resolving merge conflicts

surfnerd · Feb 14, 2020 · 23df766 · 23df766
2 parents 803e62f + 53c5fda
commit 23df766
Show file tree

Hide file tree

Showing 82 changed files with 549 additions and 398 deletions.
diff --git a/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs b/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs
@@ -15,12 +15,12 @@ public override void InitializeAgent()
         SetResetParameters();
     }
 
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
-        AddVectorObs(gameObject.transform.rotation.z);
-        AddVectorObs(gameObject.transform.rotation.x);
-        AddVectorObs(ball.transform.position - gameObject.transform.position);
-        AddVectorObs(m_BallRb.velocity);
+        sensor.AddObservation(gameObject.transform.rotation.z);
+        sensor.AddObservation(gameObject.transform.rotation.x);
+        sensor.AddObservation(ball.transform.position - gameObject.transform.position);
+        sensor.AddObservation(m_BallRb.velocity);
     }
 
     public override void AgentAction(float[] vectorAction)

diff --git a/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs b/Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs
@@ -15,11 +15,11 @@ public override void InitializeAgent()
         SetResetParameters();
     }
 
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
-        AddVectorObs(gameObject.transform.rotation.z);
-        AddVectorObs(gameObject.transform.rotation.x);
-        AddVectorObs((ball.transform.position - gameObject.transform.position));
+        sensor.AddObservation(gameObject.transform.rotation.z);
+        sensor.AddObservation(gameObject.transform.rotation.x);
+        sensor.AddObservation((ball.transform.position - gameObject.transform.position));
     }
 
     public override void AgentAction(float[] vectorAction)

diff --git a/Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicAgent.cs b/Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicAgent.cs
@@ -18,9 +18,9 @@ public override void InitializeAgent()
     {
     }
 
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
-        AddVectorObs(m_Position, 20);
+        sensor.AddOneHotObservation(m_Position, 20);
     }
 
     public override void AgentAction(float[] vectorAction)

diff --git a/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs b/Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs
@@ -25,10 +25,10 @@ public override void InitializeAgent()
         SetResetParameters();
     }
 
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
-        AddVectorObs(gameObject.transform.localPosition);
-        AddVectorObs(target.transform.localPosition);
+        sensor.AddObservation(gameObject.transform.localPosition);
+        sensor.AddObservation(target.transform.localPosition);
     }
 
     public override void AgentAction(float[] vectorAction)

diff --git a/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs b/Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs
@@ -72,29 +72,29 @@ public override void InitializeAgent()
     /// <summary>
     /// Add relevant information on each body part to observations.
     /// </summary>
-    public void CollectObservationBodyPart(BodyPart bp)
+    public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
     {
         var rb = bp.rb;
-        AddVectorObs(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
+        sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
 
         var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity);
-        AddVectorObs(velocityRelativeToLookRotationToTarget);
+        sensor.AddObservation(velocityRelativeToLookRotationToTarget);
 
         var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
-        AddVectorObs(angularVelocityRelativeToLookRotationToTarget);
+        sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
 
         if (bp.rb.transform != body)
         {
             var localPosRelToBody = body.InverseTransformPoint(rb.position);
-            AddVectorObs(localPosRelToBody);
-            AddVectorObs(bp.currentXNormalizedRot); // Current x rot
-            AddVectorObs(bp.currentYNormalizedRot); // Current y rot
-            AddVectorObs(bp.currentZNormalizedRot); // Current z rot
-            AddVectorObs(bp.currentStrength / m_JdController.maxJointForceLimit);
+            sensor.AddObservation(localPosRelToBody);
+            sensor.AddObservation(bp.currentXNormalizedRot); // Current x rot
+            sensor.AddObservation(bp.currentYNormalizedRot); // Current y rot
+            sensor.AddObservation(bp.currentZNormalizedRot); // Current z rot
+            sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
         }
     }
 
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
         m_JdController.GetCurrentJointForces();
 
@@ -106,21 +106,21 @@ public override void CollectObservations()
         RaycastHit hit;
         if (Physics.Raycast(body.position, Vector3.down, out hit, 10.0f))
         {
-            AddVectorObs(hit.distance);
+            sensor.AddObservation(hit.distance);
         }
         else
-            AddVectorObs(10.0f);
+            sensor.AddObservation(10.0f);
 
         // Forward & up to help with orientation
         var bodyForwardRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.forward);
-        AddVectorObs(bodyForwardRelativeToLookRotationToTarget);
+        sensor.AddObservation(bodyForwardRelativeToLookRotationToTarget);
 
         var bodyUpRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.up);
-        AddVectorObs(bodyUpRelativeToLookRotationToTarget);
+        sensor.AddObservation(bodyUpRelativeToLookRotationToTarget);
 
         foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
         {
-            CollectObservationBodyPart(bodyPart);
+            CollectObservationBodyPart(bodyPart, sensor);
         }
     }
 

diff --git a/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs b/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs
@@ -32,22 +32,21 @@ public override void InitializeAgent()
     {
         base.InitializeAgent();
         m_AgentRb = GetComponent<Rigidbody>();
-        Monitor.verticalOffset = 1f;
         m_MyArea = area.GetComponent<FoodCollectorArea>();
         m_FoodCollecterSettings = FindObjectOfType<FoodCollectorSettings>();
 
         SetResetParameters();
     }
 
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
         if (useVectorObs)
         {
             var localVelocity = transform.InverseTransformDirection(m_AgentRb.velocity);
-            AddVectorObs(localVelocity.x);
-            AddVectorObs(localVelocity.z);
-            AddVectorObs(System.Convert.ToInt32(m_Frozen));
-            AddVectorObs(System.Convert.ToInt32(m_Shoot));
+            sensor.AddObservation(localVelocity.x);
+            sensor.AddObservation(localVelocity.z);
+            sensor.AddObservation(System.Convert.ToInt32(m_Frozen));
+            sensor.AddObservation(System.Convert.ToInt32(m_Shoot));
         }
     }
 

diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs b/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs
@@ -31,22 +31,22 @@ public override void InitializeAgent()
     {
     }
 
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor, ActionMasker actionMasker)
     {
         // There are no numeric observations to collect as this environment uses visual
         // observations.
 
         // Mask the necessary actions if selected by the user.
         if (maskActions)
         {
-            SetMask();
+            SetMask(actionMasker);
         }
     }
 
     /// <summary>
     /// Applies the mask for the agents action to disallow unnecessary actions.
     /// </summary>
-    void SetMask()
+    void SetMask(ActionMasker actionMasker)
     {
         // Prevents the agent from picking an action that would make it collide with a wall
         var positionX = (int)transform.position.x;
@@ -55,22 +55,22 @@ void SetMask()
 
         if (positionX == 0)
         {
-            SetActionMask(k_Left);
+            actionMasker.SetActionMask(k_Left);
         }
 
         if (positionX == maxPosition)
         {
-            SetActionMask(k_Right);
+            actionMasker.SetActionMask(k_Right);
         }
 
         if (positionZ == 0)
         {
-            SetActionMask(k_Down);
+            actionMasker.SetActionMask(k_Down);
         }
 
         if (positionZ == maxPosition)
         {
-            SetActionMask(k_Up);
+            actionMasker.SetActionMask(k_Up);
         }
     }
 

diff --git a/Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs b/Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs
@@ -26,11 +26,11 @@ public override void InitializeAgent()
         m_GroundMaterial = m_GroundRenderer.material;
     }
 
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
         if (useVectorObs)
         {
-            AddVectorObs(GetStepCount() / (float)maxStep);
+            sensor.AddObservation(GetStepCount() / (float)maxStep);
         }
     }
 

diff --git a/Project/Assets/ML-Agents/Examples/Pyramids/Scripts/PyramidAgent.cs b/Project/Assets/ML-Agents/Examples/Pyramids/Scripts/PyramidAgent.cs
@@ -21,12 +21,12 @@ public override void InitializeAgent()
         m_SwitchLogic = areaSwitch.GetComponent<PyramidSwitch>();
     }
 
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
         if (useVectorObs)
         {
-            AddVectorObs(m_SwitchLogic.GetState());
-            AddVectorObs(transform.InverseTransformDirection(m_AgentRb.velocity));
+            sensor.AddObservation(m_SwitchLogic.GetState());
+            sensor.AddObservation(transform.InverseTransformDirection(m_AgentRb.velocity));
         }
     }
 

diff --git a/Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs b/Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs
@@ -35,22 +35,22 @@ public override void InitializeAgent()
     /// We collect the normalized rotations, angularal velocities, and velocities of both
     /// limbs of the reacher as well as the relative position of the target and hand.
     /// </summary>
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
-        AddVectorObs(pendulumA.transform.localPosition);
-        AddVectorObs(pendulumA.transform.rotation);
-        AddVectorObs(m_RbA.angularVelocity);
-        AddVectorObs(m_RbA.velocity);
+        sensor.AddObservation(pendulumA.transform.localPosition);
+        sensor.AddObservation(pendulumA.transform.rotation);
+        sensor.AddObservation(m_RbA.angularVelocity);
+        sensor.AddObservation(m_RbA.velocity);
 
-        AddVectorObs(pendulumB.transform.localPosition);
-        AddVectorObs(pendulumB.transform.rotation);
-        AddVectorObs(m_RbB.angularVelocity);
-        AddVectorObs(m_RbB.velocity);
+        sensor.AddObservation(pendulumB.transform.localPosition);
+        sensor.AddObservation(pendulumB.transform.rotation);
+        sensor.AddObservation(m_RbB.angularVelocity);
+        sensor.AddObservation(m_RbB.velocity);
 
-        AddVectorObs(goal.transform.localPosition);
-        AddVectorObs(hand.transform.localPosition);
+        sensor.AddObservation(goal.transform.localPosition);
+        sensor.AddObservation(hand.transform.localPosition);
 
-        AddVectorObs(m_GoalSpeed);
+        sensor.AddObservation(m_GoalSpeed);
     }
 
     /// <summary>

diff --git a/com.unity.ml-agents/Runtime/Monitor.cs → .../Examples/SharedAssets/Scripts/Monitor.cs b/com.unity.ml-agents/Runtime/Monitor.cs → .../Examples/SharedAssets/Scripts/Monitor.cs
@@ -1,4 +1,4 @@
-using System.Collections.Generic;
+using System.Collections.Generic;
 using System.Linq;
 using UnityEngine;
 
@@ -561,4 +561,4 @@ void Initialize()
             s_RedStyle = s_ColorStyle[5];
         }
     }
-}
+}
diff --git a/com.unity.ml-agents/Runtime/Monitor.cs.meta → ...ples/SharedAssets/Scripts/Monitor.cs.meta b/com.unity.ml-agents/Runtime/Monitor.cs.meta → ...ples/SharedAssets/Scripts/Monitor.cs.meta
diff --git a/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ProjectSettingsOverrides.cs b/Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ProjectSettingsOverrides.cs
@@ -6,7 +6,7 @@ namespace MLAgentsExamples
     public class ProjectSettingsOverrides : MonoBehaviour
     {
         // Original values
-        float m_OriginalMonitorVerticalOffset;
+
         Vector3 m_OriginalGravity;
         float m_OriginalFixedDeltaTime;
         float m_OriginalMaximumDeltaTime;
@@ -16,9 +16,6 @@ public class ProjectSettingsOverrides : MonoBehaviour
         [Tooltip("Increase or decrease the scene gravity. Use ~3x to make things less floaty")]
         public float gravityMultiplier = 1.0f;
 
-        [Header("Display Settings")]
-        public float monitorVerticalOffset;
-
         [Header("Advanced physics settings")]
         [Tooltip("The interval in seconds at which physics and other fixed frame rate updates (like MonoBehaviour's FixedUpdate) are performed.")]
         public float fixedDeltaTime = .02f;
@@ -32,15 +29,13 @@ public class ProjectSettingsOverrides : MonoBehaviour
         public void Awake()
         {
             // Save the original values
-            m_OriginalMonitorVerticalOffset = Monitor.verticalOffset;
             m_OriginalGravity = Physics.gravity;
             m_OriginalFixedDeltaTime = Time.fixedDeltaTime;
             m_OriginalMaximumDeltaTime = Time.maximumDeltaTime;
             m_OriginalSolverIterations = Physics.defaultSolverIterations;
             m_OriginalSolverVelocityIterations = Physics.defaultSolverVelocityIterations;
 
             // Override
-            Monitor.verticalOffset = monitorVerticalOffset;
             Physics.gravity *= gravityMultiplier;
             Time.fixedDeltaTime = fixedDeltaTime;
             Time.maximumDeltaTime = maximumDeltaTime;
@@ -52,7 +47,6 @@ public void Awake()
 
         public void OnDestroy()
         {
-            Monitor.verticalOffset = m_OriginalMonitorVerticalOffset;
             Physics.gravity = m_OriginalGravity;
             Time.fixedDeltaTime = m_OriginalFixedDeltaTime;
             Time.maximumDeltaTime = m_OriginalMaximumDeltaTime;

diff --git a/Project/Assets/ML-Agents/Examples/Template/Scripts/TemplateAgent.cs b/Project/Assets/ML-Agents/Examples/Template/Scripts/TemplateAgent.cs
@@ -3,7 +3,7 @@
 
 public class TemplateAgent : Agent
 {
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
     }
 

diff --git a/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs b/Project/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs
@@ -43,19 +43,19 @@ public override void InitializeAgent()
         SetResetParameters();
     }
 
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
-        AddVectorObs(m_InvertMult * (transform.position.x - myArea.transform.position.x));
-        AddVectorObs(transform.position.y - myArea.transform.position.y);
-        AddVectorObs(m_InvertMult * m_AgentRb.velocity.x);
-        AddVectorObs(m_AgentRb.velocity.y);
+        sensor.AddObservation(m_InvertMult * (transform.position.x - myArea.transform.position.x));
+        sensor.AddObservation(transform.position.y - myArea.transform.position.y);
+        sensor.AddObservation(m_InvertMult * m_AgentRb.velocity.x);
+        sensor.AddObservation(m_AgentRb.velocity.y);
 
-        AddVectorObs(m_InvertMult * (ball.transform.position.x - myArea.transform.position.x));
-        AddVectorObs(ball.transform.position.y - myArea.transform.position.y);
-        AddVectorObs(m_InvertMult * m_BallRb.velocity.x);
-        AddVectorObs(m_BallRb.velocity.y);
+        sensor.AddObservation(m_InvertMult * (ball.transform.position.x - myArea.transform.position.x));
+        sensor.AddObservation(ball.transform.position.y - myArea.transform.position.y);
+        sensor.AddObservation(m_InvertMult * m_BallRb.velocity.x);
+        sensor.AddObservation(m_BallRb.velocity.y);
 
-        AddVectorObs(m_InvertMult * gameObject.transform.rotation.z);
+        sensor.AddObservation(m_InvertMult * gameObject.transform.rotation.z);
     }
 
     public override void AgentAction(float[] vectorAction)
-Original file line number
+Diff line change
@@ Expand Up / @@ -3,7 +3,7 @@ @@
     public class TemplateAgent : Agent
     {
-        public override void CollectObservations()
+        public override void CollectObservations(VectorSensor sensor)
         {
         }
@@ Expand Down @@