Sensor cleanup

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

         //avg body vel relative to cube
         sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(avgVel));
         //vel goal relative to cube
-        goalSensor.sensor.AddObservation(m_OrientationCube.transform.InverseTransformDirection(velGoal));
+        goalSensor.GetSensor().AddObservation(m_OrientationCube.transform.InverseTransformDirection(velGoal));
-        goalSensor.sensor.AddObservation(m_OrientationCube.transform.InverseTransformPoint(m_Target.transform.position));
+        goalSensor.GetSensor().AddObservation(m_OrientationCube.transform.InverseTransformPoint(m_Target.transform.position));
 
         RaycastHit hit;
         float maxRaycastDist = 10;

Project/Assets/ML-Agents/Examples/GoalNav/Prefabs/Area.prefab

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   - component: {fileID: 441485152799695089}
   - component: {fileID: 441485152799695094}
-  - component: {fileID: 441485152799695088}
+  - component: {fileID: 4324470601561966908}
   m_Layer: 0
   m_Name: Agent
   m_TagString: agent
     VectorActionDescriptions: []
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 0}
+  m_Model: {fileID: 11400000, guid: ad29336c39b53441bac1c1dc86f627a8, type: 3}
   m_InferenceDevice: 0
   m_BehaviorType: 0
   m_BehaviorName: GoalNav
   m_EditorClassIdentifier: 
   DecisionPeriod: 5
   TakeActionsBetweenDecisions: 1
---- !u!114 &441485152799695088
+--- !u!114 &4324470601561966908
 MonoBehaviour:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: fd48a95d788a348b0b7a8cefd39e7c27, type: 3}
+  m_Script: {fileID: 11500000, guid: cd4eb5a37d8bf4074bbbbb470263d151, type: 3}
-  observationSize: 6
+  m_observationSize: 6
+  m_ObservationType: 1
 --- !u!1 &441518250880870225
 GameObject:
   m_ObjectHideFlags: 0

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

       propertyPath: m_LocalEulerAnglesHint.z
       value: 0
       objectReference: {fileID: 0}
-    m_RemovedComponents: []
+    m_RemovedComponents:
+    - {fileID: 7930513067898411695, guid: 7e00e0f579d3d45af894c9b817bb585d, type: 3}
   m_SourcePrefab: {fileID: 100100000, guid: 7e00e0f579d3d45af894c9b817bb585d, type: 3}

Project/Assets/ML-Agents/Examples/GoalNav/Scripts/GoalNavAgent.cs

         goalSensor = this.GetComponent<VectorSensorComponent>();
         if (useVectorObs)
         {
-            goalSensor.sensor.AddObservation(goalLoc / 10f);
+            goalSensor.GetSensor().AddObservation(goalLoc / 10f);
-        goalSensor.sensor.AddObservation(obstacleLoc / 10f);
+        goalSensor.GetSensor().AddObservation(obstacleLoc / 10f);
     }
 
 

Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs

         Array values = Enum.GetValues(typeof(GridGoal));
         int goalNum = (int)gridGoal;
         goalSensor = this.GetComponent<VectorSensorComponent>();
-        goalSensor.sensor.AddOneHotObservation(goalNum, values.Length);
+        goalSensor.GetSensor().AddOneHotObservation(goalNum, values.Length);
     }
 
     public override void WriteDiscreteActionMask(IDiscreteActionMask actionMask)

Project/Assets/ML-Agents/Examples/PushJump/Scripts/WJPBAgent.cs

         sensor.AddObservation(agentPos / 20f);
         sensor.AddObservation(DoGroundCheck(true) ? 1 : 0);
         goalSensor = this.GetComponent<VectorSensorComponent>();
-        goalSensor.sensor.AddObservation(m_GoalOneHot);
+        goalSensor.GetSensor().AddObservation(m_GoalOneHot);
     }
 
     /// <summary>

ml-agents/mlagents/trainers/settings.py

     num_layers: int = 2
     vis_encode_type: EncoderType = EncoderType.SIMPLE
     memory: Optional[MemorySettings] = None
-    conditioning_type: ConditioningType = ConditioningType.DEFAULT
+    conditioning_type: ConditioningType = ConditioningType.HYPER
 
 
 @attr.s(auto_attribs=True)

ml-agents/mlagents/trainers/torch/layers.py

         output_weights = self.hypernet(hyper_input)
 
         output_weights = output_weights.view(-1, self.input_size, self.output_size)
-        return (
-            torch.bmm(input_activation.unsqueeze(1), output_weights).squeeze(1)
-            + self.bias
-        )
+
+        result = torch.bmm(input_activation.unsqueeze(1), output_weights).squeeze(1) + self.bias
+        return result

com.unity.ml-agents/Runtime/Sensors/VectorSensorComponent.cs.meta

 fileFormatVersion: 2
-guid: fd48a95d788a348b0b7a8cefd39e7c27
+guid: cd4eb5a37d8bf4074bbbbb470263d151
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2

com.unity.ml-agents/Editor/VectorSensorComponentEditor.cs

+using UnityEditor;
+using Unity.MLAgents.Sensors;
+
+namespace Unity.MLAgents.Editor
+{
+    [CustomEditor(typeof(VectorSensorComponent))]
+    [CanEditMultipleObjects]
+    internal class VectorSensorComponentEditor : UnityEditor.Editor
+    {
+        public override void OnInspectorGUI()
+        {
+            var so = serializedObject;
+            so.Update();
+
+            // Drawing the VectorSensorComponent
+            EditorGUI.BeginChangeCheck();
+
+            EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());
+            {
+                // These fields affect the sensor order or observation size,
+                // So can't be changed at runtime.
+                EditorGUILayout.PropertyField(so.FindProperty("m_observationSize"), true);
+                EditorGUILayout.PropertyField(so.FindProperty("m_ObservationType"), true);
+            }
+            EditorGUI.EndDisabledGroup();
+
+            var requireSensorUpdate = EditorGUI.EndChangeCheck();
+            so.ApplyModifiedProperties();
+
+            if (requireSensorUpdate)
+            {
+                UpdateSensor();
+            }
+        }
+
+        void UpdateSensor()
+        {
+            var sensorComponent = serializedObject.targetObject as VectorSensorComponent;
+            sensorComponent?.UpdateSensor();
+        }
+    }
+}

com.unity.ml-agents/Editor/VectorSensorComponentEditor.cs.meta

+fileFormatVersion: 2
+guid: 7353c768b27de4de18487d7a0e3516c5
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

com.unity.ml-agents/Runtime/Sensors/VectorSensorComponent.cs

+using UnityEngine;
+using UnityEngine.Serialization;
+
+namespace Unity.MLAgents.Sensors
+{
+    [AddComponentMenu("ML Agents/Vector Sensor", (int)MenuGroup.Sensors)]
+    public class VectorSensorComponent : SensorComponent
+    {
+        public int ObservationSize
+        {
+            get { return m_observationSize; }
+            set { m_observationSize = value; }
+        }
+
+        [HideInInspector, SerializeField]
+        int m_observationSize;
+        
+        [HideInInspector, SerializeField]
+        ObservationType m_ObservationType;
+
+        VectorSensor m_sensor;
+        
+        public ObservationType ObservationType
+        {
+            get { return m_ObservationType; }
+            set { m_ObservationType = value; }
+        }
+
+        /// <summary>
+        /// Creates a VectorSensor.
+        /// </summary>
+        /// <returns></returns>
+        public override ISensor CreateSensor()
+        {
+            m_sensor = new VectorSensor(m_observationSize, observationType: m_ObservationType);
+            return m_sensor;
+        }
+
+        /// <inheritdoc/>
+        public override int[] GetObservationShape()
+        {
+            return new[] { m_observationSize };
+        }
+
+        public VectorSensor GetSensor()
+        {
+            return m_sensor;
+        }
+
+
+        /// <summary>
+        /// Update fields that are safe to change on the Sensor at runtime.
+        /// </summary>
+        internal void UpdateSensor()
+        {
+            if (m_sensor != null)
+            {
+
+            }
+        }
+    }
+}

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/VectorSensorComponent.cs

-using System.Collections.Generic;
-using System.Collections.ObjectModel;
-using Unity.MLAgents.Sensors;
-using UnityEngine;
-
-
-public class VectorSensorComponent : SensorComponent
-{
-    int m_observationSize;
-    ObservationType m_ObservationType;
-
-    public int ObservationSize
-    {
-        get { return m_observationSize; }
-        set { m_observationSize = value; }
-    }
-
-    public VectorSensor sensor;
-    public ObservationType ObservationType
-    {
-        get { return m_ObservationType; }
-        set { m_ObservationType = value; }
-    }
-
-
-    /// <summary>
-    /// Creates a VectorSensor.
-    /// </summary>
-    /// <returns></returns>
-    public override ISensor CreateSensor()
-    {
-        sensor = new VectorSensor(m_observationSize, observationType: m_ObservationType);
-        return sensor;
-    }
-
-    /// <inheritdoc/>
-    public override int[] GetObservationShape()
-    {
-        return new[] { m_observationSize };
-    }
-}