Develop observation collector (#3352)

* Add the VectorSensor to the CollectObservation call * Example of API change for BalanceBall * Modified the Examples * Changes to the migrating doc * Editing the docs * Update docs/Learning-Environment-Design-Agents.md Co-Authored-By: Chris Elion <chris.elion@unity3d.com> * Update docs/Migrating.md Co-Authored-By: Chris Elion <chris.elion@unity3d.com> * Update docs/Migrating.md Co-Authored-By: Chris Elion <chris.elion@unity3d.com> * Update docs/Getting-Started-with-Balance-Ball.md Co-Authored-By: Chris Elion <chris.elion@unity3d.com> * addressing comments * Removed the MLAgents.Sensor namespace * Removing the MLAgents.Sensor namespace from the tests * Editing the migrating docs Co-authored-by: Chris Elion <celion@gmail.com>
Unity-Technologies · Feb 7, 2020 · 6551974 · 6551974
1 parent ba10540
commit 6551974
Show file tree

Hide file tree

Showing 60 changed files with 162 additions and 255 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
@@ -38,15 +38,15 @@ public override void InitializeAgent()
         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
@@ -31,7 +31,7 @@ public override void InitializeAgent()
     {
     }
 
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
         // There are no numeric observations to collect as this environment uses visual
         // observations.

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/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)

diff --git a/Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs b/Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs
@@ -66,40 +66,40 @@ 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); // Is this bp touching the ground
-        AddVectorObs(rb.velocity);
-        AddVectorObs(rb.angularVelocity);
+        sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Is this bp touching the ground
+        sensor.AddObservation(rb.velocity);
+        sensor.AddObservation(rb.angularVelocity);
         var localPosRelToHips = hips.InverseTransformPoint(rb.position);
-        AddVectorObs(localPosRelToHips);
+        sensor.AddObservation(localPosRelToHips);
 
         if (bp.rb.transform != hips && bp.rb.transform != handL && bp.rb.transform != handR &&
             bp.rb.transform != footL && bp.rb.transform != footR && bp.rb.transform != head)
         {
-            AddVectorObs(bp.currentXNormalizedRot);
-            AddVectorObs(bp.currentYNormalizedRot);
-            AddVectorObs(bp.currentZNormalizedRot);
-            AddVectorObs(bp.currentStrength / m_JdController.maxJointForceLimit);
+            sensor.AddObservation(bp.currentXNormalizedRot);
+            sensor.AddObservation(bp.currentYNormalizedRot);
+            sensor.AddObservation(bp.currentZNormalizedRot);
+            sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
         }
     }
 
     /// <summary>
     /// Loop over body parts to add them to observation.
     /// </summary>
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
         m_JdController.GetCurrentJointForces();
 
-        AddVectorObs(m_DirToTarget.normalized);
-        AddVectorObs(m_JdController.bodyPartsDict[hips].rb.position);
-        AddVectorObs(hips.forward);
-        AddVectorObs(hips.up);
+        sensor.AddObservation(m_DirToTarget.normalized);
+        sensor.AddObservation(m_JdController.bodyPartsDict[hips].rb.position);
+        sensor.AddObservation(hips.forward);
+        sensor.AddObservation(hips.up);
 
         foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
         {
-            CollectObservationBodyPart(bodyPart);
+            CollectObservationBodyPart(bodyPart, sensor);
         }
     }
 

diff --git a/Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs b/Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
@@ -132,12 +132,12 @@ void MoveTowards(
         }
     }
 
-    public override void CollectObservations()
+    public override void CollectObservations(VectorSensor sensor)
     {
         var agentPos = m_AgentRb.position - ground.transform.position;
 
-        AddVectorObs(agentPos / 20f);
-        AddVectorObs(DoGroundCheck(true) ? 1 : 0);
+        sensor.AddObservation(agentPos / 20f);
+        sensor.AddObservation(DoGroundCheck(true) ? 1 : 0);
     }
 
     /// <summary>

diff --git a/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs b/com.unity.ml-agents/Editor/BehaviorParametersEditor.cs
@@ -1,7 +1,6 @@
 using UnityEngine;
 using UnityEditor;
 using Barracuda;
-using MLAgents.Sensor;
 
 namespace MLAgents
 {
-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 @@