RayPerception sensor

UnitySDK/Assets/ML-Agents/Editor/BehaviorParametersEditor.cs

@@ -1,6 +1,7 @@
 using UnityEngine;
 using UnityEditor;
 using Barracuda;
+using MLAgents.Sensor;
 
 namespace MLAgents
 {
@@ -56,15 +57,17 @@ void DisplayFailedModelChecks()
             D.logEnabled = false;
             Model barracudaModel = null;
             var model = (NNModel)serializedObject.FindProperty("m_Model").objectReferenceValue;
-            var brainParameters = ((BehaviorParameters)target).brainParameters;
+            var behaviorParameters = (BehaviorParameters)target;
+            var sensorComponents = behaviorParameters.GetComponents<SensorComponent>();
+            var brainParameters = behaviorParameters.brainParameters;
             if (model != null)
             {
                 barracudaModel = ModelLoader.Load(model.Value);
             }
             if (brainParameters != null)
             {
                 var failedChecks = InferenceBrain.BarracudaModelParamLoader.CheckModel(
-                    barracudaModel, brainParameters);
+                    barracudaModel, brainParameters, sensorComponents);
                 foreach (var check in failedChecks)
                 {
                     if (check != null)

UnitySDK/Assets/ML-Agents/Editor/Tests/DemonstrationTests.cs

@@ -1,10 +1,8 @@
-using System.Collections.Generic;
 using NUnit.Framework;
 using UnityEngine;
 using System.IO.Abstractions.TestingHelpers;
 using System.Reflection;
 using MLAgents.CommunicatorObjects;
-using Google.Protobuf;
 
 namespace MLAgents.Tests
 {

UnitySDK/Assets/ML-Agents/Editor/Tests/Sensor/RayPerceptionSensorTests.cs

@@ -0,0 +1,21 @@
+using NUnit.Framework;
+using UnityEngine;
+using MLAgents.Sensor;
+
+namespace MLAgents.Tests
+{
+    public class RayPerceptionSensorTests
+    {
+        [Test]
+        public void TestGetRayAngles()
+        {
+            var angles = RayPerceptionSensorComponent.GetRayAngles(3, 90f);
+            var expectedAngles = new [] { 90f, 60f, 120f, 30f, 150f, 0f, 180f };
+            Assert.AreEqual(expectedAngles.Length, angles.Length);
+            for (var i = 0; i < angles.Length; i++)
+            {
+                Assert.AreEqual(expectedAngles[i], angles[i], .01);
+            }
+        }
+    }
+}

UnitySDK/Assets/ML-Agents/Editor/Tests/Sensor/WriterAdapterTests.cs

@@ -4,7 +4,6 @@
 
 using Barracuda;
 using MLAgents.InferenceBrain;
-using MLAgents.InferenceBrain.Utils;
 
 
 namespace MLAgents.Tests

UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs

@@ -1,5 +1,6 @@
 using UnityEngine;
 using MLAgents;
+using MLAgents.Sensor;
 
 public class FoodCollectorAgent : Agent
 {
@@ -150,7 +151,7 @@ public void MoveAgent(float[] act)
         {
             var myTransform = transform;
             myLaser.transform.localScale = new Vector3(1f, 1f, m_LaserLength);
-            var position = myTransform.TransformDirection(RayPerception3D.PolarToCartesian(25f, 90f));
+            var position = myTransform.TransformDirection(RayPerceptionSensor.PolarToCartesian(25f, 90f));
             Debug.DrawRay(myTransform.position, position, Color.red, 0f, true);
             RaycastHit hit;
             if (Physics.SphereCast(transform.position, 2f, position, out hit, 25f))

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception.cs

@@ -3,17 +3,11 @@
 
 public abstract class RayPerception : MonoBehaviour
 {
-    protected List<float> m_PerceptionBuffer = new List<float>();
+    protected float[] m_PerceptionBuffer;
 
-    abstract public List<float> Perceive(float rayDistance,
+    abstract public IList<float> Perceive(float rayDistance,
         float[] rayAngles, string[] detectableObjects,
         float startOffset=0.0f, float endOffset=0.0f);
 
-    /// <summary>
-    /// Converts degrees to radians.
-    /// </summary>
-    public static float DegreeToRadian(float degree)
-    {
-        return degree * Mathf.PI / 180f;
-    }
+
 }

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception2D.cs

@@ -1,5 +1,7 @@
-using System.Collections.Generic;
+using System;
+using System.Collections.Generic;
 using UnityEngine;
+using MLAgents.Sensor;
 
 namespace MLAgents
 {
@@ -9,7 +11,6 @@ namespace MLAgents
     /// </summary>
     public class RayPerception2D : RayPerception
     {
-        Vector2 m_EndPosition;
         RaycastHit2D m_Hit;
 
         /// <summary>
@@ -30,55 +31,63 @@ public class RayPerception2D : RayPerception
         /// <param name="detectableObjects">List of tags which correspond to object types agent can see</param>
         /// <param name="startOffset">Unused</param>
         /// <param name="endOffset">Unused</param>
-        public override List<float> Perceive(float rayDistance,
+        public override IList<float> Perceive(float rayDistance,
             float[] rayAngles, string[] detectableObjects,
             float startOffset=0.0f, float endOffset=0.0f)
         {
-            m_PerceptionBuffer.Clear();
+
+            var perceptionSize = (detectableObjects.Length + 2) * rayAngles.Length;
+            if (m_PerceptionBuffer == null || m_PerceptionBuffer.Length != perceptionSize)
+            {
+                m_PerceptionBuffer = new float[perceptionSize];
+            }
+            Array.Clear(m_PerceptionBuffer, 0, m_PerceptionBuffer.Length);
+
             // For each ray sublist stores categorical information on detected object
             // along with object distance.
+            var bufferOffset = 0;
             foreach (var angle in rayAngles)
             {
-                m_EndPosition = transform.TransformDirection(
-                    PolarToCartesian(rayDistance, angle));
+                Vector2 rayDirection = transform.TransformDirection(PolarToCartesian(rayDistance, angle));
                 if (Application.isEditor)
                 {
                     Debug.DrawRay(transform.position,
-                        m_EndPosition, Color.black, 0.01f, true);
+                        rayDirection, Color.black, 0.01f, true);
                 }
 
-                var subList = new float[detectableObjects.Length + 2];
-                m_Hit = Physics2D.CircleCast(transform.position, 0.5f, m_EndPosition, rayDistance);
+                m_Hit = Physics2D.CircleCast(transform.position, 0.5f, rayDirection, rayDistance);
                 if (m_Hit)
                 {
                     for (var i = 0; i < detectableObjects.Length; i++)
                     {
                         if (m_Hit.collider.gameObject.CompareTag(detectableObjects[i]))
                         {
-                            subList[i] = 1;
-                            subList[detectableObjects.Length + 1] = m_Hit.distance / rayDistance;
+                            m_PerceptionBuffer[bufferOffset + i] = 1;
+                            m_PerceptionBuffer[bufferOffset + detectableObjects.Length + 1] = m_Hit.distance / rayDistance;
                             break;
                         }
                     }
                 }
                 else
                 {
-                    subList[detectableObjects.Length] = 1f;
+                    m_PerceptionBuffer[bufferOffset + detectableObjects.Length] = 1f;
                 }
 
-                m_PerceptionBuffer.AddRange(subList);
+                bufferOffset += detectableObjects.Length + 2;
             }
 
             return m_PerceptionBuffer;
         }
 
+
+
         /// <summary>
         /// Converts polar coordinate to cartesian coordinate.
         /// </summary>
         public static Vector2 PolarToCartesian(float radius, float angle)
         {
-            var x = radius * Mathf.Cos(DegreeToRadian(angle));
-            var y = radius * Mathf.Sin(DegreeToRadian(angle));
+            var x = radius * Mathf.Cos(RayPerceptionSensor.DegreeToRadian(angle));
+            var y = radius * Mathf.Sin(RayPerceptionSensor.DegreeToRadian(angle));
             return new Vector2(x, y);
         }
     }

UnitySDK/Assets/ML-Agents/Examples/SharedAssets/Scripts/RayPerception3D.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Collections.Generic;
 using UnityEngine;
+using MLAgents.Sensor;
 
 namespace MLAgents
 {
@@ -10,9 +11,6 @@ namespace MLAgents
     /// </summary>
     public class RayPerception3D : RayPerception
     {
-        RaycastHit m_Hit;
-        float[] m_SubList;
-
         /// <summary>
         /// Creates perception vector to be used as part of an observation of an agent.
         /// Each ray in the rayAngles array adds a sublist of data to the observation.
@@ -31,66 +29,26 @@ public class RayPerception3D : RayPerception
         /// <param name="detectableObjects">List of tags which correspond to object types agent can see</param>
         /// <param name="startOffset">Starting height offset of ray from center of agent.</param>
         /// <param name="endOffset">Ending height offset of ray from center of agent.</param>
-        public override List<float> Perceive(float rayDistance,
+        public override IList<float> Perceive(float rayDistance,
             float[] rayAngles, string[] detectableObjects,
             float startOffset=0.0f, float endOffset=0.0f)
         {
-            if (m_SubList == null || m_SubList.Length != detectableObjects.Length + 2)
-                m_SubList = new float[detectableObjects.Length + 2];
-
-            m_PerceptionBuffer.Clear();
-            m_PerceptionBuffer.Capacity = m_SubList.Length * rayAngles.Length;
-
-            // For each ray sublist stores categorical information on detected object
-            // along with object distance.
-            foreach (var angle in rayAngles)
+            var perceptionSize = (detectableObjects.Length + 2) * rayAngles.Length;
+            if (m_PerceptionBuffer == null || m_PerceptionBuffer.Length != perceptionSize)
             {
-                Vector3 startPositionLocal = new Vector3(0, startOffset, 0);
-                Vector3 endPositionLocal = PolarToCartesian(rayDistance, angle);
-                endPositionLocal.y += endOffset;
-
-                var startPositionWorld = transform.TransformPoint(startPositionLocal);
-                var endPositionWorld = transform.TransformPoint(endPositionLocal);
-
-                var rayDirection = endPositionWorld - startPositionWorld;
-                if (Application.isEditor)
-                {
-                    Debug.DrawRay(startPositionWorld,rayDirection, Color.black, 0.01f, true);
-                }
-
-                Array.Clear(m_SubList, 0, m_SubList.Length);
-
-                if (Physics.SphereCast(startPositionWorld, 0.5f, rayDirection, out m_Hit, rayDistance))
-                {
-                    for (var i = 0; i < detectableObjects.Length; i++)
-                    {
-                        if (m_Hit.collider.gameObject.CompareTag(detectableObjects[i]))
-                        {
-                            m_SubList[i] = 1;
-                            m_SubList[detectableObjects.Length + 1] = m_Hit.distance / rayDistance;
-                            break;
-                        }
-                    }
-                }
-                else
-                {
-                    m_SubList[detectableObjects.Length] = 1f;
-                }
-
-                Utilities.AddRangeNoAlloc(m_PerceptionBuffer, m_SubList);
+                m_PerceptionBuffer = new float[perceptionSize];
             }
 
+            const float castRadius = 0.5f;
+            const bool legacyHitFractionBehavior = true;
+            RayPerceptionSensor.PerceiveStatic(
+                rayDistance, rayAngles, detectableObjects, startOffset, endOffset, castRadius,
+                transform, m_PerceptionBuffer, legacyHitFractionBehavior
+            );
+
             return m_PerceptionBuffer;
         }
 
-        /// <summary>
-        /// Converts polar coordinate to cartesian coordinate.
-        /// </summary>
-        public static Vector3 PolarToCartesian(float radius, float angle)
-        {
-            var x = radius * Mathf.Cos(DegreeToRadian(angle));
-            var z = radius * Mathf.Sin(DegreeToRadian(angle));
-            return new Vector3(x, 0f, z);
-        }
+
     }
 }

UnitySDK/Assets/ML-Agents/Examples/WallJump/Prefabs/WallJumpArea.prefab

@@ -39,7 +39,8 @@ GameObject:
   - component: {fileID: 54678503543725326}
   - component: {fileID: 114898893333200490}
   - component: {fileID: 114925928594762506}
-  - component: {fileID: 114092229367912210}
+  - component: {fileID: 114560282875640470}
+  - component: {fileID: 114625671574740166}
   m_Layer: 0
   m_Name: Agent
   m_TagString: agent
@@ -1052,17 +1053,52 @@ BoxCollider:
   serializedVersion: 2
   m_Size: {x: 1, y: 1, z: 1}
   m_Center: {x: 0, y: 0, z: 0}
---- !u!114 &114092229367912210
+--- !u!114 &114560282875640470
 MonoBehaviour:
   m_ObjectHideFlags: 1
   m_PrefabParentObject: {fileID: 0}
   m_PrefabInternal: {fileID: 100100000}
   m_GameObject: {fileID: 1195095783991828}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: bb172294dbbcc408286b156a2c4b553c, type: 3}
+  m_Script: {fileID: 11500000, guid: 45243967d8c0419b953c02bccb7c2768, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+  sensorName: RayPerceptionSensor
+  detectableTags:
+  - wall
+  - goal
+  - block
+  raysPerDirection: 3
+  maxRayDegrees: 90
+  startVerticalOffset: 0
+  endVerticalOffset: 0
+  sphereCastRadius: 0.5
+  rayLength: 20
+  observationStacks: 6
+--- !u!114 &114625671574740166
+MonoBehaviour:
+  m_ObjectHideFlags: 1
+  m_PrefabParentObject: {fileID: 0}
+  m_PrefabInternal: {fileID: 100100000}
+  m_GameObject: {fileID: 1195095783991828}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 45243967d8c0419b953c02bccb7c2768, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  sensorName: OffsetRayPerceptionSensor
+  detectableTags:
+  - wall
+  - goal
+  - block
+  raysPerDirection: 3
+  maxRayDegrees: 90
+  startVerticalOffset: 2.5
+  endVerticalOffset: 5
+  sphereCastRadius: 0.5
+  rayLength: 20
+  observationStacks: 6
 --- !u!114 &114898893333200490
 MonoBehaviour:
   m_ObjectHideFlags: 1
@@ -1075,12 +1111,12 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   m_BrainParameters:
-    vectorObservationSize: 74
+    vectorObservationSize: 4
     numStackedVectorObservations: 6
     vectorActionSize: 03000000030000000300000002000000
     vectorActionDescriptions: []
     vectorActionSpaceType: 0
-  m_Model: {fileID: 11400000, guid: fb2ce36eb40b6480e94ea0b5d7573e47, type: 3}
+  m_Model: {fileID: 11400000, guid: 0468bf44b1efd4992b6bf22cadb50d89, type: 3}
   m_InferenceDevice: 0
   m_UseHeuristic: 0
   m_BehaviorName: SmallWallJump

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

@@ -38,7 +38,7 @@ RenderSettings:
   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.44971442, g: 0.499779, b: 0.5756377, a: 1}
+  m_IndirectSpecularColor: {r: 0.44971484, g: 0.49977958, b: 0.5756385, a: 1}
 --- !u!157 &3
 LightmapSettings:
   m_ObjectHideFlags: 0