use sensor from mlagents extensions package

ArmRobot/Assets/Scenes/ArticulationRobot.unity

@@ -1412,13 +1412,14 @@ GameObject:
   - component: {fileID: 1390582875}
   - component: {fileID: 1390582874}
   - component: {fileID: 1390582877}
+  - component: {fileID: 1390582878}
   m_Layer: 0
   m_Name: MLAgents
   m_TagString: Untagged
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 0
+  m_IsActive: 1
 --- !u!114 &1390582874
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -1451,7 +1452,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   m_BrainParameters:
-    VectorObservationSize: 79
+    VectorObservationSize: 9
     NumStackedVectorObservations: 1
     VectorActionSize: 03000000030000000300000003000000030000000300000003000000
     VectorActionDescriptions: []
@@ -1462,6 +1463,7 @@ MonoBehaviour:
   m_BehaviorName: TouchCube
   TeamId: 0
   m_UseChildSensors: 1
+  m_ObservableAttributeHandling: 0
 --- !u!4 &1390582876
 Transform:
   m_ObjectHideFlags: 0
@@ -1490,6 +1492,29 @@ MonoBehaviour:
   m_EditorClassIdentifier: 
   DecisionPeriod: 20
   TakeActionsBetweenDecisions: 1
+--- !u!114 &1390582878
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1390582873}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: e57a788acd5e049c6aa9642b450ca318, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  RootBody: {fileID: 1442213769}
+  Settings:
+    UseModelSpaceTranslations: 1
+    UseModelSpaceRotations: 1
+    UseLocalSpaceTranslations: 0
+    UseLocalSpaceRotations: 0
+    UseModelSpaceLinearVelocity: 0
+    UseLocalSpaceLinearVelocity: 0
+    UseJointPositionsAndAngles: 1
+    UseJointForces: 0
+  sensorName: 
 --- !u!1 &1442213767
 GameObject:
   m_ObjectHideFlags: 0

ArmRobot/Assets/Scripts/RobotAgent.cs

@@ -14,7 +14,7 @@ public class RobotAgent : Agent
     RobotController robotController;
     TouchDetector touchDetector;
     TablePositionRandomizer tablePositionRandomizer;
-    
+
 
     void Start()
     {
@@ -41,30 +41,15 @@ public override void CollectObservations(VectorSensor sensor)
             // No robot is present, no observation should be added
             return;
         }
-        // current rotations
-        float[] rotations = robotController.GetCurrentJointRotations();
-        foreach (float rotation in rotations)
-        {
-            // normalize rotation to [-1, 1] range
-            float normalizedRotation = (rotation / 360.0f) %  1f;
-            sensor.AddObservation(normalizedRotation);
-        }
-
-        foreach (var joint in robotController.joints)
-        {
-            sensor.AddObservation(joint.robotPart.transform.position - robot.transform.position);
-            sensor.AddObservation(joint.robotPart.transform.forward);
-            sensor.AddObservation(joint.robotPart.transform.right);
-        }
 
         // relative cube position
         Vector3 cubePosition = cube.transform.position - robot.transform.position;
         sensor.AddObservation(cubePosition);
 
         // relative end position
         Vector3 endPosition = endEffector.transform.position - robot.transform.position;
-        sensor.AddObservation(endPosition);  
-        sensor.AddObservation(cubePosition - endPosition);      
+        sensor.AddObservation(endPosition);
+        sensor.AddObservation(cubePosition - endPosition);
     }
 
     public override void OnActionReceived(float[] vectorAction)
@@ -76,6 +61,13 @@ public override void OnActionReceived(float[] vectorAction)
             robotController.RotateJoint(jointIndex, rotationDirection, false);
         }
 
+        // Knocked the cube off the table
+        if (cube.transform.position.y < -1.0)
+        {
+            SetReward(-1f);
+            EndEpisode();
+        }
+
         // end episode if we touched the cube
         if (touchDetector.hasTouchedTarget)
         {
@@ -86,7 +78,7 @@ public override void OnActionReceived(float[] vectorAction)
 
         //reward
         float distanceToCube = Vector3.Distance(endEffector.transform.position, cube.transform.position); // roughly 0.7f
-        
+
 
         var jointHeight = 0f; // This is to reward the agent for keeping high up // max is roughly 3.0f
         for (int jointIndex = 0; jointIndex < robotController.joints.Length; jointIndex ++)

ArmRobot/Packages/manifest.json

@@ -3,7 +3,8 @@
     "com.unity.ext.nunit": "1.0.0",
     "com.unity.ide.rider": "2.0.1",
     "com.unity.ide.vscode": "1.2.0",
-    "com.unity.ml-agents": "1.0.0-preview",
+    "com.unity.ml-agents": "1.2.0-preview",
+    "com.unity.ml-agents.extensions": "git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions",
     "com.unity.test-framework": "1.1.13",
     "com.unity.textmeshpro": "3.0.0-preview.1",
     "com.unity.ugui": "1.0.0",
@@ -38,5 +39,11 @@
     "com.unity.modules.vr": "1.0.0",
     "com.unity.modules.wind": "1.0.0",
     "com.unity.modules.xr": "1.0.0"
+  },
+  "lock": {
+    "com.unity.ml-agents.extensions": {
+      "revision": "HEAD",
+      "hash": "4e8f08c6260742a936d6881f9e3a48b31ea45993"
+    }
   }
 }

ArmRobot/ProjectSettings/ProjectVersion.txt

@@ -1,2 +1,2 @@
-m_EditorVersion: 2020.1.0b7
-m_EditorVersionWithRevision: 2020.1.0b7 (6cfebb967dcd)
+m_EditorVersion: 2020.1.0b8
+m_EditorVersionWithRevision: 2020.1.0b8 (726fc0bca2bc)

ur3_config.yml

@@ -7,7 +7,7 @@ TouchCube:
     init_entcoef: 1.0
     learning_rate: 3.0e-4
     learning_rate_schedule: constant
-    max_steps: 5.0e5
+    max_steps: 1.25e5
     memory_size: 128
     normalize: false
     num_update: 1