Merge branch 'master' into develop-sac-apex

.yamato/gym-interface-test.yml

   commands:
     - pip install pyyaml
     - python -u -m ml-agents.tests.yamato.setup_venv
-    - ./venv/bin/python ml-agents/tests/yamato/scripts/run_gym.py
+    - ./venv/bin/python ml-agents/tests/yamato/scripts/run_gym.py --env=artifacts/testPlayer-Basic
   dependencies:
     - .yamato/standalone-build-test.yml#test_mac_standalone_{{ editor.version }}
   triggers:

.yamato/protobuf-generation-test.yml

         - "protobuf-definitions/*.md"
         - "protobuf-definitions/**/*.md"
   artifacts:
-    dist:
+    patch:
-        - "artifacts/*"
+        - "artifacts/*.*"

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

   commands:
     - pip install pyyaml
     - 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
   dependencies:
     - .yamato/standalone-build-test.yml#test_mac_standalone_{{ editor.version }}
   triggers:

.yamato/standalone-build-test.yml

   commands:
     - pip install pyyaml
     - 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 
+    - python -u -m ml-agents.tests.yamato.standalone_build_tests --scene=Assets/ML-Agents/Examples/WallJump/Scenes/WallJump.unity 
   triggers:
     cancel_old_ci: true
     changes:
         - "com.unity.ml-agents/*.md"
         - "com.unity.ml-agents/**/*.md"
   artifacts:
+    logs:
+      paths:
+        - "artifacts/standalone_build.txt"
-        - "Project/testPlayer*/**"
+        - "artifacts/testPlayer*/**"
 {% endfor %}

.yamato/training-int-tests.yml

     # Backwards-compatibility tests.
     # If we make a breaking change to the communication protocol, these will need
     # to be disabled until the next release.
-    - python -u -m ml-agents.tests.yamato.training_int_tests --python=0.15.0
-    - python -u -m ml-agents.tests.yamato.training_int_tests --csharp=0.15.0
+    # - python -u -m ml-agents.tests.yamato.training_int_tests --python=0.15.0
+    # - python -u -m ml-agents.tests.yamato.training_int_tests --csharp=0.15.0
   dependencies:
     - .yamato/standalone-build-test.yml#test_mac_standalone_{{ editor.version }}
   triggers:
         - "com.unity.ml-agents/*.md"
         - "com.unity.ml-agents/**/*.md"
   artifacts:
-    unit:
+    logs:
+      paths:
+        - "artifacts/standalone_build.txt"
+    standalonebuild:
-        - "artifacts/**"
+        - "artifacts/testplayer*/**"
 {% endfor %}

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Project/Assets/ML-Agents/Examples/Pyramids/Prefabs/AreaPB.prefab

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Project/Assets/ML-Agents/Examples/Reacher/Prefabs/Agent.prefab

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

         {
             if (m_MaxEpisodes > 0)
             {
-                if (m_NumSteps > m_MaxEpisodes * m_Agent.maxStep)
+                // For Agents without maxSteps, exit as soon as we've hit the target number of episodes.
+                // For Agents that specify maxStep, also make sure we've gone at least that many steps.
+                // Since we exit as soon as *any* Agent hits its target, the maxSteps condition keeps us running
+                // a bit longer in case there's an early failure.
+                if (m_Agent.CompletedEpisodes >= m_MaxEpisodes && m_NumSteps > m_MaxEpisodes * m_Agent.maxStep)
                 {
                     Application.Quit(0);
                 }

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

             Physics.defaultSolverIterations = solverIterations;
             Physics.defaultSolverVelocityIterations = solverVelocityIterations;
 
+            // Make sure the Academy singleton is initialized first, since it will create the SideChannels.
+            var academy = Academy.Instance;
             SideChannelUtils.GetSideChannel<FloatPropertiesChannel>().RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
         }
 
             Physics.defaultSolverVelocityIterations = m_OriginalSolverVelocityIterations;
         }
     }
-}
+}

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

         public void Update() {}
 
         /// <inheritdoc/>
+        public void Reset() { }
+
+        /// <inheritdoc/>
         public virtual byte[] GetCompressedObservation()
         {
             return null;

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

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