InputActuatorComponent to allow the generation of an action space from an InputActionAsset

.yamato/com.unity.ml-agents-test.yml

@@ -39,7 +39,7 @@ packages:
     assembly: Unity.ML-Agents
     minCoveragePct: 72
   - name: com.unity.ml-agents.extensions
-    assembly: Unity.ML-Agents.Extensions
+    assembly: Unity.ML-Agents.Extensions*
     minCoveragePct: 75
 ---
 

DevProject/.gitignore

@@ -10,6 +10,7 @@
 /Assets/ML-Agents/Timers*
 /csharp_timers.json
 /CodeCoverage/
+/Packages/packages-lock.json
 
 # Environemnt logfile
 *Project.log

DevProject/Packages/manifest.json

@@ -2,25 +2,26 @@
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+    "com.unity.ide.vscode": "1.2.3",
+    "com.unity.inputsystem": "1.1.0-preview.3",
     "com.unity.ml-agents": "file:../../com.unity.ml-agents",
     "com.unity.ml-agents.extensions": "file:../../com.unity.ml-agents.extensions",
-    "com.unity.multiplayer-hlapi": "1.0.6",
+    "com.unity.multiplayer-hlapi": "1.0.8",
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     "com.unity.package-validation-suite": "0.19.0-preview",
-    "com.unity.purchasing": "2.1.0",
-    "com.unity.test-framework": "1.1.16",
+    "com.unity.purchasing": "2.2.1",
+    "com.unity.test-framework": "1.1.20",
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     "com.unity.timeline": "1.2.12",
     "com.unity.ugui": "1.0.0",
-    "com.unity.xr.legacyinputhelpers": "2.1.4",
+    "com.unity.xr.legacyinputhelpers": "2.1.7",
     "com.unity.modules.ai": "1.0.0",
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@@ -56,6 +57,7 @@
   "registry": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates",
   "testables": [
     "com.unity.ml-agents",
-    "com.unity.ml-agents.extensions"
+    "com.unity.ml-agents.extensions",
+    "com.unity.inputsystem"
   ]
 }

DevProject/ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json

@@ -0,0 +1,7 @@
+{
+    "m_Name": "Settings",
+    "m_Path": "ProjectSettings/Packages/com.unity.testtools.codecoverage/Settings.json",
+    "m_Dictionary": {
+        "m_DictionaryValues": []
+    }
+}

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com.unity.ml-agents.extensions/Documentation~/InputActuatorComponent.md

@@ -0,0 +1,42 @@
+# Integration of the Input System Package with ML-Agents
+
+## Overview
+One area we are always trying to improve is getting developers up and running with ML-Agents.  With this in mind,
+we have implemented an `InputActuatorComponent` that sets up an action space for your `Agent` based on
+an `InputActionAsset` that is referenced by the `IInputActionAssetProvider` interface, or the `PlayerInput` component
+that may be living on your player controlled `Agent`.  This means that if you have code outside of your agent that
+handles input, you will not need to implement the Heuristic function in agent as well.  The `InputActuatorComponent`
+will handle this for you.  You can now train and run inference on `Agents` with an action space defined by an `InputActionAsset`.
+
+This implementation includes:
+
+* C# `InputActuatorComponent` you can attach to your Agent.
+* An example environment where the input handling code is not in the Heuristic function of the Agent subclass.
+
+### Feedback
+We have only implemented a small subset of `InputControl` types that we thought would cover a large portion of what
+most developers would use.  Please let us know if you want more control types implemented by posting in the [ML-Agents
+forum.](https://forum.unity.com/forums/ml-agents.453/)
+
+## Getting started
+The C# code for the `InputActuatorComponent` exists inside of the extensions package (com.unity.ml-agents.extensions).  A good first step would be to familiarize with the extensions package by reading the document [here](com.unity.ml-agents.extensions.md).  The second step would be to take a look at how we have implemented the C# code in the example Input Integration scene (located under  ML-Agents-Input-Example/Assets/ML-Agents/Examples/PushBlock/).  Once you have some familiarity, then the next step would be to add the InputActuatorComponent to your player Agent.  The example we have implemented uses C# Events to send information from the Input System.
+
+Additionally, see below for additional technical specifications on the C# code for the InputActuatorComponent.
+
+## Technical specifications for the InputActuatorComponent
+
+### `InputActuatorComponent` class
+The `InputActuatorComponent` is the bridge between ML-Agents and the Input System.. It allows ML-Agents to
+* create an `ActionSpec` for your Agent based on an `InputActionAsset`
+* send simulated input from a training process or a neural network
+* let developers keep their input handling code in one place
+
+This is accomplished by adding the `InputActuatorComponenet` to an Agent which already has the PlayerInput component attached.
+
+### Setting up a scene using the `InputActuatorComponent`
+1. Add the `com.unity.inputsystem` version 1.1.0-preview.3 or later to your project via the Package Manager window.
+2. If you have already setup an InputActionAsset skip to Step 3, otherwise follow these sub steps:
+    1. Create an InputActionAsset to allow your Agent to be controlled by the Input System.
+    2. Handle the events from the Input System where you normally would (i.e. a script external to your Agent class).
+3. Add the InputSystemActuatorComponent to the GameObject that has the `PlayerInput` and `Agent` components attached.
+

com.unity.ml-agents.extensions/Documentation~/com.unity.ml-agents.extensions.md

@@ -22,6 +22,7 @@ The Runtime directory currently contains three features:
  * [Match-3 sensor and actuator](Match3.md)
  * [Grid-based sensor](Grid-Sensor.md)
  * Physics-based sensors
+ * [Input System Package Integration](InputActuatorComponent.md)
 
 ## Installation
 The ML-Agents Extensions package is not currently available in the Package Manager. There are two
@@ -54,10 +55,15 @@ See [Git dependencies](https://docs.unity3d.com/Manual/upm-git.html#subfolder) f
 This version of the Unity ML-Agents Extensions package is compatible with the
 following versions of the Unity Editor:
 
-- 2018.4 and later
+- If using the `InputActuatorComponent`
+    - 2019.4 or later
+    - install the `com.unity.inputsystem` package version `1.1.0-preview.3` or later.
+- Else 2018.4 and later
 
 ## Known Limitations
-none
+- For the `InputActuatorComponent`
+    - Limited implementation of `InputControls`
+    - No way to customize the action space of the `InputActuatorComponent`
 
 ## Need Help?
 The main [README](https://github.com/Unity-Technologies/ml-agents/tree/release_12_docs/README.md) contains links for contacting the team or getting support.

com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs

@@ -0,0 +1,45 @@
+#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+using Unity.MLAgents.Actuators;
+using UnityEngine;
+using UnityEngine.InputSystem;
+using UnityEngine.InputSystem.LowLevel;
+
+namespace Unity.MLAgents.Extensions.Input
+{
+    /// <summary>
+    /// Class that translates data between the a <see cref="UnityEngine.InputSystem.Controls.ButtonControl"/> and
+    /// the ML-Agents <see cref="ActionBuffers"/> object.
+    /// </summary>
+    public class ButtonInputActionAdaptor : IRLActionInputAdaptor
+    {
+        /// <summary>
+        /// TODO this method needs to be more nuanced depending the types of controls that can back it.  i.e. TriggerControls
+        /// are continuous buttons, etc.
+        /// Currently returns an <see cref="ActionSpec"/> with 1 branch of size 2.  One value for not pressed, and one
+        /// for pressed.
+        /// </summary>
+        /// <param name="action">The action associated with this adaptor to help determine the action space.</param>
+        /// <returns></returns>
+        public ActionSpec GetActionSpecForInputAction(InputAction action)
+        {
+            return ActionSpec.MakeDiscrete(2);
+        }
+
+        /// TODO again this might need to be more nuanced for things like continuous buttons.
+        /// <inheritdoc cref="IRLActionInputAdaptor.QueueInputEventForAction"/>
+        public void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers)
+        {
+            var val = actionBuffers.DiscreteActions[0];
+            InputSystem.QueueDeltaStateEvent(control, (byte)val);
+        }
+
+        /// <inheritdoc cref="IRLActionInputAdaptor.WriteToHeuristic"/>>
+        public void WriteToHeuristic(InputAction action, in ActionBuffers actionBuffers)
+        {
+            var discreteActions = actionBuffers.DiscreteActions;
+            var val = action.ReadValue<float>();
+            discreteActions[0] = (int)val;
+        }
+    }
+}
+#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER

com.unity.ml-agents.extensions/Runtime/Input/Adaptors/DoubleInputActionAdaptor.cs

@@ -0,0 +1,35 @@
+#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+using Unity.MLAgents.Actuators;
+using UnityEngine.InputSystem;
+using UnityEngine.InputSystem.LowLevel;
+
+namespace Unity.MLAgents.Extensions.Input
+{
+    /// <summary>
+    /// Translates data from a <see cref="UnityEngine.InputSystem.Controls.DoubleControl"/>.
+    /// </summary>
+    public class DoubleInputActionAdaptor : IRLActionInputAdaptor
+    {
+        /// <inheritdoc cref="IRLActionInputAdaptor.GetActionSpecForInputAction"/>
+        public ActionSpec GetActionSpecForInputAction(InputAction action)
+        {
+            return ActionSpec.MakeContinuous(1);
+        }
+
+        /// <inheritdoc cref="IRLActionInputAdaptor.QueueInputEventForAction"/>
+        public void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers)
+        {
+            var val = actionBuffers.ContinuousActions[0];
+            InputSystem.QueueDeltaStateEvent(control,(double)val);
+        }
+
+        /// <inheritdoc cref="IRLActionInputAdaptor.WriteToHeuristic"/>
+        public void WriteToHeuristic(InputAction action, in ActionBuffers actionBuffers)
+        {
+            var actions = actionBuffers.ContinuousActions;
+            var val = (float)action.ReadValue<double>();
+            actions[0] = val;
+        }
+    }
+}
+#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER