summary>
+    void UpdateOrientationObjects()
+    {
+        m_OrientationCube.UpdateOrientation(body, m_Target);
+        if (m_DirectionIndicator)
+        {
+            m_DirectionIndicator.MatchOrientation(m_OrientationCube.transform);
+        }
+    }
+
+    /// <summary>
+    ///Returns the average velocity of all of the body parts
+    ///Using the velocity of the body only has shown to result in more erratic movement from the limbs
+    ///Using the average helps prevent this erratic movement
+    /// </summary>
+    Vector3 GetAvgVelocity()
+    {
+        Vector3 velSum = Vector3.zero;
+        Vector3 avgVel = Vector3.zero;
+
+        //ALL RBS
+        int numOfRB = 0;
+        foreach (var item in m_JdController.bodyPartsList)
+        {
+            numOfRB++;
+            velSum += item.rb.velocity;
+        }
+
+        avgVel = velSum / numOfRB;
+        return avgVel;
+    }
+
+    /// <summary>
+    /// Normalized value of the difference in actual speed vs goal walking speed.
+    /// </summary>
+    public float GetMatchingVelocityReward(Vector3 velocityGoal, Vector3 actualVelocity)
+    {
+        //distance between our actual velocity and goal velocity
+        var velDeltaMagnitude = Mathf.Clamp(Vector3.Distance(actualVelocity, velocityGoal), 0, TargetWalkingSpeed);
+
+        //return the value on a declining sigmoid shaped curve that decays from 1 to 0
+        //This reward will approach 1 if it matches perfectly and approach zero as it deviates
+        return Mathf.Pow(1 - Mathf.Pow(velDeltaMagnitude / TargetWalkingSpeed, 2), 2);
+    }
+
+    /// <summary>
+    /// Agent touched the target
+    /// </summary>
+    public void TouchedTarget()
+    {
+        AddReward(1f);
+    }
+}

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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);
+            }
+        }
+    }
+}

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

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Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AgentCubeMovement.cs.meta

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Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AgentCubeGroundCheck.cs.meta

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

+using System.Collections.Generic;
+using UnityEngine;
+
+/// <summary>
+/// Used for visualizing the average center of mass of a ragdoll
+/// </summary>
+[DisallowMultipleComponent]
+[ExecuteInEditMode]
+public class AvgCenterOfMass : MonoBehaviour
+{
+    [System.Serializable]
+    public class ShiftCom
+    {
+        public Rigidbody rb;
+        public Vector3 shiftComAmount;
+    }
+    /// <summary>
+    /// Enable to show a green spehere at the current center of mass.
+    /// </summary>
+    [Tooltip("Enable to show a green spehere at the current center of mass.")]
+    public bool active;
+    public bool showCOMGizmos = true;
+    public Vector3 avgCOMWorldSpace;
+    public Vector3 avgCOMVelocityWorldSpace;
+    public Vector3 previousAvgCOM;
+    public Color avgCOMColor = Color.green;
+    public Color bodyPartCOMColor = Color.yellow;
+    List<Rigidbody> rbList = new List<Rigidbody>();
+    public float totalMass;
+    [Tooltip("Visualize Relative Pos")]
+    public bool showBPPosRelToBody;
+    public bool useTransformPoint = true;
+    public bool useTransformVector;
+    public bool useTransformDir;
+    public bool showRBPos;
+    public bool showRelPosVectorOnly;
+    public bool showInverseTransformPointUnscaledRelToBody;
+    public bool showInverseTransformPointRelToBody;
+    public bool showInverseTransformVectorRelToBody;
+    public bool showInverseTransformDirRelToBody;
+    public Transform body_T;
+    [Tooltip("ShiftCom")] public bool updateShiftCom;
+    public List<ShiftCom> shiftComList = new List<ShiftCom>();
+    void OnEnable()
+    {
+        SetUpRigidbodies();
+    }
+
+    void SetUpRigidbodies()
+    {
+        rbList.Clear();
+        totalMass = 0;
+        foreach (var item in GetComponentsInChildren<Rigidbody>())
+        {
+            rbList.Add(item);
+            totalMass += item.mass;
+        }
+        foreach (var item in shiftComList)
+        {
+            item.rb.centerOfMass = item.shiftComAmount;
+        }
+    }
+
+    // void FixedUpdate()
+    // {
+    //     if(Application.isPlaying)
+    //     {
+    //         avgCOMWorldSpace = Vector3.zero;
+
+    //         foreach(var item in rbList)
+    //         {
+    //             if (item)
+    //             {
+    //                 avgCOMWorldSpace += item.worldCenterOfMass;
+    //             }
+    //         }
+
+    //         //DRAW AVG GIZMOS
+    //         avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
+    //     }
+    // }
+
+    public Vector3 GetCoMWorldSpace()
+    {
+        Vector3 CoM = Vector3.zero;
+        avgCOMWorldSpace = Vector3.zero;
+        float c = 0f;
+
+        foreach (var item in rbList)
+        {
+            CoM += item.worldCenterOfMass * item.mass;
+            c += item.mass;
+        }
+        avgCOMWorldSpace = CoM / c;
+        avgCOMVelocityWorldSpace = (avgCOMWorldSpace - previousAvgCOM) / Time.fixedDeltaTime;
+        //        Debug.DrawRay(avgCOMWorldSpace, avgCOMVelocityWorldSpace, Color.green,Time.fixedDeltaTime);
+        //        Debug.DrawRay(avgCOMWorldSpace, Vector3.ProjectOnPlane( avgCOMVelocityWorldSpace, Vector3.up), Color.green,Time.fixedDeltaTime);
+
+        previousAvgCOM = avgCOMWorldSpace;
+        return avgCOMWorldSpace;
+    }
+
+
+    void FixedUpdate()
+    {
+
+
+        if (Application.isPlaying)
+        {
+            // avgCOMWorldSpace = Vector3.zero;
+            // foreach(var item in rbList)
+            // {
+            //     if (item)
+            //     {
+            //         avgCOMWorldSpace += item.worldCenterOfMass;
+            //     }
+            // }
+            // //DRAW AVG GIZMOS
+            // avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
+
+            //            if (active)
+            //            {
+            GetCoMWorldSpace();
+            //            }
+
+
+            //            Vector3 CoM = Vector3.zero;
+            //            avgCOMWorldSpace = Vector3.zero;
+            //            float c = 0f;
+            //
+            //            foreach(var item in rbList)
+            //            {
+            //                CoM += item.worldCenterOfMass * item.mass;
+            //                c += item.mass;
+            //            }
+            //            avgCOMWorldSpace = CoM/c;
+            //            avgCOMVelocityWorldSpace = previousAvgCOM - avgCOMWorldSpace;
+            //            Debug.DrawRay(avgCOMWorldSpace, avgCOMVelocityWorldSpace, Color.green,Time.fixedDeltaTime);
+            //
+            //            previousAvgCOM = avgCOMWorldSpace;
+            //            // CoM /= c;
+            //
+
+            if (showBPPosRelToBody)
+            {
+                var pos = body_T.position;
+                Matrix4x4 bodyMatrix = body_T.localToWorldMatrix;
+                // get position from the last column
+                var bodyPos = new Vector3(bodyMatrix[0, 3], bodyMatrix[1, 3], bodyMatrix[2, 3]);
+                Debug.DrawRay(bodyPos, Vector3.up, Color.yellow, Time.fixedDeltaTime);
+                foreach (var rb in rbList)
+                {
+                    if (showRBPos)
+                    {
+                        Debug.DrawRay(rb.position, Vector3.up, Color.green, Time.fixedDeltaTime);
+                    }
+                    if (rb.transform != body_T)
+                    {
+                        if (showRelPosVectorOnly)
+                        {
+                            var relPosVector = rb.position - body_T.position;
+                            //                            Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
+                            Debug.DrawRay(body_T.position + relPosVector, Vector3.up, Color.red, Time.fixedDeltaTime);
+                            //                            Vector3 currentLocalPosRelToMatrix = bodyMatrix.inverse.MultiplyPoint(rb.position);
+                            Vector3 currentLocalPosRelToMatrix = bodyMatrix.inverse.MultiplyVector(rb.position - bodyPos);
+
+                            Debug.DrawRay(body_T.position + currentLocalPosRelToMatrix, Vector3.up, Color.green, Time.fixedDeltaTime);
+                        }
+                        if (showInverseTransformPointUnscaledRelToBody)
+                        {
+                            //                            Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
+                            //                            Debug.DrawRay(body_T.position + body_T.InverseTransformPointUnscaled(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
+                            //                            Debug.DrawRay(body_T.position + body_T.InverseTransformPointUnscaled(rb.transform.position), Vector3.up, Color.red,Time.fixedDeltaTime);
+                        }
+                        if (showInverseTransformPointRelToBody)
+                        {
+                            //                            Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
+                            Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red, Time.fixedDeltaTime);
+                        }
+                        if (showInverseTransformDirRelToBody)
+                        {
+                            Debug.DrawRay(body_T.InverseTransformDirection(rb.position), Vector3.up, Color.red, Time.fixedDeltaTime);
+                        }
+                        if (showInverseTransformVectorRelToBody)
+                        {
+                            Debug.DrawRay(body_T.position + body_T.InverseTransformVector(rb.position - body_T.position), Vector3.up, Color.red, Time.fixedDeltaTime);
+                        }
+                        //                        var localPosRelToBody = body.InverseTransformPoint(rb.position);
+                        //    Debug.DrawRay(body_T.position + body_T.InverseTransformPoint(rb.position), Vector3.up, Color.red,Time.fixedDeltaTime);
+                        //    Debug.DrawRay(body_T.position + rb.transform.TransformVector(rb.transform.localPosition), Vector3.up, Color.cyan,Time.fixedDeltaTime);
+                        //    Debug.DrawRay(rb.transform.TransformPoint(rb.position), Vector3.up, Color.green,Time.fixedDeltaTime);
+
+
+                        //                    Debug.DrawRay(body_T.position + body_T.InverseTransformVector(rb.transform.position), Vector3.up, Color.red,Time.fixedDeltaTime);
+                        //                    Debug.DrawRay(body_T.position + body_T.InverseTransformDirection(rb.transform.position), Vector3.up, Color.red,Time.fixedDeltaTime);
+                        //    Debug.DrawRay(body_T.position + body_T.TransformPoint(rb.transform.localPosition), Vector3.up, Color.red,Time.fixedDeltaTime);
+
+                        if (useTransformPoint)
+                        {
+
+                        }
+                        else if (useTransformVector)
+                        {
+
+                        }
+                        else if (useTransformDir)
+                        {
+
+                        }
+
+                    }
+                }
+
+            }
+        }
+
+
+    }
+
+
+
+    //    private void OnDrawGizmosSelected()
+    private void OnDrawGizmos()
+    {
+        if (updateShiftCom)
+        {
+            foreach (var item in shiftComList)
+            {
+                item.rb.centerOfMass = item.shiftComAmount;
+            }
+
+            updateShiftCom = false;
+        }
+        if (!Application.isPlaying)
+        {
+            if (showCOMGizmos)
+            {
+                Vector3 CoM = Vector3.zero;
+                float c = 0f;
+                // avgCOMWorldSpace = Vector3.zero;
+                //SHOW BODY PART GIZMOS
+                foreach (var item in rbList)
+                {
+                    // if (item)
+                    // {
+                    Gizmos.color = bodyPartCOMColor;
+                    float drawCOMRadius = item.mass / totalMass;
+                    Gizmos.DrawSphere(item.worldCenterOfMass, drawCOMRadius);
+                    //                        Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
+                    CoM += item.worldCenterOfMass * item.mass;
+                    c += item.mass;
+                    // avgCOMWorldSpace += item.worldCenterOfMass;
+                    // }
+                }
+
+                //DRAW AVG GIZMOS
+                avgCOMWorldSpace = CoM / c;
+                // avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
+                float avgCOMRadius = 0.5f; //radius of gizmo
+                Gizmos.color = avgCOMColor;
+                Gizmos.DrawWireSphere(avgCOMWorldSpace, avgCOMRadius);
+            }
+        }
+        else
+        {
+            if (showCOMGizmos)
+            {
+                // avgCOMWorldSpace = Vector3.zero;
+
+                //SHOW BODY PART GIZMOS
+                foreach (var item in rbList)
+                {
+                    // if (item)
+                    // {
+                    Gizmos.color = bodyPartCOMColor;
+                    float drawCOMRadius = item.mass / totalMass;
+                    Gizmos.DrawSphere(item.worldCenterOfMass, drawCOMRadius);
+                    //                        Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
+                    // avgCOMWorldSpace += item.worldCenterOfMass;
+                    // }
+                }
+
+                //DRAW AVG GIZMOS
+                // avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
+                float avgCOMGizmoRadius = 0.5f; //radius of gizmo
+                Gizmos.color = avgCOMColor;
+                Gizmos.DrawWireSphere(avgCOMWorldSpace, avgCOMGizmoRadius);
+
+
+
+
+
+
+
+
+
+
+            }
+
+        }
+    }
+    // {
+    //     if(!Application.isPlaying)
+    //     {
+    //         if (showCOMGizmos)
+    //         {
+    //             avgCOMWorldSpace = Vector3.zero;
+
+    //             //SHOW BODY PART GIZMOS
+    //             foreach(var item in rbList)
+    //             {
+    //                 if (item)
+    //                 {
+    //                     Gizmos.color = bodyPartCOMColor;
+    //                     float drawCOMRadius = item.mass/totalMass;
+    //                     Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
+    //                     avgCOMWorldSpace += item.worldCenterOfMass;
+    //                 }
+    //             }
+
+    //             //DRAW AVG GIZMOS
+    //             avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
+    //             float avgCOMRadius = 0.1f; //radius of gizmo
+    //             Gizmos.color = avgCOMColor;
+    //             Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMRadius);
+    //         }
+    //     }
+    //     else
+    //     {
+    //         if (showCOMGizmos)
+    //         {
+    //             // avgCOMWorldSpace = Vector3.zero;
+
+    //             //SHOW BODY PART GIZMOS
+    //             foreach(var item in rbList)
+    //             {
+    //                 if (item)
+    //                 {
+    //                     Gizmos.color = bodyPartCOMColor;
+    //                     float drawCOMRadius = item.mass/totalMass;
+    //                     Gizmos.DrawWireSphere(item.worldCenterOfMass, drawCOMRadius);
+    //                     // avgCOMWorldSpace += item.worldCenterOfMass;
+    //                 }
+    //             }
+
+    //             //DRAW AVG GIZMOS
+    //             // avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
+    //             float avgCOMGizmoRadius = 0.1f; //radius of gizmo
+    //             Gizmos.color = avgCOMColor;
+    //             Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMGizmoRadius);
+    //         }
+
+    //     }
+    // }
+}

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/AvgCenterOfMass.cs.meta

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

+using UnityEngine;
+
+
+//This script handles the logic to determine whether an active projectile
+//...should be remain active after it has been shot by an enemy
+public class Projectile : MonoBehaviour
+{
+    public float aliveTime;
+    [HideInInspector] public Rigidbody rb;
+    //    private ObstacleTowerAgent agent;
+    public bool selfDestructNow;
+    public float maxTimeToLive = 3;
+    public float pauseCollisionDetectionWaitTime = .5f;
+    [HideInInspector] public ShootProjectiles projectileController;
+
+
+    void Awake()
+    {
+        rb = GetComponent<Rigidbody>();
+        //        agent = FindObjectOfType<ObstacleTowerAgent>();
+    }
+
+
+    void OnEnable()
+    {
+        if (!rb)
+        {
+            rb = GetComponent<Rigidbody>();
+        }
+
+        aliveTime = 0;
+        selfDestructNow = false;
+        //        if (agent)
+        //        {
+        //            agent.CompletedFloorAction += SelfDestruct;
+        //        }
+    }
+
+
+    void OnDisable()
+    {
+        aliveTime = 0;
+        //        if (agent)
+        //        {
+        //            agent.CompletedFloorAction -= SelfDestruct;
+        //        }
+    }
+
+    //Turn the projectile off
+    void SelfDestruct()
+    {
+        gameObject.SetActive(false);
+        //        rb.velocity = Vector3.zero;
+        //        rb.angularVelocity = Vector3.zero;
+    }
+
+    void FixedUpdate()
+    {
+        //        if (
+        //            (agent && agent.IsDone()) //if the agent is done projectiles can die
+        //            || aliveTime > maxTimeToLive //we lived too long. time to die
+        //        )
+        if (aliveTime > maxTimeToLive) //we lived too long. time to die
+        {
+            selfDestructNow = true;
+        }
+
+        if (selfDestructNow)
+        {
+            SelfDestruct();
+        }
+
+        aliveTime += Time.fixedDeltaTime;
+    }
+
+
+    void OnCollisionEnter()
+    {
+        if (aliveTime > pauseCollisionDetectionWaitTime)
+        {
+            selfDestructNow = true;
+        }
+    }
+}

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/Projectile.cs.meta

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

+using System.Collections.Generic;
+using UnityEngine;
+
+
+/// <summary>
+/// Logic for robot projectiles.
+/// </summary>
+public class ShootProjectiles : MonoBehaviour
+{
+    public bool initialized; //has this robot been initialized
+    public GameObject projectilePrefab;
+    public int numberOfProjectilesToPool = 12;
+
+    private List<Projectile> projectilePoolList = new List<Projectile>(); //projectiles to shoot
+    public Transform projectileStartingPos; //the transform the projectile will originate from
+    public float projectileLaunchAngle = 25; //the angle at which the projectile will launch
+    public float shootingRate = .5f; //can shoot every shootingRate seconds. ex: .5 can shoot every .5 seconds
+    private float shootTimer;
+    public bool coolDownWait;
+
+    //for standalone projectiles
+    public bool autoShootEnabled;
+    public float autoShootDistance = 4;
+
+    public bool useStandaloneInput = false;
+    public KeyCode shootKey = KeyCode.Space;
+    void Start()
+    {
+        if (!initialized)
+        {
+            Initialize();
+        }
+    }
+
+    void OnEnable()
+    {
+        if (!initialized)
+        {
+            Initialize();
+        }
+    }
+
+
+    void Initialize()
+    {
+        projectilePoolList.Clear(); //clear list in case it's not empty
+        for (var i = 0; i < numberOfProjectilesToPool; i++)
+        {
+            GameObject obj = Instantiate(projectilePrefab, transform.position, Quaternion.identity);
+            Projectile p = obj.GetComponent<Projectile>();
+            projectilePoolList.Add(p);
+            p.transform.position = projectileStartingPos.position;
+            p.projectileController = this;
+            p.gameObject.SetActive(false);
+        }
+
+        initialized = true;
+    }
+
+    void Update()
+    {
+        if (Input.GetKey(shootKey))
+        {
+            Shoot(projectileStartingPos.position,
+                projectileStartingPos.TransformPoint(Vector3.forward * autoShootDistance));
+        }
+    }
+
+    void FixedUpdate()
+    {
+        coolDownWait = shootTimer > shootingRate ? false : true;
+        shootTimer += Time.fixedDeltaTime;
+        if (autoShootEnabled)
+        {
+            Shoot(projectileStartingPos.position,
+                projectileStartingPos.TransformPoint(Vector3.forward * autoShootDistance));
+            Debug.DrawRay(projectileStartingPos.TransformPoint(Vector3.forward * autoShootDistance), Vector3.up);
+        }
+    }
+
+
+    public void Shoot(Vector3 startPos, Vector3 targetPos)
+    {
+        if (coolDownWait)
+        {
+            return;
+        }
+
+        shootTimer = 0; //reset timer
+
+        //shoot first available projectile in the pool
+        foreach (var item in projectilePoolList)
+        {
+            if (!item.gameObject.activeInHierarchy)
+            {
+                LaunchProjectile(item.rb, startPos, targetPos); //shoot
+                break;
+            }
+        }
+    }
+
+
+    public void LaunchProjectile(Rigidbody rb, Vector3 startPos, Vector3 targetPos)
+    {
+        rb.transform.position = startPos;
+        rb.transform.rotation = Quaternion.identity;
+
+        rb.velocity = Vector3.zero;
+        rb.angularVelocity = Vector3.zero;
+        rb.gameObject.SetActive(true);
+        Vector3 p = targetPos;
+
+        float gravity = Physics.gravity.magnitude;
+
+        // Selected angle in radians
+        float angle = projectileLaunchAngle * Mathf.Deg2Rad;
+
+        // Positions of this object and the target on the same plane
+        Vector3 planarTarget = new Vector3(p.x, 0, p.z);
+        Vector3 planarPostion = new Vector3(startPos.x, 0, startPos.z);
+
+        // Planar distance between objects
+        float distance = Vector3.Distance(planarTarget, planarPostion);
+        // Distance along the y axis between objects
+        float yOffset = startPos.y - p.y;
+
+        float initialVelocity = (1 / Mathf.Cos(angle)) *
+                                Mathf.Sqrt((0.5f * gravity * Mathf.Pow(distance, 2)) /
+                                           (distance * Mathf.Tan(angle) + yOffset));
+
+        Vector3 velocity = new Vector3(0, initialVelocity * Mathf.Sin(angle), initialVelocity * Mathf.Cos(angle));
+
+        // Rotate our velocity to match the direction between the two objects
+        float angleBetweenObjects =
+            Vector3.Angle(Vector3.forward, planarTarget - planarPostion) * (p.x > startPos.x ? 1 : -1);
+        Vector3 finalVelocity = Quaternion.AngleAxis(angleBetweenObjects, Vector3.up) * velocity;
+        if (!float.IsNaN(finalVelocity.x)) //NaN checked
+        {
+            rb.velocity = finalVelocity;
+        }
+    }
+}

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ShootProjectiles.cs.meta

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+  assetBundleVariant: 

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

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class RandomTorqueEveryXSec : MonoBehaviour
+{
+    public Vector3 maxTorque;
+    private Vector3 torqueToUse;
+    public float randomizeTorqueEveryXSec = 10;
+    public ForceMode forceMode;
+
+    private Rigidbody rb;
+
+    // Start is called before the first frame update
+    void OnEnable()
+    {
+        rb = GetComponent<Rigidbody>();
+        InvokeRepeating("SetRandomTorque", 0, randomizeTorqueEveryXSec);
+    }
+
+    void SetRandomTorque()
+    {
+        torqueToUse = new Vector3(Random.Range(-maxTorque.x, maxTorque.x), Random.Range(-maxTorque.y, maxTorque.y),
+            Random.Range(-maxTorque.z, maxTorque.z));
+    }
+
+    // Update is called once per frame
+    void FixedUpdate()
+    {
+        rb.AddRelativeTorque(torqueToUse, forceMode);
+    }
+}

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/RandomTorqueEveryXSec.cs.meta

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+  userData: 
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+  assetBundleVariant: 

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

+//Standardized ground check for the Agent Cube
+using UnityEngine;
+
+namespace MLAgents
+{
+
+    /// <summary>
+    /// Perform Groundcheck using a Physics OverlapBox
+    /// </summary>
+    [DisallowMultipleComponent]
+    public class AgentCubeGroundCheck : MonoBehaviour
+    {
+        public bool debugDrawGizmos;
+        public Collider[] hitGroundColliders = new Collider[3];
+        public Vector3 groundCheckBoxLocalPos = new Vector3(0, -0.52f, 0);
+        public Vector3 groundCheckBoxSize = new Vector3(0.99f, 0.1f, 0.99f);
+        public bool isGrounded;
+        public float ungroundedTime; //amount of time agent hasn't been grounded
+        public float groundedTime; //amount of time agent has been grounded
+
+        void FixedUpdate()
+        {
+            DoGroundCheck();
+            if (!isGrounded)
+            {
+                ungroundedTime += Time.deltaTime;
+                groundedTime = 0;
+            }
+            else
+            {
+                groundedTime += Time.deltaTime;
+                ungroundedTime = 0;
+            }
+        }
+
+        /// <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 void DoGroundCheck()
+        {
+            isGrounded = false;
+            if (Physics.OverlapBoxNonAlloc(
+                transform.TransformPoint(groundCheckBoxLocalPos),
+                groundCheckBoxSize / 2,
+                hitGroundColliders,
+                transform.rotation) > 0)
+            {
+                foreach (var col in hitGroundColliders)
+                {
+                    if (col != null && col.transform != transform &&
+                        (col.CompareTag("walkableSurface")
+                         || col.CompareTag("ground")
+                         || col.CompareTag("block")))
+                    {
+                        isGrounded = true; //then we're grounded
+                        break;
+                    }
+                }
+            }
+            //empty the array
+            for (int i = 0; i < hitGroundColliders.Length; i++)
+            {
+                hitGroundColliders[i] = null;
+            }
+        }
+
+        //Draw the Box Overlap as a gizmo to show where it currently is testing.
+        void OnDrawGizmos()
+        {
+            if (debugDrawGizmos)
+            {
+                Gizmos.color = Color.red;
+                Gizmos.matrix = transform.localToWorldMatrix;
+                Gizmos.DrawWireCube(groundCheckBoxLocalPos, groundCheckBoxSize);
+            }
+        }
+    }
+}

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

+//Standardized movement controller for the Agent Cube
+
+using System;
+using Unity.Mathematics;
+using UnityEngine;
+
+namespace MLAgents
+{
+    public class AgentCubeMovement : MonoBehaviour
+    {
+        [Header("RIGIDBODY")] public float maxAngularVel = 50;
+        [Header("RUNNING")] public ForceMode runningForceMode = ForceMode.Impulse;
+        //speed agent can run if grounded
+        public float agentRunSpeed = 10;
+        public float agentTerminalVel = 20;
+        //speed agent can run if not grounded
+        public float agentRunInAirSpeed = 7f;
+
+        [Header("DASH")]
+        public float dashBoostForce = 20f;
+        public ForceMode dashForceMode = ForceMode.Impulse;
+        public bool dashPressed;
+
+        [Header("IDLE")]
+        //coefficient used to dampen velocity when idle
+        //the purpose of this is to fine tune agent drag
+        //...and prevent the agent sliding around while grounded
+        //0 means it will instantly stop when grounded
+        //1 means no drag will be applied
+        public float agentIdleDragVelCoeff = .9f;
+
+        [Header("GROUND POUND")]
+        public ForceMode groundPoundForceMode = ForceMode.Impulse;
+        public float groundPoundForce = 35f;
+
+        [Header("SPIN ATTACK")]
+        public float spinAttackSpeed = 20f;
+        private bool spinAttack;
+
+        [Header("BODY ROTATION")]
+        //body rotation speed
+        public float agentRotationSpeed = 35f;
+
+        [Header("JUMPING")]
+        //upward jump velocity magnitude
+        public float agentJumpVelocity = 15f;
+
+        [Header("FALLING FORCE")]
+        //force applied to agent while falling
+        public float agentFallingSpeed = 50f;
+
+        private Camera cam;
+        private Vector3 lookDir;
+        private Rigidbody rb;
+        private AgentCubeGroundCheck groundCheck;
+        void Awake()
+        {
+            cam = Camera.main;
+            rb = GetComponent<Rigidbody>();
+            groundCheck = GetComponent<AgentCubeGroundCheck>();
+            rb.maxAngularVelocity = maxAngularVel;
+        }
+
+        void Update()
+        {
+            var camForward = cam.transform.forward;
+            camForward.y = 0;
+            var camRight = cam.transform.right;
+            lookDir = Vector3.zero;
+            lookDir += Input.GetKey(KeyCode.D) ? Vector3.right : Vector3.zero;
+            lookDir += Input.GetKey(KeyCode.W) ? Vector3.forward : Vector3.zero;
+            lookDir += Input.GetKey(KeyCode.A) ? Vector3.left : Vector3.zero;
+            lookDir += Input.GetKey(KeyCode.S) ? Vector3.back : Vector3.zero;
+
+
+            if (Input.GetKeyDown(KeyCode.Space))
+            {
+                if (groundCheck)
+                {
+                    if (groundCheck.isGrounded)
+                    {
+                        Jump(rb);
+                    }
+                    else
+                    {
+                        rb.AddForce(Vector3.down * groundPoundForce, groundPoundForceMode);
+                    }
+                }
+            }
+
+            spinAttack = Input.GetKey(KeyCode.H);
+
+
+            dashPressed = Input.GetKeyDown(KeyCode.K);
+            if (dashPressed)
+            {
+                //                dashPressed = false;
+                //                rb.AddForce(rb.transform.forward * dashBoostForce, dashForceMode);
+                rb.AddTorque(rb.transform.right * dashBoostForce, dashForceMode);
+                print("dashPressed");
+            }
+            //            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;
+            //            }
+        }
+
+        void FixedUpdate()
+        {
+            if (spinAttack)
+            {
+                //                rb.AddTorque(Vector3.up * spinAttackSpeed);
+                rb.angularVelocity = Vector3.up * spinAttackSpeed;
+            }
+            if (lookDir != Vector3.zero)
+            {
+                var dir = cam.transform.TransformDirection(lookDir);
+                dir.y = 0;
+                var rot = quaternion.LookRotation(dir, Vector3.up);
+                if (!spinAttack)
+                {
+                    rb.rotation = Quaternion.Lerp(rb.rotation, rot, agentRotationSpeed * Time.deltaTime);
+                }
+                //                RunOnGround(rb, dir.normalized);
+                //                var dirToGo = rb.transform.forward;
+                var dirToGo = dir;
+                //                RunOnGround(rb, dirToGo);
+                if (!groundCheck.isGrounded)
+                {
+                    //                    RunInAir(rb, dirToGo.normalized);
+                }
+                else
+                {
+                    RunOnGround(rb, dirToGo.normalized);
+                }
+                //                rb.MoveRotation(rb.rotation * Quaternion.AngleAxis(agentRotationSpeed, rotationAxis));
+            }
+            else //is idle
+            {
+                if (groundCheck && groundCheck.isGrounded && !dashPressed)
+                {
+                    AddIdleDrag(rb);
+                }
+            }
+
+            if (groundCheck && !groundCheck.isGrounded)
+            {
+                AddFallingForce(rb);
+            }
+
+
+        }
+
+        public void Jump(Rigidbody rb)
+        {
+            Vector3 velToUse = rb.velocity;
+            velToUse.y = agentJumpVelocity;
+            rb.velocity = velToUse;
+        }
+
+        public void RotateBody(Rigidbody rb, Vector3 rotationAxis)
+        {
+            rb.MoveRotation(rb.rotation * Quaternion.AngleAxis(agentRotationSpeed, rotationAxis));
+        }
+
+        public void RunOnGround(Rigidbody rb, Vector3 dir)
+        {
+            var vel = rb.velocity.magnitude;
+            float adjustedSpeed = Mathf.Clamp(agentRunSpeed - vel, 0, agentTerminalVel);
+            rb.AddForce(dir.normalized * adjustedSpeed,
+                runningForceMode);
+        }
+
+        public void RunInAir(Rigidbody rb, Vector3 dir)
+        {
+            var vel = rb.velocity.magnitude;
+            float adjustedSpeed = Mathf.Clamp(agentRunInAirSpeed - vel, 0, agentTerminalVel);
+            rb.AddForce(dir.normalized * adjustedSpeed,
+                runningForceMode);
+        }
+
+        public void AddIdleDrag(Rigidbody rb)
+        {
+            rb.velocity *= agentIdleDragVelCoeff;
+        }
+
+        public void AddFallingForce(Rigidbody rb)
+        {
+            rb.AddForce(
+                Vector3.down * agentFallingSpeed, ForceMode.Acceleration);
+        }
+    }
+
+}

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

+fileFormatVersion: 2
+guid: 09855e12d9d10488fbe0950607e9bd5c
+timeCreated: 1506829537
+licenseType: Pro
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+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
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+  assetBundleVariant: 

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

+//Put this script on your blue cube.
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using Unity.Mathematics;
+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;
+    public bool useAutoFocus = false;
+    public List<RayPerceptionSensorComponent3D> raySensorsList = new List<RayPerceptionSensorComponent3D>();
+    public float focusAngle = 90;
+
+    public bool canLookAround;
+    public float lookAngle = 0;
+    public float maxLookAngle = 45f;
+
+    //    public float rayHeight = 0;
+    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);
+            //            sensor.AddObservation(transform.localRotation);
+            //            sensor.AddObservation(transform.localPosition);
+            if (useAutoFocus)
+            {
+                sensor.AddObservation(focusAngle / 180);
+                //                sensor.AddObservation(rayHeight);
+            }
+            if (canLookAround)
+            {
+                sensor.AddObservation(lookAngle / maxLookAngle);
+                //                sensor.AddObservation(rayHeight);
+            }
+        }
+    }
+
+    /// <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)
+            if (Physics.CheckBox(randomSpawnPos, new Vector3(.75f, 0.01f, .75f)) == 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(ActionBuffers actionBuffers)
+    //    {
+    //        var dirToGo = Vector3.zero;
+    //        var rotateDir = Vector3.zero;
+    //
+    ////        var forwardAction = act[0];
+    ////        var lateralAction = act[1];
+    ////        var rotatedAction = act[2];
+    //        var act = actionBuffers.ContinuousActions;
+    //        dirToGo += transform.forward * act[0];
+    //        dirToGo += transform.right * act[1];
+    //
+    //        rotateDir = transform.up * act[2];
+    ////        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.normalized, Time.fixedDeltaTime * 200f);
+    //        m_AgentRb.AddForce(dirToGo.normalized * m_PushBlockSettings.agentRunSpeed,
+    //            ForceMode.VelocityChange);
+    //
+    //
+    ////        if (canLookAround)
+    ////        {
+    ////            var angle = act[1];
+    ////            switch (angle)
+    ////            {
+    ////                case 0:
+    ////                    lookAngle = 0;
+    ////                    break;
+    ////                case 1:
+    ////                    lookAngle = maxLookAngle/3;
+    ////                    break;
+    ////                case 2:
+    ////                    lookAngle = maxLookAngle/2;
+    ////                    break;
+    ////                case 3:
+    ////                    lookAngle = maxLookAngle/1;
+    ////                    break;
+    ////                case 4:
+    ////                    lookAngle = -maxLookAngle/3;
+    ////                    break;
+    ////                case 5:
+    ////                    lookAngle = -maxLookAngle/2;
+    ////                    break;
+    ////                case 6:
+    ////                    lookAngle = -maxLookAngle/1;
+    ////                    break;
+    ////            }
+    ////
+    ////            foreach (var item in raySensorsList)
+    ////            {
+    ////                item.transform.localRotation = Quaternion.Euler(0,lookAngle,0);
+    ////            }
+    ////        }
+    //
+    //
+    //        if (useAutoFocus)
+    //        {
+    //            focusAngle = Mathf.Lerp(0, 180, (act[3] + 1f) * 0.5f);
+    ////            var focus = act[1];
+    ////            var focusAngleTarget = act[1];
+    ////            switch (focus)
+    ////            {
+    ////                case 0:
+    ////                    focusAngle = 0;
+    ////                    break;
+    ////                case 1:
+    ////                    focusAngle = 30;
+    ////                    break;
+    ////                case 2:
+    ////                    focusAngle = 60;
+    ////                    break;
+    ////                case 3:
+    ////                    focusAngle = 90;
+    ////                    break;
+    ////                case 4:
+    ////                    focusAngle = 120;
+    ////                    break;
+    ////                case 5:
+    ////                    focusAngle = 180;
+    ////                    break;
+    ////            }
+    ////                    Mathf.MoveTowards()
+    ////            var height = act[2];
+    ////            switch (height)
+    ////            {
+    ////                case 0:
+    ////                    rayHeight = 0;
+    ////                    break;
+    ////                case 1:
+    ////                    rayHeight = 1;
+    ////                    break;
+    ////            }
+    //
+    //            foreach (var item in raySensorsList)
+    //            {
+    //                item.MaxRayDegrees = focusAngle;
+    ////                item.StartVerticalOffset = rayHeight;
+    ////                item.EndVerticalOffset = rayHeight;
+    //            }
+    //        }
+    //    }
+
+
+    /// <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);
+
+
+        if (canLookAround)
+        {
+            var angle = act[1];
+            switch (angle)
+            {
+                case 0:
+                    lookAngle = 0;
+                    break;
+                case 1:
+                    lookAngle = maxLookAngle / 3;
+                    break;
+                case 2:
+                    lookAngle = maxLookAngle / 2;
+                    break;
+                case 3:
+                    lookAngle = maxLookAngle / 1;
+                    break;
+                case 4:
+                    lookAngle = -maxLookAngle / 3;
+                    break;
+                case 5:
+                    lookAngle = -maxLookAngle / 2;
+                    break;
+                case 6:
+                    lookAngle = -maxLookAngle / 1;
+                    break;
+            }
+
+            foreach (var item in raySensorsList)
+            {
+                item.transform.localRotation = Quaternion.Euler(0, lookAngle, 0);
+            }
+        }
+
+
+        if (useAutoFocus)
+        {
+            var focus = act[1];
+            switch (focus)
+            {
+                case 0:
+                    focusAngle = 15;
+                    break;
+                case 1:
+                    focusAngle = 30;
+                    break;
+                case 2:
+                    focusAngle = 60;
+                    break;
+                case 3:
+                    focusAngle = 90;
+                    break;
+                case 4:
+                    focusAngle = 120;
+                    break;
+                case 5:
+                    focusAngle = 180;
+                    break;
+            }
+            //            var height = act[2];
+            //            switch (height)
+            //            {
+            //                case 0:
+            //                    rayHeight = 0;
+            //                    break;
+            //                case 1:
+            //                    rayHeight = 1;
+            //                    break;
+            //            }
+
+            foreach (var item in raySensorsList)
+            {
+                item.MaxRayDegrees = focusAngle;
+                //                item.StartVerticalOffset = rayHeight;
+                //                item.EndVerticalOffset = rayHeight;
+            }
+        }
+    }
+
+    /// <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);
+        MoveAgent(actionBuffers.DiscreteActions);
+
+        // Penalty given each step to encourage agent to finish task quickly.
+        AddReward(-1f / MaxStep);
+    }
+
+    //    /// <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", 1.5f);
+        //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();
+    }
+}

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