[add-fire] Merge post-0.19.0 master into add-fire (#4328)

.pre-commit-config.yaml

@@ -44,7 +44,12 @@ repos:
     hooks:
     -   id: pyupgrade
         args: [--py3-plus, --py36-plus]
-        exclude: .*barracuda.py
+        exclude: >
+            (?x)^(
+                .*barracuda.py|
+                .*_pb2.py|
+                .*_pb2_grpc.py
+            )$
 
 -   repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v2.5.0

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

@@ -12,7 +12,7 @@ Run_Mac_Perfomance_Tests{{ editor.version }}:
   variables:
     UNITY_VERSION: {{ editor.version }}
   commands:
-    - python -m pip install unity-downloader-cli --extra-index-url https://artifactory.eu-cph-1.unityops.net/api/pypi/common-python/simple
+    - python -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
     - unity-downloader-cli -u {{ editor.version }} -c editor --wait --fast
     - curl -s https://artifactory.internal.unity3d.com/core-automation/tools/utr-standalone/utr --output utr
     - chmod +x ./utr

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

@@ -113,7 +113,7 @@ test_{{ package.name }}_{{ platform.name }}_trunk:
     image: {{ platform.image }}
     flavor: {{ platform.flavor}}
   commands:
-    - python -m pip install unity-downloader-cli --extra-index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/unity-pypi-local/simple --upgrade
+    - python -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
     - unity-downloader-cli -u trunk -c editor --wait --fast
     - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
     - upm-ci project test -u {{ editor.version }} --project-path Project --package-filter {{ package.name }} {{ coverageOptions }}

.yamato/gym-interface-test.yml

@@ -11,7 +11,7 @@ test_gym_interface_{{ editor.version }}:
   variables:
     UNITY_VERSION: {{ editor.version }}
   commands:
-    - pip install pyyaml
+    - pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
     - python -u -m ml-agents.tests.yamato.setup_venv
     - ./venv/bin/python ml-agents/tests/yamato/scripts/run_gym.py --env=artifacts/testPlayer-Basic
   dependencies:
@@ -21,12 +21,12 @@ test_gym_interface_{{ editor.version }}:
     expression: |
       (pull_request.target eq "master" OR
       pull_request.target match "release.+") AND
-      NOT pull_request.draft AND 
-      (pull_request.changes.any match "com.unity.ml-agents/**" OR 
-      pull_request.changes.any match "Project/**" OR 
-      pull_request.changes.any match "ml-agents/**" OR 
-      pull_request.changes.any match "ml-agents-envs/**" OR 
-      pull_request.changes.any match "gym-unity/**" OR 
+      NOT pull_request.draft AND
+      (pull_request.changes.any match "com.unity.ml-agents/**" OR
+      pull_request.changes.any match "Project/**" OR
+      pull_request.changes.any match "ml-agents/**" OR
+      pull_request.changes.any match "ml-agents-envs/**" OR
+      pull_request.changes.any match "gym-unity/**" OR
       pull_request.changes.any match ".yamato/gym-interface-test.yml") AND
       NOT pull_request.changes.all match "**/*.md"
 {% endfor %}

.yamato/protobuf-generation-test.yml

@@ -13,9 +13,8 @@ test_mac_protobuf_generation:
       nuget install Grpc.Tools -Version $GRPC_VERSION -OutputDirectory protobuf-definitions/
       python3 -m venv venv
       . venv/bin/activate
-      pip install --upgrade pip
-      pip install grpcio-tools==1.13.0  --progress-bar=off
-      pip install mypy-protobuf==1.16.0 --progress-bar=off
+      pip install --upgrade pip --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+      pip install grpcio==1.28.1 grpcio-tools==1.13.0 protobuf==3.11.3 six==1.14.0 mypy-protobuf==1.16.0  --progress-bar=off --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
       cd protobuf-definitions
       chmod +x Grpc.Tools.$GRPC_VERSION/tools/macosx_x64/protoc
       chmod +x Grpc.Tools.$GRPC_VERSION/tools/macosx_x64/grpc_csharp_plugin

.yamato/python-ll-api-test.yml

@@ -11,9 +11,9 @@ test_mac_ll_api_{{ editor.version }}:
   variables:
     UNITY_VERSION: {{ editor.version }}
   commands:
-    - pip install pyyaml
+    - pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
     - python -u -m ml-agents.tests.yamato.setup_venv
-    - ./venv/bin/python ml-agents/tests/yamato/scripts/run_llapi.py 
+    - ./venv/bin/python ml-agents/tests/yamato/scripts/run_llapi.py
     - ./venv/bin/python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Basic
     - ./venv/bin/python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-WallJump
     - ./venv/bin/python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Bouncer
@@ -24,11 +24,11 @@ test_mac_ll_api_{{ editor.version }}:
     expression: |
       (pull_request.target eq "master" OR
       pull_request.target match "release.+") AND
-      NOT pull_request.draft AND 
-      (pull_request.changes.any match "com.unity.ml-agents/**" OR 
-      pull_request.changes.any match "Project/**" OR 
-      pull_request.changes.any match "ml-agents/**" OR 
-      pull_request.changes.any match "ml-agents-envs/**" OR 
+      NOT pull_request.draft AND
+      (pull_request.changes.any match "com.unity.ml-agents/**" OR
+      pull_request.changes.any match "Project/**" OR
+      pull_request.changes.any match "ml-agents/**" OR
+      pull_request.changes.any match "ml-agents-envs/**" OR
       pull_request.changes.any match ".yamato/python-ll-api-test.yml") AND
       NOT pull_request.changes.all match "**/*.md"
 {% endfor %}

.yamato/standalone-build-test.yml

@@ -12,7 +12,7 @@ test_mac_standalone_{{ editor.version }}:
   variables:
     UNITY_VERSION: {{ editor.version }}
   commands:
-    - pip install pyyaml
+    - pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
     - python -u -m ml-agents.tests.yamato.standalone_build_tests
     - python -u -m ml-agents.tests.yamato.standalone_build_tests --scene=Assets/ML-Agents/Examples/Basic/Scenes/Basic.unity
     - python -u -m ml-agents.tests.yamato.standalone_build_tests --scene=Assets/ML-Agents/Examples/Bouncer/Scenes/Bouncer.unity

.yamato/training-int-tests.yml

@@ -12,7 +12,7 @@ test_mac_training_int_{{ editor.version }}:
   variables:
     UNITY_VERSION: {{ editor.version }}
   commands:
-    - pip install pyyaml
+    - pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
     - python -u -m ml-agents.tests.yamato.training_int_tests
     # Backwards-compatibility tests.
     # If we make a breaking change to the communication protocol, these will need

Project/Assets/ML-Agents/Examples/Crawler/Prefabs/Crawler.prefab

@@ -2742,6 +2742,7 @@ GameObject:
   - component: {fileID: 4845971001715176662}
   - component: {fileID: 4845971001715176663}
   - component: {fileID: 4845971001715176660}
+  - component: {fileID: 4622120667686875944}
   m_Layer: 0
   m_Name: Crawler
   m_TagString: Untagged
@@ -2779,7 +2780,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   m_BrainParameters:
-    VectorObservationSize: 138
+    VectorObservationSize: 21
     NumStackedVectorObservations: 1
     VectorActionSize: 14000000
     VectorActionDescriptions: []
@@ -2872,6 +2873,30 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   debugCommandLineOverride: 
+--- !u!114 &4622120667686875944
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4845971001715176661}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: df0f8be9a37d6486498061e2cbc4cd94, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  RootBody: {fileID: 4845971001588102145}
+  VirtualRoot: {fileID: 2270141184585723037}
+  Settings:
+    UseModelSpaceTranslations: 1
+    UseModelSpaceRotations: 1
+    UseLocalSpaceTranslations: 0
+    UseLocalSpaceRotations: 1
+    UseModelSpaceLinearVelocity: 1
+    UseLocalSpaceLinearVelocity: 0
+    UseJointPositionsAndAngles: 0
+    UseJointForces: 0
+  sensorName: 
 --- !u!1 &4845971001730692034
 GameObject:
   m_ObjectHideFlags: 0
@@ -3018,6 +3043,12 @@ PrefabInstance:
       objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: 72f745913c5a34df5aaadd5c1f0024cb, type: 3}
+--- !u!1 &2270141184585723037 stripped
+GameObject:
+  m_CorrespondingSourceObject: {fileID: 2591864627249999519, guid: 72f745913c5a34df5aaadd5c1f0024cb,
+    type: 3}
+  m_PrefabInstance: {fileID: 4357529801223143938}
+  m_PrefabAsset: {fileID: 0}
 --- !u!4 &2270141184585723026 stripped
 Transform:
   m_CorrespondingSourceObject: {fileID: 2591864627249999504, guid: 72f745913c5a34df5aaadd5c1f0024cb,
@@ -3030,7 +3061,7 @@ MonoBehaviour:
     type: 3}
   m_PrefabInstance: {fileID: 4357529801223143938}
   m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 0}
+  m_GameObject: {fileID: 2270141184585723037}
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 771e78c5e980e440e8cd19716b55075f, type: 3}

Project/Assets/ML-Agents/Examples/Crawler/Prefabs/FixedPlatform.prefab

@@ -392,6 +392,11 @@ PrefabInstance:
       propertyPath: targetToLookAt
       value: 
       objectReference: {fileID: 2673081981996998229}
+    - target: {fileID: 4622120667686875944, guid: 0456c89e8c9c243d595b039fe7aa0bf9,
+        type: 3}
+      propertyPath: Settings.UseLocalSpaceLinearVelocity
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 4845971000000621469, guid: 0456c89e8c9c243d595b039fe7aa0bf9,
         type: 3}
       propertyPath: m_ConnectedAnchor.x

Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

@@ -91,17 +91,8 @@ public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
         //GROUND CHECK
         sensor.AddObservation(bp.groundContact.touchingGround); // Is this bp touching the ground
 
-        //Get velocities in the context of our orientation cube's space
-        //Note: You can get these velocities in world space as well but it may not train as well.
-        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.velocity));
-        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.angularVelocity));
-
-        //Get position relative to hips in the context of our orientation cube's space
-        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.position - body.position));
-
         if (bp.rb.transform != body)
         {
-            sensor.AddObservation(bp.rb.transform.localRotation);
             sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
         }
     }
@@ -111,9 +102,6 @@ public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
     /// </summary>
     public override void CollectObservations(VectorSensor sensor)
     {
-        //Add body rotation delta relative to orientation cube
-        sensor.AddObservation(Quaternion.FromToRotation(body.forward, orientationCube.transform.forward));
-
         //Add pos of target relative to orientation cube
         sensor.AddObservation(orientationCube.transform.InverseTransformPoint(target.transform.position));
 

Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockVisualArea.prefab

@@ -859,17 +859,18 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   m_BrainParameters:
-    vectorObservationSize: 0
-    numStackedVectorObservations: 1
-    vectorActionSize: 07000000
-    vectorActionDescriptions: []
-    vectorActionSpaceType: 0
+    VectorObservationSize: 0
+    NumStackedVectorObservations: 1
+    VectorActionSize: 07000000
+    VectorActionDescriptions: []
+    VectorActionSpaceType: 0
   m_Model: {fileID: 0}
   m_InferenceDevice: 0
   m_BehaviorType: 0
-  m_BehaviorName: VisualHallway
-  m_TeamID: 0
-  m_useChildSensors: 1
+  m_BehaviorName: VisualPushBlock
+  TeamId: 0
+  m_UseChildSensors: 1
+  m_ObservableAttributeHandling: 0
 --- !u!114 &114812843792483960
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -882,7 +883,10 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: dea8c4f2604b947e6b7b97750dde87ca, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  maxStep: 5000
+  agentParameters:
+    maxStep: 0
+  hasUpgradedFromAgentParameters: 1
+  MaxStep: 5000
   ground: {fileID: 1913379827958244}
   area: {fileID: 1632733799967290}
   areaBounds:
@@ -917,12 +921,12 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 282f342c2ab144bf38be65d4d0c4e07d, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  camera: {fileID: 20961401228419460}
-  sensorName: CameraSensor
-  width: 84
-  height: 84
-  grayscale: 0
-  compression: 1
+  m_Camera: {fileID: 20961401228419460}
+  m_SensorName: CameraSensor
+  m_Width: 84
+  m_Height: 84
+  m_Grayscale: 0
+  m_Compression: 1
 --- !u!114 &9049837659352187721
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -936,8 +940,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   DecisionPeriod: 5
-  RepeatAction: 1
-  offsetStep: 0
+  TakeActionsBetweenDecisions: 1
 --- !u!1 &1626651094211584
 GameObject:
   m_ObjectHideFlags: 0

Project/ProjectSettings/ProjectVersion.txt

@@ -1 +1 @@
-m_EditorVersion: 2018.4.20f1
+m_EditorVersion: 2018.4.24f1

README.md

@@ -2,7 +2,7 @@
 
 # Unity ML-Agents Toolkit
 
-[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_4_docs/docs/)
+[![docs badge](https://img.shields.io/badge/docs-reference-blue.svg)](https://github.com/Unity-Technologies/ml-agents/tree/release_5_docs/docs/)
 
 [![license badge](https://img.shields.io/badge/license-Apache--2.0-green.svg)](LICENSE)
 
@@ -48,8 +48,8 @@ descriptions of all these features.
 
 ## Releases & Documentation
 
-**Our latest, stable release is `Release 4`. Click
-[here](https://github.com/Unity-Technologies/ml-agents/tree/release_4_docs/docs/Readme.md)
+**Our latest, stable release is `Release 5`. Click
+[here](https://github.com/Unity-Technologies/ml-agents/tree/release_5_docs/docs/Readme.md)
 to get started with the latest release of ML-Agents.**
 
 The table below lists all our releases, including our `master` branch which is
@@ -67,13 +67,13 @@ under active development and may be unstable. A few helpful guidelines:
 | **Version** | **Release Date** | **Source** | **Documentation** | **Download** |
 |:-------:|:------:|:-------------:|:-------:|:------------:|
 | **master (unstable)** | -- | [source](https://github.com/Unity-Technologies/ml-agents/tree/master) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/master/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/master.zip) |
-| **Release 4** | **July 15, 2020** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_4)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_4_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_4.zip)** |
+| **Release 5** | **July 31, 2020** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_5)** | **[docs](https://github.com/Unity-Technologies/ml-agents/tree/release_5_docs/docs/Readme.md)** | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_5.zip)** |
+| **Release 4** | July 15, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_4) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_4_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_4.zip) |
 | **Release 3** | June 10, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_3) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_3_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_3.zip) |
 | **Release 2** | May 20, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_2) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_2_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_2.zip) |
 | **Release 1** | April 30, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/release_1) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/release_1_docs/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/release_1.zip) |
 | **0.15.1** | March 30, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.15.1) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.15.1/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.15.1.zip) |
 | **0.15.0** | March 18, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.15.0) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.15.0/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.15.0.zip) |
-| **0.14.1** | February 26, 2020 | [source](https://github.com/Unity-Technologies/ml-agents/tree/0.14.1) | [docs](https://github.com/Unity-Technologies/ml-agents/tree/0.14.1/docs/Readme.md) | [download](https://github.com/Unity-Technologies/ml-agents/archive/0.14.1.zip) |
 
 ## Citation
 

com.unity.ml-agents.extensions/README.md

@@ -1,3 +1,5 @@
 # ML-Agents Extensions
 
 This is a source-only package for new features based on ML-Agents.
+
+More details coming soon.

com.unity.ml-agents.extensions/Runtime/AssemblyInfo.cs

@@ -0,0 +1,3 @@
+using System.Runtime.CompilerServices;
+
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions.EditorTests")]

com.unity.ml-agents.extensions/Runtime/Sensors/ArticulationBodyPoseExtractor.cs

@@ -54,17 +54,17 @@ public ArticulationBodyPoseExtractor(ArticulationBody rootBody)
                 parentIndices[i] = bodyToIndex[parentArticBody];
             }
 
-            SetParentIndices(parentIndices);
+            Setup(parentIndices);
         }
 
         /// <inheritdoc/>
-        protected override Vector3 GetLinearVelocityAt(int index)
+        protected internal override Vector3 GetLinearVelocityAt(int index)
         {
             return m_Bodies[index].velocity;
         }
 
         /// <inheritdoc/>
-        protected override Pose GetPoseAt(int index)
+        protected internal override Pose GetPoseAt(int index)
         {
             var body = m_Bodies[index];
             var go = body.gameObject;