migrate from old branch

Project/Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBall.demo.meta

 fileFormatVersion: 2
 guid: bbf6756da134740eaa002a1b84f655cb
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBall.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBall.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBallHard.demo.meta

 fileFormatVersion: 2
 guid: 6942431e411b146be9a597663eca89af
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBallHard.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/3DBall/Demos/Expert3DBallHard.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Basic/Demos/ExpertBasic.demo.meta

 fileFormatVersion: 2
 guid: 414224ce8b3e247ad936b17f574b10ab
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/Basic/Demos/ExpertBasic.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/Basic/Demos/ExpertBasic.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Bouncer/Demos/ExpertBouncer.demo.meta

 fileFormatVersion: 2
 guid: 6285af622c80e493b906f26cf5b2327f
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/Bouncer/Demos/ExpertBouncer.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/Bouncer/Demos/ExpertBouncer.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawlerDyn.demo.meta

 fileFormatVersion: 2
 guid: 557283e524ca0493ebc67c7b475304fe
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawlerDyn.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawlerDyn.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawlerSta.demo.meta

 fileFormatVersion: 2
 guid: 4975695b6ea23446a94c9be3b5d21731
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawlerSta.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/Crawler/Demos/ExpertCrawlerSta.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

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

   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   serializedVersion: 6
   m_Component:
   - component: {fileID: 4743084330461368}
-  - component: {fileID: 114727679958902886}
-  - component: {fileID: 8847231916954260663}
-  - component: {fileID: 6335439310911778343}
   m_Layer: 0
   m_Name: Crawler
   m_TagString: Untagged
   m_Father: {fileID: 4309919623019186}
   m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 45, z: 0}
---- !u!114 &114727679958902886
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1492298671135358}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 5d1c4e0b1822b495aa52bc52839ecb30, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  m_BrainParameters:
-    vectorObservationSize: 126
-    numStackedVectorObservations: 1
-    vectorActionSize: 14000000
-    vectorActionDescriptions: []
-    vectorActionSpaceType: 1
-  m_Model: {fileID: 11400000, guid: ac4a23ff4713140198629ae0844926ee, type: 3}
-  m_InferenceDevice: 0
-  m_BehaviorType: 0
-  m_BehaviorName: CrawlerStatic
-  TeamId: 0
-  m_UseChildSensors: 1
 --- !u!114 &114230237520033992
 MonoBehaviour:
   m_ObjectHideFlags: 0
   m_Script: {fileID: 11500000, guid: 2f37c30a5e8d04117947188818902ef3, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+  brain: {fileID: 11400000, guid: 0505e961608004377974940ed17e03d5, type: 2}
-    maxStep: 0
-  hasUpgradedFromAgentParameters: 1
-  maxStep: 5000
+    agentCameras: []
+    agentRenderTextures: []
+    maxStep: 5000
+    resetOnDone: 1
+    onDemandDecision: 0
+    numberOfActionsBetweenDecisions: 5
   target: {fileID: 4749909135913778}
   ground: {fileID: 4856650706546504}
   detectTargets: 0
   jointDampen: 3000
   maxJointForceLimit: 10000
   bodyPartsList: []
---- !u!114 &8847231916954260663
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1492298671135358}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 3a5c9d521e5ef4759a8246a07d52221e, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  DecisionPeriod: 5
-  TakeActionsBetweenDecisions: 0
-  offsetStep: 0
---- !u!114 &6335439310911778343
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1492298671135358}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: 3a6da8f78a394c6ab027688eab81e04d, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
 --- !u!1 &1492926997393242
 GameObject:
   m_ObjectHideFlags: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1995322274649904}
   m_LocalRotation: {x: 0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: -0, y: 1.5, z: 0}
-  m_LocalScale: {x: 0.01, y: 0.03, z: 0.01}
+  m_LocalPosition: {x: -0, y: 0.5, z: 0}
+  m_LocalScale: {x: 0.01, y: 0.01, z: 0.01}
   m_Children: []
   m_Father: {fileID: 4924174722017668}
   m_RootOrder: 1
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0

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

 fileFormatVersion: 2
 guid: 1b9d167a4e71146a883212e4f08bda88
-NativeFormatImporter:
+PrefabImporter:
-  mainObjectFileID: 100100000
   userData: 
   assetBundleName: 
   assetBundleVariant: 

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

 using UnityEngine;
 using Unity.MLAgents;
-using Unity.MLAgentsExamples;
-[RequireComponent(typeof(JointDriveController))] // Required to set joint forces
-public class CrawlerAgent : Agent
+namespace Unity.MLAgentsExamples
-    [Header("Target To Walk Towards")]
-    [Space(10)]
-    public Transform target;
-    public Transform ground;
-    public bool detectTargets;
-    public bool targetIsStatic;
-    public bool respawnTargetWhenTouched;
-    public float targetSpawnRadius;
+    [RequireComponent(typeof(JointDriveController))] // Required to set joint forces
+    public class CrawlerAgent : Agent
+    {
+        [Header("Target To Walk Towards")]
+        [Space(10)]
+        public Transform target;
-    [Header("Body Parts")] [Space(10)] public Transform body;
-    public Transform leg0Upper;
-    public Transform leg0Lower;
-    public Transform leg1Upper;
-    public Transform leg1Lower;
-    public Transform leg2Upper;
-    public Transform leg2Lower;
-    public Transform leg3Upper;
-    public Transform leg3Lower;
+        public Transform ground;
+        public bool detectTargets;
+        public bool targetIsStatic = false;
+        public bool respawnTargetWhenTouched;
+        public float targetSpawnRadius;
-    [Header("Joint Settings")] [Space(10)] JointDriveController m_JdController;
-    Vector3 m_DirToTarget;
-    float m_MovingTowardsDot;
-    float m_FacingDot;
+        [Header("Body Parts")]
+        [Space(10)]
+        public Transform body;
+        public Transform leg0Upper;
+        public Transform leg0Lower;
+        public Transform leg1Upper;
+        public Transform leg1Lower;
+        public Transform leg2Upper;
+        public Transform leg2Lower;
+        public Transform leg3Upper;
+        public Transform leg3Lower;
-    [Header("Reward Functions To Use")]
-    [Space(10)]
-    public bool rewardMovingTowardsTarget; // Agent should move towards target
+        [Header("Joint Settings")]
+        [Space(10)]
+        JointDriveController m_JdController;
+        Vector3 m_DirToTarget;
+        float m_MovingTowardsDot;
+        float m_FacingDot;
-    public bool rewardFacingTarget; // Agent should face the target
-    public bool rewardUseTimePenalty; // Hurry up
+        [Header("Reward Functions To Use")]
+        [Space(10)]
+        public bool rewardMovingTowardsTarget; // Agent should move towards target
-    [Header("Foot Grounded Visualization")]
-    [Space(10)]
-    public bool useFootGroundedVisualization;
+        public bool rewardFacingTarget; // Agent should face the target
+        public bool rewardUseTimePenalty; // Hurry up
-    public MeshRenderer foot0;
-    public MeshRenderer foot1;
-    public MeshRenderer foot2;
-    public MeshRenderer foot3;
-    public Material groundedMaterial;
-    public Material unGroundedMaterial;
+        [Header("Foot Grounded Visualization")]
+        [Space(10)]
+        public bool useFootGroundedVisualization;
-    Quaternion m_LookRotation;
-    Matrix4x4 m_TargetDirMatrix;
+        public MeshRenderer foot0;
+        public MeshRenderer foot1;
+        public MeshRenderer foot2;
+        public MeshRenderer foot3;
+        public Material groundedMaterial;
+        public Material unGroundedMaterial;
+        bool m_IsNewDecisionStep;
+        int m_CurrentDecisionStep;
-    public override void Initialize()
-    {
-        m_JdController = GetComponent<JointDriveController>();
-        m_DirToTarget = target.position - body.position;
+        Quaternion m_LookRotation;
+        Matrix4x4 m_TargetDirMatrix;
+        public override void Initialize()
+        {
+            m_JdController = GetComponent<JointDriveController>();
+            m_CurrentDecisionStep = 1;
+            m_DirToTarget = target.position - body.position;
-        //Setup each body part
-        m_JdController.SetupBodyPart(body);
-        m_JdController.SetupBodyPart(leg0Upper);
-        m_JdController.SetupBodyPart(leg0Lower);
-        m_JdController.SetupBodyPart(leg1Upper);
-        m_JdController.SetupBodyPart(leg1Lower);
-        m_JdController.SetupBodyPart(leg2Upper);
-        m_JdController.SetupBodyPart(leg2Lower);
-        m_JdController.SetupBodyPart(leg3Upper);
-        m_JdController.SetupBodyPart(leg3Lower);
-    }
-    /// <summary>
-    /// Add relevant information on each body part to observations.
-    /// </summary>
-    public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
-    {
-        var rb = bp.rb;
-        sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
+            //Setup each body part
+            m_JdController.SetupBodyPart(body);
+            m_JdController.SetupBodyPart(leg0Upper);
+            m_JdController.SetupBodyPart(leg0Lower);
+            m_JdController.SetupBodyPart(leg1Upper);
+            m_JdController.SetupBodyPart(leg1Lower);
+            m_JdController.SetupBodyPart(leg2Upper);
+            m_JdController.SetupBodyPart(leg2Lower);
+            m_JdController.SetupBodyPart(leg3Upper);
+            m_JdController.SetupBodyPart(leg3Lower);
+        }
-        var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity);
-        sensor.AddObservation(velocityRelativeToLookRotationToTarget);
-
-        var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
-        sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
-
-        if (bp.rb.transform != body)
+        /// <summary>
+        /// We only need to change the joint settings based on decision freq.
+        /// </summary>
+        public void IncrementDecisionTimer()
-            var localPosRelToBody = body.InverseTransformPoint(rb.position);
-            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);
+            // TODO Decision Requester
+//            if (m_CurrentDecisionStep == agentParameters.numberOfActionsBetweenDecisions
+//                || agentParameters.numberOfActionsBetweenDecisions == 1)
+//            {
+//                m_CurrentDecisionStep = 1;
+//                m_IsNewDecisionStep = true;
+//            }
+//            else
+//            {
+//                m_CurrentDecisionStep++;
+//                m_IsNewDecisionStep = false;
+//            }
-    }
-    public override void CollectObservations(VectorSensor sensor)
-    {
-        m_JdController.GetCurrentJointForces();
-
-        // Update pos to target
-        m_DirToTarget = target.position - body.position;
-        m_LookRotation = Quaternion.LookRotation(m_DirToTarget);
-        m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one);
-
-        RaycastHit hit;
-        if (Physics.Raycast(body.position, Vector3.down, out hit, 10.0f))
+        /// <summary>
+        /// Add relevant information on each body part to observations.
+        /// </summary>
+        public void CollectObservationBodyPart(VectorSensor vectorSensor, BodyPart bp)
-            sensor.AddObservation(hit.distance);
-        }
-        else
-            sensor.AddObservation(10.0f);
+            var rb = bp.rb;
+            vectorSensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
-        // Forward & up to help with orientation
-        var bodyForwardRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.forward);
-        sensor.AddObservation(bodyForwardRelativeToLookRotationToTarget);
+            var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity);
+            vectorSensor.AddObservation(velocityRelativeToLookRotationToTarget);
-        var bodyUpRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.up);
-        sensor.AddObservation(bodyUpRelativeToLookRotationToTarget);
+            var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
+            vectorSensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
-        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
-        {
-            CollectObservationBodyPart(bodyPart, sensor);
+            if (bp.rb.transform != body)
+            {
+                var localPosRelToBody = body.InverseTransformPoint(rb.position);
+                vectorSensor.AddObservation(localPosRelToBody);
+                vectorSensor.AddObservation(bp.currentXNormalizedRot); // Current x rot
+                vectorSensor.AddObservation(bp.currentYNormalizedRot); // Current y rot
+                vectorSensor.AddObservation(bp.currentZNormalizedRot); // Current z rot
+                vectorSensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
+            }
-    }
-    /// <summary>
-    /// Agent touched the target
-    /// </summary>
-    public void TouchedTarget()
-    {
-        AddReward(1f);
-        if (respawnTargetWhenTouched)
+        public override void CollectObservations(VectorSensor vectorSensor)
-            GetRandomTargetPos();
-        }
-    }
+            m_JdController.GetCurrentJointForces();
-    /// <summary>
-    /// Moves target to a random position within specified radius.
-    /// </summary>
-    public void GetRandomTargetPos()
-    {
-        var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
-        newTargetPos.y = 5;
-        target.position = newTargetPos + ground.position;
-    }
+            // Update pos to target
+            m_DirToTarget = target.position - body.position;
+            m_LookRotation = Quaternion.LookRotation(m_DirToTarget);
+            m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one);
-    public override void OnActionReceived(float[] vectorAction)
-    {
-        // The dictionary with all the body parts in it are in the jdController
-        var bpDict = m_JdController.bodyPartsDict;
+            RaycastHit hit;
+            if (Physics.Raycast(body.position, Vector3.down, out hit, 10.0f))
+            {
+                vectorSensor.AddObservation(hit.distance);
+            }
+            else
+                vectorSensor.AddObservation(10.0f);
-        var i = -1;
-        // Pick a new target joint rotation
-        bpDict[leg0Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-        bpDict[leg1Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-        bpDict[leg2Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-        bpDict[leg3Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
-        bpDict[leg0Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
-        bpDict[leg1Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
-        bpDict[leg2Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
-        bpDict[leg3Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+            // Forward & up to help with orientation
+            var bodyForwardRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.forward);
+            vectorSensor.AddObservation(bodyForwardRelativeToLookRotationToTarget);
-        // Update joint strength
-        bpDict[leg0Upper].SetJointStrength(vectorAction[++i]);
-        bpDict[leg1Upper].SetJointStrength(vectorAction[++i]);
-        bpDict[leg2Upper].SetJointStrength(vectorAction[++i]);
-        bpDict[leg3Upper].SetJointStrength(vectorAction[++i]);
-        bpDict[leg0Lower].SetJointStrength(vectorAction[++i]);
-        bpDict[leg1Lower].SetJointStrength(vectorAction[++i]);
-        bpDict[leg2Lower].SetJointStrength(vectorAction[++i]);
-        bpDict[leg3Lower].SetJointStrength(vectorAction[++i]);
-    }
+            var bodyUpRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.up);
+            vectorSensor.AddObservation(bodyUpRelativeToLookRotationToTarget);
-    void FixedUpdate()
-    {
-        if (detectTargets)
-        {
-                if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget)
-                {
-                    TouchedTarget();
-                }
+                CollectObservationBodyPart(vectorSensor, bodyPart);
-        // If enabled the feet will light up green when the foot is grounded.
-        // This is just a visualization and isn't necessary for function
-        if (useFootGroundedVisualization)
+        /// <summary>
+        /// Agent touched the target
+        /// </summary>
+        public void TouchedTarget()
-            foot0.material = m_JdController.bodyPartsDict[leg0Lower].groundContact.touchingGround
-                ? groundedMaterial
-                : unGroundedMaterial;
-            foot1.material = m_JdController.bodyPartsDict[leg1Lower].groundContact.touchingGround
-                ? groundedMaterial
-                : unGroundedMaterial;
-            foot2.material = m_JdController.bodyPartsDict[leg2Lower].groundContact.touchingGround
-                ? groundedMaterial
-                : unGroundedMaterial;
-            foot3.material = m_JdController.bodyPartsDict[leg3Lower].groundContact.touchingGround
-                ? groundedMaterial
-                : unGroundedMaterial;
+            AddReward(1f);
+            if (respawnTargetWhenTouched)
+            {
+                GetRandomTargetPos();
+            }
-        // Set reward for this step according to mixture of the following elements.
-        if (rewardMovingTowardsTarget)
+        /// <summary>
+        /// Moves target to a random position within specified radius.
+        /// </summary>
+        public void GetRandomTargetPos()
-            RewardFunctionMovingTowards();
+            var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
+            newTargetPos.y = 5;
+            target.position = newTargetPos + ground.position;
-        if (rewardFacingTarget)
+        public override void OnActionReceived(float[] vectorAction)
-            RewardFunctionFacingTarget();
-        }
+            if (detectTargets)
+            {
+                foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+                {
+                    if (bodyPart.targetContact
+                        // && !IsDone() - TODO copied from old code
+                        && bodyPart.targetContact.touchingTarget)
+                    {
+                        TouchedTarget();
+                    }
+                }
+            }
+
+            // If enabled the feet will light up green when the foot is grounded.
+            // This is just a visualization and isn't necessary for function
+            if (useFootGroundedVisualization)
+            {
+                foot0.material = m_JdController.bodyPartsDict[leg0Lower].groundContact.touchingGround
+                    ? groundedMaterial
+                    : unGroundedMaterial;
+                foot1.material = m_JdController.bodyPartsDict[leg1Lower].groundContact.touchingGround
+                    ? groundedMaterial
+                    : unGroundedMaterial;
+                foot2.material = m_JdController.bodyPartsDict[leg2Lower].groundContact.touchingGround
+                    ? groundedMaterial
+                    : unGroundedMaterial;
+                foot3.material = m_JdController.bodyPartsDict[leg3Lower].groundContact.touchingGround
+                    ? groundedMaterial
+                    : unGroundedMaterial;
+            }
+
+            // Joint update logic only needs to happen when a new decision is made
+            if (m_IsNewDecisionStep)
+            {
+                // The dictionary with all the body parts in it are in the jdController
+                var bpDict = m_JdController.bodyPartsDict;
+
+                var i = -1;
+
+                // Pick a new target joint rotation
+                bpDict[leg0Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+                bpDict[leg1Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+                bpDict[leg2Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+                bpDict[leg3Upper].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
+                bpDict[leg0Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+                bpDict[leg1Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+                bpDict[leg2Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
+                bpDict[leg3Lower].SetJointTargetRotation(vectorAction[++i], 0, 0);
-        if (rewardUseTimePenalty)
-        {
-            RewardFunctionTimePenalty();
-        }
-    }
+                // Update joint strength
+                bpDict[leg0Upper].SetJointStrength(vectorAction[++i]);
+                bpDict[leg1Upper].SetJointStrength(vectorAction[++i]);
+                bpDict[leg2Upper].SetJointStrength(vectorAction[++i]);
+                bpDict[leg3Upper].SetJointStrength(vectorAction[++i]);
+                bpDict[leg0Lower].SetJointStrength(vectorAction[++i]);
+                bpDict[leg1Lower].SetJointStrength(vectorAction[++i]);
+                bpDict[leg2Lower].SetJointStrength(vectorAction[++i]);
+                bpDict[leg3Lower].SetJointStrength(vectorAction[++i]);
+            }
-    /// <summary>
-    /// Reward moving towards target & Penalize moving away from target.
-    /// </summary>
-    void RewardFunctionMovingTowards()
-    {
-        m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[body].rb.velocity, m_DirToTarget.normalized);
-        AddReward(0.03f * m_MovingTowardsDot);
-    }
+            // Set reward for this step according to mixture of the following elements.
+            if (rewardMovingTowardsTarget)
+            {
+                RewardFunctionMovingTowards();
+            }
-    /// <summary>
-    /// Reward facing target & Penalize facing away from target
-    /// </summary>
-    void RewardFunctionFacingTarget()
-    {
-        m_FacingDot = Vector3.Dot(m_DirToTarget.normalized, body.forward);
-        AddReward(0.01f * m_FacingDot);
-    }
+            if (rewardFacingTarget)
+            {
+                RewardFunctionFacingTarget();
+            }
-    /// <summary>
-    /// Existential penalty for time-contrained tasks.
-    /// </summary>
-    void RewardFunctionTimePenalty()
-    {
-        AddReward(-0.001f);
-    }
+            if (rewardUseTimePenalty)
+            {
+                RewardFunctionTimePenalty();
+            }
-    /// <summary>
-    /// Loop over body parts and reset them to initial conditions.
-    /// </summary>
-    public override void OnEpisodeBegin()
-    {
-        if (m_DirToTarget != Vector3.zero)
+            IncrementDecisionTimer();
+        }
+
+        /// <summary>
+        /// Reward moving towards target & Penalize moving away from target.
+        /// </summary>
+        void RewardFunctionMovingTowards()
-            transform.rotation = Quaternion.LookRotation(m_DirToTarget);
+            m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[body].rb.velocity, m_DirToTarget.normalized);
+            AddReward(0.03f * m_MovingTowardsDot);
-        transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
-        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        /// <summary>
+        /// Reward facing target & Penalize facing away from target
+        /// </summary>
+        void RewardFunctionFacingTarget()
-            bodyPart.Reset(bodyPart);
+            m_FacingDot = Vector3.Dot(m_DirToTarget.normalized, body.forward);
+            AddReward(0.01f * m_FacingDot);
-        if (!targetIsStatic)
+
+        /// <summary>
+        /// Existential penalty for time-contrained tasks.
+        /// </summary>
+        void RewardFunctionTimePenalty()
-            GetRandomTargetPos();
+            AddReward(-0.001f);
+        }
+
+        /// <summary>
+        /// Loop over body parts and reset them to initial conditions.
+        /// </summary>
+        public override void OnEpisodeBegin()
+        {
+            if (m_DirToTarget != Vector3.zero)
+            {
+                transform.rotation = Quaternion.LookRotation(m_DirToTarget);
+            }
+
+            transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
+
+            foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+            {
+                bodyPart.Reset(bodyPart);
+            }
+
+            if (!targetIsStatic)
+            {
+                GetRandomTargetPos();
+            }
+
+            m_IsNewDecisionStep = true;
+            m_CurrentDecisionStep = 1;
-}
+}

Project/Assets/ML-Agents/Examples/FoodCollector/Demos/ExpertFood.demo.meta

 fileFormatVersion: 2
 guid: 95285c32be79a4c77a5ac225e671e4b5
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/FoodCollector/Demos/ExpertFood.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/FoodCollector/Demos/ExpertFood.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/GridWorld/Demos/ExpertGrid.demo.meta

 fileFormatVersion: 2
 guid: 0092f2e4aece345aea4730a37eeebf68
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/GridWorld/Demos/ExpertGrid.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/GridWorld/Demos/ExpertGrid.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Hallway/Demos/ExpertHallway.demo.meta

 fileFormatVersion: 2
 guid: 41c6af18564fe425fa1c047d603ee34e
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/Hallway/Demos/ExpertHallway.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/Hallway/Demos/ExpertHallway.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/PushBlock/Demos/ExpertPush.demo.meta

 fileFormatVersion: 2
 guid: 7f11f35191533404c9957443a681aaee
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/PushBlock/Demos/ExpertPush.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/PushBlock/Demos/ExpertPush.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Pyramids/Demos/ExpertPyramid.demo.meta

 fileFormatVersion: 2
 guid: 2f9d53c90f11846d7a6499ce0f1dfebb
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/Pyramids/Demos/ExpertPyramid.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/Pyramids/Demos/ExpertPyramid.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Reacher/Demos/ExpertReacher.demo.meta

 fileFormatVersion: 2
 guid: 4f14b17d2835e482097c88301323e587
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/Reacher/Demos/ExpertReacher.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/Reacher/Demos/ExpertReacher.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Reacher/Scenes/Reacher.unity

     m_EnableBakedLightmaps: 1
     m_EnableRealtimeLightmaps: 1
   m_LightmapEditorSettings:
-    serializedVersion: 10
+    serializedVersion: 12
     m_Resolution: 2
     m_BakeResolution: 40
     m_AtlasSize: 1024
     m_CompAOExponentDirect: 0
+    m_ExtractAmbientOcclusion: 0
     m_Padding: 2
     m_LightmapParameters: {fileID: 0}
     m_LightmapsBakeMode: 1
     m_PVRDirectSampleCount: 32
     m_PVRSampleCount: 500
     m_PVRBounces: 2
+    m_PVREnvironmentSampleCount: 500
+    m_PVREnvironmentReferencePointCount: 2048
+    m_PVRFilteringMode: 2
+    m_PVRDenoiserTypeDirect: 0
+    m_PVRDenoiserTypeIndirect: 0
+    m_PVRDenoiserTypeAO: 0
-    m_PVRFilteringMode: 1
+    m_PVREnvironmentMIS: 0
     m_PVRCulling: 1
     m_PVRFilteringGaussRadiusDirect: 1
     m_PVRFilteringGaussRadiusIndirect: 5
     m_PVRFilteringAtrousPositionSigmaAO: 1
-    m_ShowResolutionOverlay: 1
+    m_ExportTrainingData: 0
+    m_TrainingDataDestination: TrainingData
+    m_LightProbeSampleCountMultiplier: 4
   m_LightingDataAsset: {fileID: 0}
   m_UseShadowmask: 1
 --- !u!196 &4
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
   serializedVersion: 6
   m_Component:
   - component: {fileID: 1574236049}
-  - component: {fileID: 1574236050}
+  - component: {fileID: 1574236048}
-  m_Name: ReacherAcademy
+  m_Name: Academy
+--- !u!114 &1574236048
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1574236047}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 4c970415924214d13949fbd6cddd1759, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  broadcastHub:
+    broadcastingBrains:
+    - {fileID: 11400000, guid: aee5a4acc5804447682bf509557afa4f, type: 2}
+    m_BrainsToControl:
+    - {fileID: 11400000, guid: aee5a4acc5804447682bf509557afa4f, type: 2}
+  m_TrainingConfiguration:
+    width: 80
+    height: 80
+    qualityLevel: 1
+    timeScale: 100
+    targetFrameRate: 60
+  m_InferenceConfiguration:
+    width: 1280
+    height: 720
+    qualityLevel: 5
+    timeScale: 1
+    targetFrameRate: 60
+  resetParameters:
+    m_ResetParameters:
+    - key: goal_size
+      value: 5
+    - key: goal_speed
+      value: 1
+    - key: gravity
+      value: 9.81
+    - key: deviation
+      value: 0
+    - key: deviation_freq
+      value: 0
 --- !u!4 &1574236049
 Transform:
   m_ObjectHideFlags: 0
   m_Father: {fileID: 0}
   m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
---- !u!114 &1574236050
-MonoBehaviour:
-  m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 0}
-  m_PrefabInstance: {fileID: 0}
-  m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1574236047}
-  m_Enabled: 1
-  m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: ec51f47c5ed0478080c449c74fd9c154, type: 3}
-  m_Name: 
-  m_EditorClassIdentifier: 
-  gravityMultiplier: 1
-  monitorVerticalOffset: 0
-  fixedDeltaTime: 0.02
-  maximumDeltaTime: 0.33333334
-  solverIterations: 6
-  solverVelocityIterations: 1
 --- !u!1001 &1611337401
 PrefabInstance:
   m_ObjectHideFlags: 0
   m_ClearFlags: 2
   m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1}
   m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
-  m_GateFitMode: 2
   m_FocalLength: 50
   m_NormalizedViewPortRect:
     serializedVersion: 2

Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs

 using Unity.MLAgents;
 using Unity.MLAgents.Sensors;
 
-public class ReacherAgent : Agent
+namespace Unity.MLAgentsExamples
-    public GameObject pendulumA;
-    public GameObject pendulumB;
-    public GameObject hand;
-    public GameObject goal;
-    float m_GoalDegree;
-    Rigidbody m_RbA;
-    Rigidbody m_RbB;
-    // speed of the goal zone around the arm (in radians)
-    float m_GoalSpeed;
-    // radius of the goal zone
-    float m_GoalSize;
-    // Magnitude of sinusoidal (cosine) deviation of the goal along the vertical dimension
-    float m_Deviation;
-    // Frequency of the cosine deviation of the goal along the vertical dimension
-    float m_DeviationFreq;
+
-    EnvironmentParameters m_ResetParams;
-    /// <summary>
-    /// Collect the rigidbodies of the reacher in order to resue them for
-    /// observations and actions.
-    /// </summary>
-    public override void Initialize()
+    public class ReacherAgent : Agent
-        m_RbA = pendulumA.GetComponent<Rigidbody>();
-        m_RbB = pendulumB.GetComponent<Rigidbody>();
+        public GameObject pendulumA;
+        public GameObject pendulumB;
+        public GameObject hand;
+        public GameObject goal;
+        //private ReacherAcademy m_MyAcademy;
+        float m_GoalDegree;
+        private Rigidbody m_RbA;
+        private Rigidbody m_RbB;
-        m_ResetParams = Academy.Instance.EnvironmentParameters;
+        // speed of the goal zone around the arm (in radians)
+        private float m_GoalSpeed;
-        SetResetParameters();
-    }
+        // radius of the goal zone
+        private float m_GoalSize;
-    /// <summary>
-    /// 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(VectorSensor sensor)
-    {
-        sensor.AddObservation(pendulumA.transform.localPosition);
-        sensor.AddObservation(pendulumA.transform.rotation);
-        sensor.AddObservation(m_RbA.angularVelocity);
-        sensor.AddObservation(m_RbA.velocity);
+        // Magnitude of sinusoidal (cosine) deviation of the goal along the vertical dimension
+        private float m_Deviation;
-        sensor.AddObservation(pendulumB.transform.localPosition);
-        sensor.AddObservation(pendulumB.transform.rotation);
-        sensor.AddObservation(m_RbB.angularVelocity);
-        sensor.AddObservation(m_RbB.velocity);
+        // Frequency of the cosine deviation of the goal along the vertical dimension
+        private float m_DeviationFreq;
-        sensor.AddObservation(goal.transform.localPosition);
-        sensor.AddObservation(hand.transform.localPosition);
+        /// <summary>
+        /// Collect the rigidbodies of the reacher in order to resue them for
+        /// observations and actions.
+        /// </summary>
+        public override void Initialize()
+        {
+            m_RbA = pendulumA.GetComponent<Rigidbody>();
+            m_RbB = pendulumB.GetComponent<Rigidbody>();
-        sensor.AddObservation(m_GoalSpeed);
-    }
+            //m_MyAcademy = GameObject.Find("Academy").GetComponent<ReacherAcademy>();
-    /// <summary>
-    /// The agent's four actions correspond to torques on each of the two joints.
-    /// </summary>
-    public override void OnActionReceived(float[] vectorAction)
-    {
-        m_GoalDegree += m_GoalSpeed;
-        UpdateGoalPosition();
+            SetResetParameters();
+        }
-        var torqueX = Mathf.Clamp(vectorAction[0], -1f, 1f) * 150f;
-        var torqueZ = Mathf.Clamp(vectorAction[1], -1f, 1f) * 150f;
-        m_RbA.AddTorque(new Vector3(torqueX, 0f, torqueZ));
+        /// <summary>
+        /// 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(VectorSensor vectorSensor)
+        {
+            vectorSensor.AddObservation(pendulumA.transform.localPosition);
+            vectorSensor.AddObservation(pendulumA.transform.rotation);
+            vectorSensor.AddObservation(m_RbA.angularVelocity);
+            vectorSensor.AddObservation(m_RbA.velocity);
-        torqueX = Mathf.Clamp(vectorAction[2], -1f, 1f) * 150f;
-        torqueZ = Mathf.Clamp(vectorAction[3], -1f, 1f) * 150f;
-        m_RbB.AddTorque(new Vector3(torqueX, 0f, torqueZ));
-    }
+            vectorSensor.AddObservation(pendulumB.transform.localPosition);
+            vectorSensor.AddObservation(pendulumB.transform.rotation);
+            vectorSensor.AddObservation(m_RbB.angularVelocity);
+            vectorSensor.AddObservation(m_RbB.velocity);
-    /// <summary>
-    /// Used to move the position of the target goal around the agent.
-    /// </summary>
-    void UpdateGoalPosition()
-    {
-        var radians = m_GoalDegree * Mathf.PI / 180f;
-        var goalX = 8f * Mathf.Cos(radians);
-        var goalY = 8f * Mathf.Sin(radians);
-        var goalZ = m_Deviation * Mathf.Cos(m_DeviationFreq * radians);
-        goal.transform.position = new Vector3(goalY, goalZ, goalX) + transform.position;
-    }
+            vectorSensor.AddObservation(goal.transform.localPosition);
+            vectorSensor.AddObservation(hand.transform.localPosition);
-    /// <summary>
-    /// Resets the position and velocity of the agent and the goal.
-    /// </summary>
-    public override void OnEpisodeBegin()
-    {
-        pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
-        pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
-        m_RbA.velocity = Vector3.zero;
-        m_RbA.angularVelocity = Vector3.zero;
+            vectorSensor.AddObservation(m_GoalSpeed);
+        }
-        pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position;
-        pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
-        m_RbB.velocity = Vector3.zero;
-        m_RbB.angularVelocity = Vector3.zero;
+        /// <summary>
+        /// The agent's four actions correspond to torques on each of the two joints.
+        /// </summary>
+        public override void OnActionReceived(float[] vectorAction)
+        {
+            m_GoalDegree += m_GoalSpeed;
+            UpdateGoalPosition();
-        m_GoalDegree = Random.Range(0, 360);
-        UpdateGoalPosition();
+            var torqueX = Mathf.Clamp(vectorAction[0], -1f, 1f) * 150f;
+            var torqueZ = Mathf.Clamp(vectorAction[1], -1f, 1f) * 150f;
+            m_RbA.AddTorque(new Vector3(torqueX, 0f, torqueZ));
-        SetResetParameters();
+            torqueX = Mathf.Clamp(vectorAction[2], -1f, 1f) * 150f;
+            torqueZ = Mathf.Clamp(vectorAction[3], -1f, 1f) * 150f;
+            m_RbB.AddTorque(new Vector3(torqueX, 0f, torqueZ));
+        }
+        /// <summary>
+        /// Used to move the position of the target goal around the agent.
+        /// </summary>
+        void UpdateGoalPosition()
+        {
+            var radians = m_GoalDegree * Mathf.PI / 180f;
+            var goalX = 8f * Mathf.Cos(radians);
+            var goalY = 8f * Mathf.Sin(radians);
+            var goalZ = m_Deviation * Mathf.Cos(m_DeviationFreq * radians);
+            goal.transform.position = new Vector3(goalY, goalZ, goalX) + transform.position;
+        }
-        goal.transform.localScale = new Vector3(m_GoalSize, m_GoalSize, m_GoalSize);
-    }
+        /// <summary>
+        /// Resets the position and velocity of the agent and the goal.
+        /// </summary>
+        public override void OnEpisodeBegin()
+        {
+            pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
+            pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
+            m_RbA.velocity = Vector3.zero;
+            m_RbA.angularVelocity = Vector3.zero;
-    public void SetResetParameters()
-    {
-        m_GoalSize = m_ResetParams.GetWithDefault("goal_size", 5);
-        m_GoalSpeed = Random.Range(-1f, 1f) * m_ResetParams.GetWithDefault("goal_speed", 1);
-        m_Deviation = m_ResetParams.GetWithDefault("deviation", 0);
-        m_DeviationFreq = m_ResetParams.GetWithDefault("deviation_freq", 0);
+            pendulumB.transform.position = new Vector3(0f, -10f, 0f) + transform.position;
+            pendulumB.transform.rotation = Quaternion.Euler(180f, 0f, 0f);
+            m_RbB.velocity = Vector3.zero;
+            m_RbB.angularVelocity = Vector3.zero;
+
+            m_GoalDegree = Random.Range(0, 360);
+            UpdateGoalPosition();
+
+            SetResetParameters();
+
+
+            goal.transform.localScale = new Vector3(m_GoalSize, m_GoalSize, m_GoalSize);
+        }
+
+        public void SetResetParameters()
+        {
+            // TODO
+//            m_GoalSize = m_MyAcademy.resetParameters["goal_size"];
+//            m_GoalSpeed = Random.Range(-1f, 1f) * m_MyAcademy.resetParameters["goal_speed"];
+//            m_Deviation = m_MyAcademy.resetParameters["deviation"];
+//            m_DeviationFreq = m_MyAcademy.resetParameters["deviation_freq"];
+        }
+
+        public override void Heuristic(float[] actionsOut)
+        {
+            for (var i = 0; i < actionsOut.Length; i++)
+            {
+                actionsOut[i] = Random.Range(-1f, 1f);
+            }
+        }
-}
+}

Project/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherGoal.cs

 using UnityEngine;
 
-public class ReacherGoal : MonoBehaviour
+namespace Unity.MLAgentsExamples
-    public GameObject agent;
-    public GameObject hand;
-    public GameObject goalOn;
+    public class ReacherGoal : MonoBehaviour
+    {
+        public GameObject agent;
+        public GameObject hand;
+        public GameObject goalOn;
-    void OnTriggerEnter(Collider other)
-    {
-        if (other.gameObject == hand)
+        private void OnTriggerEnter(Collider other)
-            goalOn.transform.localScale = new Vector3(1f, 1f, 1f);
+            if (other.gameObject == hand)
+            {
+                goalOn.transform.localScale = new Vector3(1f, 1f, 1f);
+            }
-    }
-    void OnTriggerExit(Collider other)
-    {
-        if (other.gameObject == hand)
+        private void OnTriggerExit(Collider other)
-            goalOn.transform.localScale = new Vector3(0f, 0f, 0f);
+            if (other.gameObject == hand)
+            {
+                goalOn.transform.localScale = new Vector3(0f, 0f, 0f);
+            }
-    }
-    void OnTriggerStay(Collider other)
-    {
-        if (other.gameObject == hand)
+        private void OnTriggerStay(Collider other)
-            agent.GetComponent<ReacherAgent>().AddReward(0.01f);
+            if (other.gameObject == hand)
+            {
+                agent.GetComponent<ReacherAgent>().AddReward(0.01f);
+            }
-}
+}

Project/Assets/ML-Agents/Examples/Tennis/Demos/ExpertTennis.demo.meta

 fileFormatVersion: 2
 guid: 9676a67fc4a8d420aab12eb513a845a8
 ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/Tennis/Demos/ExpertTennis.demo
+  internalIDToNameTable:
+  - first:
+      114: 11400000
+    second: Assets/ML-Agents/Examples/Tennis/Demos/ExpertTennis.demo
+  serializedVersion: 2
   userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
   assetBundleName: 
   assetBundleVariant: