Merge 0.11.0 to develop (#2825)

* Update package and communicator versions to 0.11

* Remove pip cache fallback for CircleCI

This change removes the caching fallback in the case where dependencies
change, since it can cause CI failures when we have incompatible
dependencies in the cache.

* Limit Tensorflow version for tests to <2.0

* Use stable bokken image. (#2815)

* build fixes for 2018+ (#2808)

* rename CompressionType enum

* fix standalone build test for 2018+

* Add more editor versions for testing. (#2809)

* class variable for API verison, fix env tests (#2817)

* fixed area prefab

agents were pointing to the wrong laser gameObject.

.circleci/config.yml

           keys:
           # Parameterize the cache so that different python versions can get different versions of the packages
           - v1-dependencies-py<< parameters.pyversion >>-{{ checksum "python_deps.txt" }}
-          # fallback to using the latest cache if no exact match is found
-          - v1-dependencies-py<< parameters.pyversion >>-
 
       - run:
           name: Install Dependencies

.yamato/csharp-tests.yml

-name: Mac Edit Mode Tests
-triggers:
+test_editors:
+  - version: 2017.4
+  - version: 2018.4
+  - version: 2019.3
+---
+{% for editor in test_editors %}
+test_mac_editmode_{{ editor.version }}:
+  name: Test Mac EditMode {{ editor.version }}
+  agent:
+    type: Unity::VM::osx
+    image: ml-agents/ml-agents-bokken-mac:stable
+    flavor: i1.small
+  variables:
+    UNITY_VERSION: {{ editor.version }}
+  commands:
+    - ./run-tests-editmode-osx-editor.sh
+  triggers:
-      - "/develop-.*/"
+        - "/develop-.*/"
-      - "develop"
+        - "develop"
     pull_requests:
       - targets:
           only:
-
-agent:
-  type: Unity::VM::osx
-  image: ml-agents/ml-agents-bokken-mac:stable
-  flavor: i1.small
-
-variables:
-  LC_ALL: "en_US.UTF-8"
-commands:
-  - ./run-tests-editmode-osx-editor.sh
+{% endfor %}

.yamato/standalone-build-test.yml

-name: Mac Standalone Build Test
-triggers:
-  branches:
-    only:
-      - "/develop-.*/"
-  targets:
-    only:
-      - "develop"
-  pull_requests:
-    - targets:
-        only:
-          - "master"
-          - "/release-.*/"
-          - "/hotfix-.*/"
-
-agent:
-  type: Unity::VM::osx
-  image: ml-agents/ml-agents-bokken-mac:stable
-  flavor: i1.small
-
-variables:
-  LC_ALL: "en_US.UTF-8"
-commands:
-  - ./run-standalone-build-osx.sh
+test_editors:
+  - version: 2017.4
+  - version: 2018.4
+  - version: 2019.3
+---
+{% for editor in test_editors %}
+test_mac_standalone_{{ editor.version }}:
+  name: Test Mac Standalone {{ editor.version }}
+  agent:
+    type: Unity::VM::osx
+    image: ml-agents/ml-agents-bokken-mac:stable
+    flavor: i1.small
+  variables:
+    UNITY_VERSION: {{ editor.version }}
+  commands:
+    - ./run-standalone-build-osx.sh
+  triggers:
+    branches:
+      only:
+        - "/develop-.*/"
+    targets:
+      only:
+        - "develop"
+    pull_requests:
+      - targets:
+          only:
+            - "master"
+            - "/release-.*/"
+            - "/hotfix-.*/"
+{% endfor %}

UnitySDK/Assets/ML-Agents/Editor/Tests/MLAgentsEditModeTest.cs

             return null;
         }
 
-        public CompressionType GetCompressionType()
+        public SensorCompressionType GetCompressionType()
-            return CompressionType.None;
+            return SensorCompressionType.None;
         }
 
         public string GetName()

UnitySDK/Assets/ML-Agents/Editor/Tests/StandaloneBuildTest.cs

 using System;
 using UnityEditor;
 using UnityEngine;
+#if UNITY_2018_1_OR_NEWER
+using UnityEditor.Build.Reporting;
+#endif
 
 namespace MLAgents
 {
         {
             string[] scenes = { "Assets/ML-Agents/Examples/3DBall/Scenes/3DBall.unity" };
-            var error = BuildPipeline.BuildPlayer(scenes, "testPlayer", BuildTarget.StandaloneOSX, BuildOptions.None);
-            if (string.IsNullOrEmpty(error))
+            var buildResult = BuildPipeline.BuildPlayer(scenes, "testPlayer", BuildTarget.StandaloneOSX, BuildOptions.None);
+#if UNITY_2018_1_OR_NEWER
+            var isOK = buildResult.summary.result == BuildResult.Succeeded;
+            var error = "";
+            foreach (var stepInfo in buildResult.steps)
+            {
+                foreach (var msg in stepInfo.messages)
+                {
+                    if (msg.type != LogType.Log && msg.type != LogType.Warning)
+                    {
+                        error += msg.content + "\n";
+                    }
+                }
+            }
+#else
+            var error = buildResult;
+            var isOK = string.IsNullOrEmpty(error);
+#endif
+            if (isOK)
             {
                 EditorApplication.Exit(0);
             }
                 EditorApplication.Exit(1);
-                
+
+
-        
+
     }
 }

UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Prefabs/FoodCollectorArea.prefab

     vectorObservationSize: 53
     numStackedVectorObservations: 1
     vectorActionSize: 03000000030000000300000002000000
-    cameraResolutions: []
     vectorActionDescriptions: []
     vectorActionSpaceType: 0
   m_Model: {fileID: 11400000, guid: d32fca21cf4c04536ab7f88eb9de83e0, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   agentParameters:
-    agentCameras: []
-    agentRenderTextures: []
     maxStep: 5000
     resetOnDone: 1
     onDemandDecision: 0
   m_Name: 
   m_EditorClassIdentifier: 
   agentParameters:
-    agentCameras: []
-    agentRenderTextures: []
     maxStep: 5000
     resetOnDone: 1
     onDemandDecision: 0
   badMaterial: {fileID: 2100000, guid: 88b9ae7af2c1748a0a1f63407587a601, type: 2}
   goodMaterial: {fileID: 2100000, guid: c67450f290f3e4897bc40276a619e78d, type: 2}
   frozenMaterial: {fileID: 2100000, guid: 66163cf35956a4be08e801b750c26f33, type: 2}
-  myLaser: {fileID: 1081721624670010}
+  myLaser: {fileID: 1617924810425504}
   contribute: 0
   useVectorObs: 1
 --- !u!114 &114192565006091356
   m_Name: 
   m_EditorClassIdentifier: 
   agentParameters:
-    agentCameras: []
-    agentRenderTextures: []
     maxStep: 5000
     resetOnDone: 1
     onDemandDecision: 0
   badMaterial: {fileID: 2100000, guid: 88b9ae7af2c1748a0a1f63407587a601, type: 2}
   goodMaterial: {fileID: 2100000, guid: c67450f290f3e4897bc40276a619e78d, type: 2}
   frozenMaterial: {fileID: 2100000, guid: 66163cf35956a4be08e801b750c26f33, type: 2}
-  myLaser: {fileID: 1081721624670010}
+  myLaser: {fileID: 1045923826166930}
   contribute: 0
   useVectorObs: 1
 --- !u!114 &114374774605792098
     vectorObservationSize: 53
     numStackedVectorObservations: 1
     vectorActionSize: 03000000030000000300000002000000
-    cameraResolutions: []
     vectorActionDescriptions: []
     vectorActionSpaceType: 0
   m_Model: {fileID: 11400000, guid: d32fca21cf4c04536ab7f88eb9de83e0, type: 3}
     vectorObservationSize: 53
     numStackedVectorObservations: 1
     vectorActionSize: 03000000030000000300000002000000
-    cameraResolutions: []
     vectorActionDescriptions: []
     vectorActionSpaceType: 0
   m_Model: {fileID: 11400000, guid: d32fca21cf4c04536ab7f88eb9de83e0, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
   agentParameters:
-    agentCameras: []
-    agentRenderTextures: []
     maxStep: 5000
     resetOnDone: 1
     onDemandDecision: 0
   badMaterial: {fileID: 2100000, guid: 88b9ae7af2c1748a0a1f63407587a601, type: 2}
   goodMaterial: {fileID: 2100000, guid: c67450f290f3e4897bc40276a619e78d, type: 2}
   frozenMaterial: {fileID: 2100000, guid: 66163cf35956a4be08e801b750c26f33, type: 2}
-  myLaser: {fileID: 1081721624670010}
+  myLaser: {fileID: 1421240237750412}
   contribute: 0
   useVectorObs: 1
 --- !u!114 &114661830999747712
   m_Name: 
   m_EditorClassIdentifier: 
   agentParameters:
-    agentCameras: []
-    agentRenderTextures: []
     maxStep: 5000
     resetOnDone: 1
     onDemandDecision: 0
   badMaterial: {fileID: 2100000, guid: 88b9ae7af2c1748a0a1f63407587a601, type: 2}
   goodMaterial: {fileID: 2100000, guid: c67450f290f3e4897bc40276a619e78d, type: 2}
   frozenMaterial: {fileID: 2100000, guid: 66163cf35956a4be08e801b750c26f33, type: 2}
-  myLaser: {fileID: 1081721624670010}
+  myLaser: {fileID: 1941433838307300}
   contribute: 0
   useVectorObs: 1
 --- !u!114 &114762047763154270
     vectorObservationSize: 53
     numStackedVectorObservations: 1
     vectorActionSize: 03000000030000000300000002000000
-    cameraResolutions: []
     vectorActionDescriptions: []
     vectorActionSpaceType: 0
   m_Model: {fileID: 11400000, guid: d32fca21cf4c04536ab7f88eb9de83e0, type: 3}
     vectorObservationSize: 53
     numStackedVectorObservations: 1
     vectorActionSize: 03000000030000000300000002000000
-    cameraResolutions: []
     vectorActionDescriptions: []
     vectorActionSpaceType: 0
   m_Model: {fileID: 11400000, guid: d32fca21cf4c04536ab7f88eb9de83e0, type: 3}

UnitySDK/Assets/ML-Agents/Examples/FoodCollector/Scenes/FoodCollector.unity

   m_ReflectionIntensity: 1
   m_CustomReflection: {fileID: 0}
   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.44971162, g: 0.49977726, b: 0.5756362, a: 1}
+  m_IndirectSpecularColor: {r: 0.4497121, g: 0.4997778, b: 0.5756369, a: 1}
 --- !u!157 &3
 LightmapSettings:
   m_ObjectHideFlags: 0
   m_Script: {fileID: 11500000, guid: 4fe57113e76a5426297487dd6faadc5b, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  broadcastHub:
-    brainsToControl:
-    - {fileID: 11400000, guid: 9e7865ec29c894c2d8c1617b0fa392f9, type: 2}
   m_TrainingConfiguration:
     width: 500
     height: 500

UnitySDK/Assets/ML-Agents/Scripts/Academy.cs

         "docs/Learning-Environment-Design-Academy.md")]
     public abstract class Academy : MonoBehaviour
     {
-        const string k_ApiVersion = "API-10";
+        const string k_ApiVersion = "API-11";
 
         /// Temporary storage for global gravity value
         /// Used to restore oringal value when deriving Academy modifies it

UnitySDK/Assets/ML-Agents/Scripts/Agent.cs

     /// of the environment extracts its current observation, sends them to its
     /// policy and in return receives an action. In practice,
     /// however, an agent need not send its observation at every step since very
-    /// little may have changed between successive steps. 
+    /// little may have changed between successive steps.
     ///
     /// At any step, an agent may be considered <see cref="m_Done"/>.
     /// This could occur due to a variety of reasons:
 
         /// <summary>
         /// Updates the Model for the agent. Any model currently assigned to the
-        /// agent will be replaced with the provided one. If the arguments are 
+        /// agent will be replaced with the provided one. If the arguments are
-        /// remain unchanged. 
+        /// remain unchanged.
-        /// <param name="behaviorName"> The identifier of the behavior. This 
-        /// will categorize the agent when training. 
+        /// <param name="behaviorName"> The identifier of the behavior. This
+        /// will categorize the agent when training.
-        /// <param name = "inferenceDevice"> Define on what device the model 
+        /// <param name = "inferenceDevice"> Define on what device the model
         /// will be run.</param>
         public void GiveModel(
             string behaviorName,

UnitySDK/Assets/ML-Agents/Scripts/Sensor/CameraSensor.cs

             }
         }
 
-        public CompressionType GetCompressionType()
+        public SensorCompressionType GetCompressionType()
-            return CompressionType.PNG;
+            return SensorCompressionType.PNG;
         }
 
         /// <summary>

UnitySDK/Assets/ML-Agents/Scripts/Sensor/CompressedObservation.cs

         /// <summary>
         /// The format of the compressed data
         /// </summary>
-        public CompressionType CompressionType;
+        public SensorCompressionType CompressionType;
 
         /// <summary>
         /// The uncompressed dimensions of the data.

UnitySDK/Assets/ML-Agents/Scripts/Sensor/ISensor.cs

 
 namespace MLAgents.Sensor
 {
-    public enum CompressionType
+    public enum SensorCompressionType
     {
         None,
         PNG
         byte[] GetCompressedObservation();
 
         /// <summary>
-        /// Return the compression type being used. If no compression is used, return CompressionType.None
+        /// Return the compression type being used. If no compression is used, return SensorCompressionType.None
-        CompressionType GetCompressionType();
+        SensorCompressionType GetCompressionType();
 
         /// <summary>
         /// Get the name of the sensor. This is used to ensure deterministic sorting of the sensors on an Agent,

UnitySDK/Assets/ML-Agents/Scripts/Sensor/RenderTextureSensor.cs

             }
         }
 
-        public CompressionType GetCompressionType()
+        public SensorCompressionType GetCompressionType()
-            return CompressionType.PNG;
+            return SensorCompressionType.PNG;
         }
 
         /// <summary>

UnitySDK/Assets/ML-Agents/Scripts/Sensor/SensorBase.cs

             return null;
         }
 
-        public virtual CompressionType GetCompressionType()
+        public virtual SensorCompressionType GetCompressionType()
-            return CompressionType.None;
+            return SensorCompressionType.None;
         }
     }
 }

gym-unity/setup.py

 from setuptools import setup, find_packages
 from setuptools.command.install import install
 
-VERSION = "0.11.0.dev0"
+VERSION = "0.11.0"
 
 
 class VerifyVersionCommand(install):

ml-agents-envs/mlagents/envs/environment.py

     SCALAR_ACTION_TYPES = (int, np.int32, np.int64, float, np.float32, np.float64)
     SINGLE_BRAIN_ACTION_TYPES = SCALAR_ACTION_TYPES + (list, np.ndarray)
     SINGLE_BRAIN_TEXT_TYPES = list
+    API_VERSION = "API-11"
 
     def __init__(
         self,
         atexit.register(self._close)
         self.port = base_port + worker_id
         self._buffer_size = 12000
-        self._version_ = "API-10"
+        self._version_ = UnityEnvironment.API_VERSION
         self._loaded = (
             False
         )  # If true, this means the environment was successfully loaded

ml-agents-envs/mlagents/envs/mock_communicator.py

 from .communicator import Communicator
+from .environment import UnityEnvironment
 from mlagents.envs.communicator_objects.unity_rl_output_pb2 import UnityRLOutputProto
 from mlagents.envs.communicator_objects.brain_parameters_pb2 import BrainParametersProto
 from mlagents.envs.communicator_objects.unity_rl_initialization_output_pb2 import (
             is_training=True,
         )
         rl_init = UnityRLInitializationOutputProto(
-            name="RealFakeAcademy", version="API-10", log_path="", brain_parameters=[bp]
+            name="RealFakeAcademy",
+            version=UnityEnvironment.API_VERSION,
+            log_path="",
+            brain_parameters=[bp],
         )
         output = UnityRLOutputProto(agentInfos=self._get_agent_infos())
         return UnityOutputProto(rl_initialization_output=rl_init, rl_output=output)

ml-agents-envs/setup.py

 from setuptools import setup
 from setuptools.command.install import install
 
-VERSION = "0.11.0.dev0"
+VERSION = "0.11.0"
 
 here = os.path.abspath(os.path.dirname(__file__))
 

ml-agents/setup.py

 from setuptools import setup, find_namespace_packages
 from setuptools.command.install import install
 
-VERSION = "0.11.0.dev0"
+VERSION = "0.11.0"
 
 here = os.path.abspath(os.path.dirname(__file__))
 

run-standalone-build-osx.sh

 
 set -eo pipefail
 
-EDITOR_VERSION="2017.4.33f1"
-BOKKEN_UNITY="/Users/bokken/${EDITOR_VERSION}/Unity.app/Contents/MacOS/Unity"
-HUB_UNITY="/Applications/Unity/Hub/Editor/${EDITOR_VERSION}/Unity.app/Contents/MacOS/Unity"
+if [[ -z "${UNITY_VERSION}" ]]; then
-if [[ -f ${BOKKEN_UNITY} ]]; then 
-    UNITY=${BOKKEN_UNITY}
+    echo "Environment Variable UNITY_VERSION was not set"
+    exit 1
+
-    UNITY=${HUB_UNITY}
-fi 
+    BOKKEN_UNITY="/Users/bokken/${UNITY_VERSION}/Unity.app/Contents/MacOS/Unity"
+    HUB_UNITY="/Applications/Unity/Hub/Editor/${UNITY_VERSION}/Unity.app/Contents/MacOS/Unity"
-pushd $(dirname "${0}") > /dev/null
-BASETPATH=$(pwd -L)
-popd > /dev/null
+    if [[ -f ${BOKKEN_UNITY} ]]; then
+        UNITY=${BOKKEN_UNITY}
+    else
+        UNITY=${HUB_UNITY}
+    fi
+
+    pushd $(dirname "${0}") > /dev/null
+    BASETPATH=$(pwd -L)
+    popd > /dev/null
+
+    echo "Cleaning previous results"
+
+    echo "Starting tests via $UNITY"
-echo "Cleaning previous results"
+    CMD_LINE="$UNITY -projectPath $BASETPATH/UnitySDK -logfile - -batchmode -executeMethod MLAgents.StandaloneBuildTest.BuildStandalonePlayerOSX"
-echo "Starting tests via $UNITY"
+    echo "$CMD_LINE ..."
-CMD_LINE="$UNITY -projectPath $BASETPATH/UnitySDK -batchmode -executeMethod MLAgents.StandaloneBuildTest.BuildStandalonePlayerOSX"
+    ${CMD_LINE}
+    RES=$?
-echo "$CMD_LINE ..."
+    if [[ "${RES}" -eq "0" ]]; then
+        echo "Standalone build completed successfully.";
+        exit 0;
+    else
+        echo "Standalone build failed."
+        exit 1;
+    fi
-${CMD_LINE}
-RES=$?
+    exit ${RES}
-if [[ "${RES}" -eq "0" ]]; then
-    echo "Standalone build completed successfully.";
-    exit 0;
-else
-    echo "Standalone build failed."
-    exit 1;
-
-exit ${RES}

run-tests-editmode-osx-editor.sh

 
 set -eo pipefail
 
-EDITOR_VERSION="2017.4.33f1"
-BOKKEN_UNITY="/Users/bokken/${EDITOR_VERSION}/Unity.app/Contents/MacOS/Unity"
-HUB_UNITY="/Applications/Unity/Hub/Editor/${EDITOR_VERSION}/Unity.app/Contents/MacOS/Unity"
+if [[ -z "${UNITY_VERSION}" ]]; then
+
+    echo "Environment Variable UNITY_VERSION was not set"
+    exit 1
-if [[ -f ${BOKKEN_UNITY} ]]; then 
-    UNITY=${BOKKEN_UNITY}
-    UNITY=${HUB_UNITY}
-fi 
+    BOKKEN_UNITY="/Users/bokken/${UNITY_VERSION}/Unity.app/Contents/MacOS/Unity"
+    HUB_UNITY="/Applications/Unity/Hub/Editor/${UNITY_VERSION}/Unity.app/Contents/MacOS/Unity"
-pushd $(dirname "${0}") > /dev/null
-BASETPATH=$(pwd -L)
-popd > /dev/null
+    if [[ -f ${BOKKEN_UNITY} ]]; then
+        UNITY=${BOKKEN_UNITY}
+    else
+        UNITY=${HUB_UNITY}
+    fi
-echo "Cleaning previous results"
+    pushd $(dirname "${0}") > /dev/null
+    BASETPATH=$(pwd -L)
+    popd > /dev/null
-if [[ -e ${BASETPATH}/results.xml ]]
-then
-	rm ${BASETPATH}/results.xml
-fi
+    echo "Cleaning previous results"
+
+    if [[ -e ${BASETPATH}/results.xml ]]
+    then
+        rm ${BASETPATH}/results.xml
+    fi
+
+    echo "Starting tests via $UNITY"
-echo "Starting tests via $UNITY"
+    CMD_LINE="$UNITY -runTests -logfile - -projectPath $BASETPATH/UnitySDK -testResults $BASETPATH/results.xml -testPlatform editmode"
-CMD_LINE="$UNITY -runTests -projectPath $BASETPATH/UnitySDK -testResults $BASETPATH/results.xml -testPlatform editmode"
+    echo "$CMD_LINE ..."
-echo "$CMD_LINE ..."
+    $CMD_LINE
+    RES=$?
-$CMD_LINE
-RES=$?
+    TOTAL=$(echo 'cat /test-run/test-suite/@total' | xmllint --shell results.xml | awk -F'[="]' '!/>/{print $(NF-1)}')
+    PASSED=$(echo 'cat /test-run/test-suite/@passed' | xmllint --shell results.xml | awk -F'[="]' '!/>/{print $(NF-1)}')
+    FAILED=$(echo 'cat /test-run/test-suite/@failed' | xmllint --shell results.xml | awk -F'[="]' '!/>/{print $(NF-1)}')
+    DURATION=$(echo 'cat /test-run/test-suite/@duration' | xmllint --shell results.xml | awk -F'[="]' '!/>/{print $(NF-1)}')
-TOTAL=$(echo 'cat /test-run/test-suite/@total' | xmllint --shell results.xml | awk -F'[="]' '!/>/{print $(NF-1)}')
-PASSED=$(echo 'cat /test-run/test-suite/@passed' | xmllint --shell results.xml | awk -F'[="]' '!/>/{print $(NF-1)}')
-FAILED=$(echo 'cat /test-run/test-suite/@failed' | xmllint --shell results.xml | awk -F'[="]' '!/>/{print $(NF-1)}')
-DURATION=$(echo 'cat /test-run/test-suite/@duration' | xmllint --shell results.xml | awk -F'[="]' '!/>/{print $(NF-1)}')
+    echo "$TOTAL tests executed in ${DURATION}s: $PASSED passed, $FAILED failed. More details in results.xml"
-echo "$TOTAL tests executed in ${DURATION}s: $PASSED passed, $FAILED failed. More details in results.xml"
+    if [[ ${RES} -eq 0 ]] && [[ -e ${BASETPATH}/results.xml ]]; then
+        echo "Test run SUCCEEDED!"
+    else
+        echo "Test run FAILED!"
+    fi
-if [[ ${RES} -eq 0 ]] && [[ -e ${BASETPATH}/results.xml ]]; then
-    echo "Test run SUCCEEDED!"
-else
-    echo "Test run FAILED!"
-fi
+    rm "${BASETPATH}/results.xml"
-rm "${BASETPATH}/results.xml"
+    exit ${RES}
-exit ${RES}
+fi

test_constraints_max_version.txt

 # For projects with upper bounds, we should periodically update this list to the latest release version
 grpcio>=1.23.0
 numpy>=1.17.2
-tensorflow>=1.14.0
+tensorflow>=1.14.0,<2.0