Merge branch 'master' into soccer-fives

.circleci/config.yml

       pip_constraints:
         type: string
         description: Constraints file that is passed to "pip install". We constraint older versions of libraries for older python runtime, in order to help ensure compatibility.
+      enforce_onnx_conversion:
+        type: integer
+        default: 0
+        description: Whether to raise an exception if ONNX models couldn't be saved.
     executor: << parameters.executor >>
     working_directory: ~/repo
 
+      TEST_ENFORCE_ONNX_CONVERSION: << parameters.enforce_onnx_conversion >>
 
     steps:
       - checkout
           pyversion: 3.7.3
           # Test python 3.7 with the newest supported versions
           pip_constraints: test_constraints_max_tf1_version.txt
+          # Make sure ONNX conversion passes here (recent version of tensorflow 1.x)
+          enforce_onnx_conversion: 1
       - build_python:
           name: python_3.7.3+tf2
           executor: python373

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

 test_editors:
   - version: 2018.4
+    # 2018.4 doesn't support code-coverage
+    coverageOptions:
+    coverageOptions: --enable-code-coverage --code-coverage-options 'generateHtmlReport;assemblyFilters:+Unity.ML-Agents'
+    coverageOptions: --enable-code-coverage --code-coverage-options 'generateHtmlReport;assemblyFilters:+Unity.ML-Agents'
 test_platforms:
   - name: win
     type: Unity::VM
     flavor: {{ platform.flavor}}
   commands:
     - npm install upm-ci-utils@stable -g --registry https://api.bintray.com/npm/unity/unity-npm
-    - upm-ci package test -u {{ editor.version }} --package-path com.unity.ml-agents
+    - upm-ci package test -u {{ editor.version }} --package-path com.unity.ml-agents {{ editor.coverageOptions }}
   artifacts:
     logs:
       paths:

DevProject/Packages/manifest.json

     "com.unity.2d.tilemap": "1.0.0",
     "com.unity.ads": "2.0.8",
     "com.unity.analytics": "3.3.5",
+    "com.unity.coding": "0.1.0-preview.13",
     "com.unity.collab-proxy": "1.2.16",
     "com.unity.ide.rider": "1.1.4",
     "com.unity.ide.vscode": "1.1.4",
     "com.unity.package-validation-suite": "0.7.15-preview",
     "com.unity.purchasing": "2.0.6",
-    "com.unity.test-framework": "1.1.9",
+    "com.unity.test-framework": "1.1.11",
-    "com.unity.timeline": "1.2.10",
+    "com.unity.timeline": "1.2.12",
     "com.unity.ugui": "1.0.0",
     "com.unity.xr.legacyinputhelpers": "1.3.8",
     "com.unity.modules.ai": "1.0.0",
     "com.unity.modules.video": "1.0.0",
     "com.unity.modules.vr": "1.0.0",
     "com.unity.modules.wind": "1.0.0",
-    "com.unity.modules.xr": "1.0.0",
-    "com.unity.coding" : "0.1.0-preview.13"
+    "com.unity.modules.xr": "1.0.0"
   },
   "registry": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates",
   "testables": [

DevProject/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2019.3.0f6
-m_EditorVersionWithRevision: 2019.3.0f6 (27ab2135bccf)
+m_EditorVersion: 2019.3.3f1
+m_EditorVersionWithRevision: 2019.3.3f1 (7ceaae5f7503)

Project/Assets/ML-Agents/Examples/3DBall/Scenes/3DBall.unity

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Project/Assets/ML-Agents/Examples/3DBall/Scenes/3DBallHard.unity

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Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs

     [Header("Specific to Ball3D")]
     public GameObject ball;
     Rigidbody m_BallRb;
-    IFloatProperties m_ResetParams;
+    FloatPropertiesChannel m_ResetParams;
-    public override void InitializeAgent()
+    public override void Initialize()
     {
         m_BallRb = ball.GetComponent<Rigidbody>();
         m_ResetParams = Academy.Instance.FloatProperties;
         sensor.AddObservation(m_BallRb.velocity);
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f);
         var actionX = 2f * Mathf.Clamp(vectorAction[1], -1f, 1f);
             Mathf.Abs(ball.transform.position.z - gameObject.transform.position.z) > 3f)
         {
             SetReward(-1f);
-            Done();
+            EndEpisode();
         }
         else
         {
 
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         gameObject.transform.rotation = new Quaternion(0f, 0f, 0f, 0f);
         gameObject.transform.Rotate(new Vector3(1, 0, 0), Random.Range(-10f, 10f));

Project/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs

     [Header("Specific to Ball3DHard")]
     public GameObject ball;
     Rigidbody m_BallRb;
-    IFloatProperties m_ResetParams;
+    FloatPropertiesChannel m_ResetParams;
-    public override void InitializeAgent()
+    public override void Initialize()
     {
         m_BallRb = ball.GetComponent<Rigidbody>();
         m_ResetParams = Academy.Instance.FloatProperties;
         sensor.AddObservation((ball.transform.position - gameObject.transform.position));
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f);
         var actionX = 2f * Mathf.Clamp(vectorAction[1], -1f, 1f);
             Mathf.Abs(ball.transform.position.z - gameObject.transform.position.z) > 3f)
         {
             SetReward(-1f);
-            Done();
+            EndEpisode();
         }
         else
         {
 
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         gameObject.transform.rotation = new Quaternion(0f, 0f, 0f, 0f);
         gameObject.transform.Rotate(new Vector3(1, 0, 0), Random.Range(-10f, 10f));

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

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Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicController.cs

         if (m_Position == k_SmallGoalPosition)
         {
             m_Agent.AddReward(0.1f);
-            m_Agent.Done();
+            m_Agent.EndEpisode();
             ResetAgent();
         }
 
-            m_Agent.Done();
+            m_Agent.EndEpisode();
             ResetAgent();
         }
     }

Project/Assets/ML-Agents/Examples/Bouncer/Scripts/BouncerAgent.cs

     int m_NumberJumps = 20;
     int m_JumpLeft = 20;
 
-    IFloatProperties m_ResetParams;
+    FloatPropertiesChannel m_ResetParams;
-    public override void InitializeAgent()
+    public override void Initialize()
     {
         m_Rb = gameObject.GetComponent<Rigidbody>();
         m_LookDir = Vector3.zero;
         sensor.AddObservation(target.transform.localPosition);
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         for (var i = 0; i < vectorAction.Length; i++)
         {
         m_LookDir = new Vector3(x, y, z);
     }
 
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         gameObject.transform.localPosition = new Vector3(
             (1 - 2 * Random.value) * 5, 2, (1 - 2 * Random.value) * 5);
         if (gameObject.transform.position.y < -1)
         {
             AddReward(-1);
-            Done();
+            EndEpisode();
             return;
         }
 
             AddReward(-1);
-            Done();
+            EndEpisode();
-            Done();
+            EndEpisode();
         }
     }
 

Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicTarget.unity

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   solverIterations: 12

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

     Quaternion m_LookRotation;
     Matrix4x4 m_TargetDirMatrix;
 
-    public override void InitializeAgent()
+    public override void Initialize()
     {
         m_JdController = GetComponent<JointDriveController>();
         m_DirToTarget = target.position - body.position;
         target.position = newTargetPos + ground.position;
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         // The dictionary with all the body parts in it are in the jdController
         var bpDict = m_JdController.bodyPartsDict;
     /// <summary>
     /// Loop over body parts and reset them to initial conditions.
     /// </summary>
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         if (m_DirToTarget != Vector3.zero)
         {

Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs

     public bool useVectorObs;
 
 
-    public override void InitializeAgent()
+    public override void Initialize()
-        base.InitializeAgent();
         m_AgentRb = GetComponent<Rigidbody>();
         m_MyArea = area.GetComponent<FoodCollectorArea>();
         m_FoodCollecterSettings = FindObjectOfType<FoodCollectorSettings>();
         gameObject.GetComponentInChildren<Renderer>().material = normalMaterial;
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         MoveAgent(vectorAction);
     }
         return action;
     }
 
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         Unfreeze();
         Unpoison();

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

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   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.4497121, g: 0.49977785, b: 0.57563704, a: 1}
+  m_IndirectSpecularColor: {r: 0.44971162, g: 0.49977726, b: 0.5756362, a: 1}
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     maxStep: 100
-    resetOnDone: 1
-    onDemandDecision: 1
-    numberOfActionsBetweenDecisions: 1
+  hasUpgradedFromAgentParameters: 1
+  maxStep: 100
   area: {fileID: 1795599557}
   timeBetweenDecisionsAtInference: 0.15
   renderCamera: {fileID: 797520692}
   m_InferenceDevice: 0
   m_BehaviorType: 0
   m_BehaviorName: GridWorld
-  m_TeamID: 0
-  m_useChildSensors: 1
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+  m_UseChildSensors: 1
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Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs

     const int k_Left = 3;
     const int k_Right = 4;
 
-    public override void InitializeAgent()
-    {
-    }
-
     public override void CollectDiscreteActionMasks(DiscreteActionMasker actionMasker)
     {
         // Mask the necessary actions if selected by the user.
     }
 
     // to be implemented by the developer
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         AddReward(-0.01f);
         var action = Mathf.FloorToInt(vectorAction[0]);
             if (hit.Where(col => col.gameObject.CompareTag("goal")).ToArray().Length == 1)
             {
                 SetReward(1f);
-                Done();
+                EndEpisode();
-                Done();
+                EndEpisode();
             }
         }
     }
     }
 
     // to be implemented by the developer
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         area.AreaReset();
     }

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

 
     public GameObject trueAgent;
 
-    IFloatProperties m_ResetParameters;
+    FloatPropertiesChannel m_ResetParameters;
 
     Camera m_AgentCam;
 

Project/Assets/ML-Agents/Examples/Hallway/Scripts/HallwayAgent.cs

     HallwaySettings m_HallwaySettings;
     int m_Selection;
 
-    public override void InitializeAgent()
+    public override void Initialize()
-        base.InitializeAgent();
         m_HallwaySettings = FindObjectOfType<HallwaySettings>();
         m_AgentRb = GetComponent<Rigidbody>();
         m_GroundRenderer = ground.GetComponent<Renderer>();
         m_AgentRb.AddForce(dirToGo * m_HallwaySettings.agentRunSpeed, ForceMode.VelocityChange);
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         AddReward(-1f / maxStep);
         MoveAgent(vectorAction);
                 SetReward(-0.1f);
                 StartCoroutine(GoalScoredSwapGroundMaterial(m_HallwaySettings.failMaterial, 0.5f));
             }
-            Done();
+            EndEpisode();
         }
     }
 
         return new float[] { 0 };
     }
 
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         var agentOffset = -15f;
         var blockOffset = 0f;

Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushAgentBasic.cs

         m_PushBlockSettings = FindObjectOfType<PushBlockSettings>();
     }
 
-    public override void InitializeAgent()
+    public override void Initialize()
-        base.InitializeAgent();
         goalDetect = block.GetComponent<GoalDetect>();
         goalDetect.agent = this;
 
         AddReward(5f);
 
         // By marking an agent as done AgentReset() will be called automatically.
-        Done();
+        EndEpisode();
 
         // Swap ground material for a bit to indicate we scored.
         StartCoroutine(GoalScoredSwapGroundMaterial(m_PushBlockSettings.goalScoredMaterial, 0.5f));
     /// <summary>
     /// Called every step of the engine. Here the agent takes an action.
     /// </summary>
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         // Move the agent using the action.
         MoveAgent(vectorAction);
     /// In the editor, if "Reset On Done" is checked then AgentReset() will be
     /// called automatically anytime we mark done = true in an agent script.
     /// </summary>
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         var rotation = Random.Range(0, 4);
         var rotationAngle = rotation * 90f;

Project/Assets/ML-Agents/Examples/Pyramids/Scripts/PyramidAgent.cs

     public GameObject areaSwitch;
     public bool useVectorObs;
 
-    public override void InitializeAgent()
+    public override void Initialize()
-        base.InitializeAgent();
         m_AgentRb = GetComponent<Rigidbody>();
         m_MyArea = area.GetComponent<PyramidArea>();
         m_SwitchLogic = areaSwitch.GetComponent<PyramidSwitch>();
         m_AgentRb.AddForce(dirToGo * 2f, ForceMode.VelocityChange);
     }
 
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         AddReward(-1f / maxStep);
         MoveAgent(vectorAction);
         return new float[] { 0 };
     }
 
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         var enumerable = Enumerable.Range(0, 9).OrderBy(x => Guid.NewGuid()).Take(9);
         var items = enumerable.ToArray();
         if (collision.gameObject.CompareTag("goal"))
         {
             SetReward(2f);
-            Done();
+            EndEpisode();
         }
     }
 }

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

     /// Collect the rigidbodies of the reacher in order to resue them for
     /// observations and actions.
     /// </summary>
-    public override void InitializeAgent()
+    public override void Initialize()
     {
         m_RbA = pendulumA.GetComponent<Rigidbody>();
         m_RbB = pendulumB.GetComponent<Rigidbody>();
     /// <summary>
     /// The agent's four actions correspond to torques on each of the two joints.
     /// </summary>
-    public override void AgentAction(float[] vectorAction)
+    public override void OnActionReceived(float[] vectorAction)
     {
         m_GoalDegree += m_GoalSpeed;
         UpdateGoalPosition();
     /// <summary>
     /// Resets the position and velocity of the agent and the goal.
     /// </summary>
-    public override void AgentReset()
+    public override void OnEpisodeBegin()
     {
         pendulumA.transform.position = new Vector3(0f, -4f, 0f) + transform.position;
         pendulumA.transform.rotation = Quaternion.Euler(180f, 0f, 0f);

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

 
                 if (agentDoneOnGroundContact)
                 {
-                    agent.Done();
+                    agent.EndEpisode();
                 }
             }
         }

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

         void OverrideModel()
         {
             m_Agent.LazyInitialize();
-            var name = m_Agent.BehaviorName;
+            var bp = m_Agent.GetComponent<BehaviorParameters>();
+            var name = bp.behaviorName;
-            m_Agent.GiveModel($"Override_{name}", nnModel);
+            m_Agent.SetModel($"Override_{name}", nnModel);
 
         }
     }

Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldFives.prefab

   m_InferenceDevice: 0
   m_BehaviorType: 0
   m_BehaviorName: SoccerFives
-  m_TeamID: 1
+  TeamId: 1
   m_UseChildSensors: 1
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   m_Name: 
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-  sensorName: PurpleRayPerceptionSensor
-  detectableTags:
+  m_SensorName: PurpleRayPerceptionSensor
+  m_DetectableTags:
   - ball
   - purpleGoal
   - blueGoal
-  raysPerDirection: 5
-  maxRayDegrees: 60
-  sphereCastRadius: 0.5
-  rayLength: 60
-  rayLayerMask:
+  m_RaysPerDirection: 5
+  m_MaxRayDegrees: 60
+  m_SphereCastRadius: 0.5
+  m_RayLength: 60
+  m_RayLayerMask:
-  observationStacks: 3
+  m_ObservationStacks: 3
-  startVerticalOffset: 0.5
-  endVerticalOffset: 0.5
+  m_StartVerticalOffset: 0.5
+  m_EndVerticalOffset: 0.5
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+  TakeActionsBetweenDecisions: 1
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 --- !u!1 &1100217258374548
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   m_BehaviorType: 0
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-  detectableTags:
+  m_SensorName: BlueRayPerceptionSensor
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