Reset Parameters implemented for Pushblock, Reacher and Walker (#2322)

sankalp04 · Ervin T · commit 75f1a9a52162 · 2019-07-24T16:46:38.000-07:00
Pushblock: dynamic_friction, static_friction, block_drag, block_scale
Reacher: Gravity, non-linear goal movement
Walker: Gravity, torso mass
diff --git a/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab b/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockArea.prefab
@@ -838,7 +838,7 @@ BoxCollider:
   m_PrefabParentObject: {fileID: 0}
   m_PrefabInternal: {fileID: 100100000}
   m_GameObject: {fileID: 1500989011945850}
-  m_Material: {fileID: 0}
+  m_Material: {fileID: 13400000, guid: f440cd475293044139739aff331224fb, type: 2}
   m_IsTrigger: 0
   m_Enabled: 1
   serializedVersion: 2
@@ -905,6 +905,7 @@ MonoBehaviour:
   brain: {fileID: 11400000, guid: e8b2d719f6a324b1abb68d8cf2859f5c, type: 2}
   agentParameters:
     agentCameras: []
+    agentRenderTextures: []
     maxStep: 5000
     resetOnDone: 1
     onDemandDecision: 0
diff --git a/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Prefabs/StudentArea.prefab b/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Prefabs/StudentArea.prefab
@@ -790,7 +790,7 @@ BoxCollider:
   m_PrefabParentObject: {fileID: 0}
   m_PrefabInternal: {fileID: 100100000}
   m_GameObject: {fileID: 1132847330634378}
-  m_Material: {fileID: 0}
+  m_Material: {fileID: 13400000, guid: f440cd475293044139739aff331224fb, type: 2}
   m_IsTrigger: 0
   m_Enabled: 1
   serializedVersion: 2
@@ -905,6 +905,7 @@ MonoBehaviour:
   brain: {fileID: 11400000, guid: e8b2d719f6a324b1abb68d8cf2859f5c, type: 2}
   agentParameters:
     agentCameras: []
+    agentRenderTextures: []
     maxStep: 5000
     resetOnDone: 1
     onDemandDecision: 0
diff --git a/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Prefabs/TeacherArea.prefab b/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Prefabs/TeacherArea.prefab
@@ -791,7 +791,7 @@ BoxCollider:
   m_PrefabParentObject: {fileID: 0}
   m_PrefabInternal: {fileID: 100100000}
   m_GameObject: {fileID: 1492788814869846}
-  m_Material: {fileID: 0}
+  m_Material: {fileID: 13400000, guid: f440cd475293044139739aff331224fb, type: 2}
   m_IsTrigger: 0
   m_Enabled: 1
   serializedVersion: 2
@@ -919,6 +919,7 @@ MonoBehaviour:
   brain: {fileID: 11400000, guid: dd07b1953eac4411b81fba032f394726, type: 2}
   agentParameters:
     agentCameras: []
+    agentRenderTextures: []
     maxStep: 5000
     resetOnDone: 1
     onDemandDecision: 0
diff --git a/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Prefabs/VisualArea.prefab b/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Prefabs/VisualArea.prefab
@@ -870,7 +870,7 @@ BoxCollider:
   m_PrefabParentObject: {fileID: 0}
   m_PrefabInternal: {fileID: 100100000}
   m_GameObject: {fileID: 1553741088268304}
-  m_Material: {fileID: 0}
+  m_Material: {fileID: 13400000, guid: f440cd475293044139739aff331224fb, type: 2}
   m_IsTrigger: 0
   m_Enabled: 1
   serializedVersion: 2
@@ -970,6 +970,7 @@ MonoBehaviour:
   agentParameters:
     agentCameras:
     - {fileID: 20223756300728806}
+    agentRenderTextures: []
     maxStep: 5000
     resetOnDone: 1
     onDemandDecision: 0
diff --git a/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlock.unity b/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlock.unity
@@ -1570,7 +1570,15 @@ MonoBehaviour:
     timeScale: 1
     targetFrameRate: 60
   resetParameters:
-    resetParameters: []
+    resetParameters:
+    - key: dynamic_friction
+      value: 0
+    - key: static_friction
+      value: 0
+    - key: block_drag
+      value: 0.5
+    - key: block_scale
+      value: 2
   agentRunSpeed: 2
   agentRotationSpeed: 15
   spawnAreaMarginMultiplier: 0.5
diff --git a/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockIL.unity b/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockIL.unity
@@ -339,6 +339,11 @@ Prefab:
       propertyPath: m_RootOrder
       value: 4
       objectReference: {fileID: 0}
+    - target: {fileID: 65880592586321730, guid: bed6005cc2a1a47edafba27cde6b5538,
+        type: 2}
+      propertyPath: m_Material
+      value: 
+      objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_ParentPrefab: {fileID: 100100000, guid: bed6005cc2a1a47edafba27cde6b5538, type: 2}
   m_IsPrefabParent: 0
@@ -552,7 +557,15 @@ MonoBehaviour:
     timeScale: 1
     targetFrameRate: 60
   resetParameters:
-    resetParameters: []
+    resetParameters:
+    - key: dynamic_friction
+      value: 0
+    - key: static_friction
+      value: 0
+    - key: block_drag
+      value: 0.5
+    - key: block_scale
+      value: 2
   agentRunSpeed: 2
   agentRotationSpeed: 15
   spawnAreaMarginMultiplier: 0.5
diff --git a/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Scenes/VisualPushBlock.unity b/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Scenes/VisualPushBlock.unity
@@ -658,7 +658,15 @@ MonoBehaviour:
     timeScale: 1
     targetFrameRate: 60
   resetParameters:
-    resetParameters: []
+    resetParameters:
+    - key: dynamic_friction
+      value: 0
+    - key: static_friction
+      value: 0
+    - key: block_drag
+      value: 0.5
+    - key: block_scale
+      value: 2
   agentRunSpeed: 2
   agentRotationSpeed: 15
   spawnAreaMarginMultiplier: 0.5
diff --git a/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs b/UnitySDK/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs
@@ -75,6 +75,8 @@ public override void InitializeAgent()
         groundRenderer = ground.GetComponent<Renderer>();
         // Starting material
         groundMaterial = groundRenderer.material;
+
+        SetResetParameters();
     }
 
     public override void CollectObservations()
@@ -217,5 +219,34 @@ public override void AgentReset()
         transform.position = GetRandomSpawnPos();
         agentRB.velocity = Vector3.zero;
         agentRB.angularVelocity = Vector3.zero;
+
+        SetResetParameters();
+    }
+
+    public void SetGroundMaterialFriction()
+    {
+        var resetParams = academy.resetParameters;
+
+        var groundCollider = ground.GetComponent<Collider>() as Collider;
+
+        groundCollider.material.dynamicFriction = resetParams["dynamic_friction"];
+        groundCollider.material.staticFriction = resetParams["static_friction"];
+    }
+
+    public void SetBlockProperties()
+    {
+        var resetParams = academy.resetParameters;
+
+        //Set the scale of the block
+        blockRB.transform.localScale = new Vector3(resetParams["block_scale"], 0.75f, resetParams["block_scale"]);
+
+        // Set the drag of the block
+        blockRB.drag = resetParams["block_drag"];
+    }
+
+    public void SetResetParameters()
+    {
+        SetGroundMaterialFriction();
+        SetBlockProperties();
     }
 }
diff --git a/UnitySDK/Assets/ML-Agents/Examples/Reacher/Scenes/Reacher.unity b/UnitySDK/Assets/ML-Agents/Examples/Reacher/Scenes/Reacher.unity
@@ -38,7 +38,7 @@ RenderSettings:
   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 762086411}
-  m_IndirectSpecularColor: {r: 0.4465934, g: 0.49642956, b: 0.5748249, a: 1}
+  m_IndirectSpecularColor: {r: 0.44657898, g: 0.49641287, b: 0.5748173, a: 1}
 --- !u!157 &3
 LightmapSettings:
   m_ObjectHideFlags: 0
@@ -1122,8 +1122,12 @@ MonoBehaviour:
       value: 5
     - key: goal_speed
       value: 1
-  goalSize: 5
-  goalSpeed: 1
+    - key: gravity
+      value: 9.81
+    - key: deviation
+      value: 0
+    - key: deviation_freq
+      value: 0
 --- !u!4 &1574236049
 Transform:
   m_ObjectHideFlags: 0
diff --git a/UnitySDK/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAcademy.cs b/UnitySDK/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAcademy.cs
@@ -3,16 +3,13 @@
 using UnityEngine;
 using MLAgents;
 
-public class ReacherAcademy : Academy {
-
-    public float goalSize;
-    public float goalSpeed;
+public class ReacherAcademy : Academy
+{
 
 
     public override void AcademyReset()
     {
-        goalSize = (float)resetParameters["goal_size"];
-        goalSpeed = (float)resetParameters["goal_speed"];
+        Physics.gravity = new Vector3(0, -resetParameters["gravity"], 0);
     }
 
     public override void AcademyStep()
diff --git a/UnitySDK/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs b/UnitySDK/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs
@@ -1,7 +1,8 @@
 ﻿using UnityEngine;
 using MLAgents;
 
-public class ReacherAgent : Agent {
+public class ReacherAgent : Agent
+{
 
     public GameObject pendulumA;
     public GameObject pendulumB;
@@ -11,18 +12,26 @@ public class ReacherAgent : Agent {
     float goalDegree;
     private Rigidbody rbA;
     private Rigidbody rbB;
+    // speed of the goal zone around the arm (in radians)
     private float goalSpeed;
+    // radius of the goal zone
     private float goalSize;
+    // Magnitude of sinusoidal (cosine) deviation of the goal along the vertical dimension
+    private float deviation;
+    // Frequency of the cosine deviation of the goal along the vertical dimension
+    private float deviationFreq;
 
     /// <summary>
-    /// Collect the rigidbodies of the reacher in order to resue them for 
+    /// Collect the rigidbodies of the reacher in order to resue them for
     /// observations and actions.
     /// </summary>
     public override void InitializeAgent()
     {
         rbA = pendulumA.GetComponent<Rigidbody>();
         rbB = pendulumB.GetComponent<Rigidbody>();
         myAcademy = GameObject.Find("Academy").GetComponent<ReacherAcademy>();
+
+        SetResetParameters();
     }
 
     /// <summary>
@@ -43,15 +52,15 @@ public override void CollectObservations()
 
         AddVectorObs(goal.transform.localPosition);
         AddVectorObs(hand.transform.localPosition);
-        
+
         AddVectorObs(goalSpeed);
-	}
+    }
 
     /// <summary>
     /// The agent's four actions correspond to torques on each of the two joints.
     /// </summary>
     public override void AgentAction(float[] vectorAction, string textAction)
-	{
+    {
         goalDegree += goalSpeed;
         UpdateGoalPosition();
 
@@ -62,17 +71,18 @@ public override void AgentAction(float[] vectorAction, string textAction)
         torqueX = Mathf.Clamp(vectorAction[2], -1f, 1f) * 150f;
         torqueZ = Mathf.Clamp(vectorAction[3], -1f, 1f) * 150f;
         rbB.AddTorque(new Vector3(torqueX, 0f, torqueZ));
-	}
+    }
 
     /// <summary>
     /// Used to move the position of the target goal around the agent.
     /// </summary>
-    void UpdateGoalPosition() 
+    void UpdateGoalPosition()
     {
         var radians = goalDegree * Mathf.PI / 180f;
         var goalX = 8f * Mathf.Cos(radians);
         var goalY = 8f * Mathf.Sin(radians);
-        goal.transform.position = new Vector3(goalY, -1f, goalX) + transform.position;
+        var goalZ = deviation * Mathf.Cos(deviationFreq * radians);
+        goal.transform.position = new Vector3(goalY, goalZ, goalX) + transform.position;
     }
 
     /// <summary>
@@ -93,9 +103,19 @@ public override void AgentReset()
         goalDegree = Random.Range(0, 360);
         UpdateGoalPosition();
 
-        goalSize = myAcademy.goalSize;
-        goalSpeed = Random.Range(-1f, 1f) * myAcademy.goalSpeed;
+        SetResetParameters();
+
 
         goal.transform.localScale = new Vector3(goalSize, goalSize, goalSize);
     }
+
+
+    public void SetResetParameters()
+    {
+        goalSize = myAcademy.resetParameters["goal_size"];
+        goalSpeed = Random.Range(-1f, 1f) * myAcademy.resetParameters["goal_speed"];
+        deviation = myAcademy.resetParameters["deviation"];
+        deviationFreq = myAcademy.resetParameters["deviation_freq"];
+
+    }
 }
diff --git a/UnitySDK/Assets/ML-Agents/Examples/Walker/Scenes/Walker.unity b/UnitySDK/Assets/ML-Agents/Examples/Walker/Scenes/Walker.unity
@@ -715,7 +715,15 @@ MonoBehaviour:
     timeScale: 1
     targetFrameRate: 60
   resetParameters:
-    resetParameters: []
+    resetParameters:
+    - key: gravity
+      value: 9.81
+    - key: hip_mass
+      value: 15
+    - key: chest_mass
+      value: 8
+    - key: spine_mass
+      value: 10
 --- !u!4 &1409355322
 Transform:
   m_ObjectHideFlags: 0
diff --git a/UnitySDK/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAcademy.cs b/UnitySDK/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAcademy.cs
@@ -19,6 +19,7 @@ public override void InitializeAcademy()
 
     public override void AcademyReset()
     {
+        Physics.gravity = new Vector3(0, -resetParameters["gravity"], 0);
     }
 
     public override void AcademyStep()
diff --git a/UnitySDK/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs b/UnitySDK/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
@@ -29,6 +29,12 @@ public class WalkerAgent : Agent
     bool isNewDecisionStep;
     int currentDecisionStep;
 
+    private Rigidbody hipsRb;
+    private Rigidbody chestRb;
+    private Rigidbody spineRb;
+
+    private ResetParameters resetParams;
+
     public override void InitializeAgent()
     {
         jdController = GetComponent<JointDriveController>();
@@ -48,6 +54,15 @@ public override void InitializeAgent()
         jdController.SetupBodyPart(armR);
         jdController.SetupBodyPart(forearmR);
         jdController.SetupBodyPart(handR);
+
+        hipsRb = hips.GetComponent<Rigidbody>();
+        chestRb = chest.GetComponent<Rigidbody>();
+        spineRb = spine.GetComponent<Rigidbody>();
+
+        var academy = FindObjectOfType<WalkerAcademy>() as WalkerAcademy;
+        resetParams = academy.resetParameters;
+
+        SetResetParameters();
     }
 
     /// <summary>
@@ -184,5 +199,18 @@ public override void AgentReset()
 
         isNewDecisionStep = true;
         currentDecisionStep = 1;
+        SetResetParameters();
+    }
+
+    public void SetTorsoMass()
+    {
+        chestRb.mass = resetParams["chest_mass"];
+        spineRb.mass = resetParams["spine_mass"];
+        hipsRb.mass = resetParams["hip_mass"];
+    }
+
+    public void SetResetParameters()
+    {
+        SetTorsoMass();
     }
 }
diff --git a/docs/Learning-Environment-Examples.md b/docs/Learning-Environment-Examples.md
