Merge branch 'development-0.3' into dev-api-doc-academy

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

     {
         AddVectorObs(gameObject.transform.rotation.z);
         AddVectorObs(gameObject.transform.rotation.x);
-        AddVectorObs((ball.transform.position.x - gameObject.transform.position.x));
-        AddVectorObs((ball.transform.position.y - gameObject.transform.position.y));
-        AddVectorObs((ball.transform.position.z - gameObject.transform.position.z));
-        AddVectorObs(ball.transform.GetComponent<Rigidbody>().velocity.x);
-        AddVectorObs(ball.transform.GetComponent<Rigidbody>().velocity.y);
-        AddVectorObs(ball.transform.GetComponent<Rigidbody>().velocity.z);
+        AddVectorObs((ball.transform.position - gameObject.transform.position));
+        AddVectorObs(ball.transform.GetComponent<Rigidbody>().velocity);
         SetTextObs("Testing "+gameObject.GetInstanceID());
 
     }

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

     {
         AddVectorObs(gameObject.transform.rotation.z);
         AddVectorObs(gameObject.transform.rotation.x);
-        AddVectorObs((ball.transform.position.x - gameObject.transform.position.x));
-        AddVectorObs((ball.transform.position.y - gameObject.transform.position.y));
-        AddVectorObs((ball.transform.position.z - gameObject.transform.position.z));
+        AddVectorObs((ball.transform.position - gameObject.transform.position));
     }
 
     public override void AgentAction(float[] vectorAction, string textAction)

unity-environment/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgentConfigurable.cs

 
     public override void CollectObservations()
     {
-        AddVectorObs(body.transform.rotation.eulerAngles.x);
-        AddVectorObs(body.transform.rotation.eulerAngles.y);
-        AddVectorObs(body.transform.rotation.eulerAngles.z);
+        AddVectorObs(body.transform.rotation.eulerAngles);
-        AddVectorObs(bodyRB.velocity.x);
-        AddVectorObs(bodyRB.velocity.y);
-        AddVectorObs(bodyRB.velocity.z);
+        AddVectorObs(bodyRB.velocity);
-        AddVectorObs((bodyRB.velocity.x - past_velocity.x) / Time.fixedDeltaTime);
-        AddVectorObs((bodyRB.velocity.y - past_velocity.y) / Time.fixedDeltaTime);
-        AddVectorObs((bodyRB.velocity.z - past_velocity.z) / Time.fixedDeltaTime);
+        AddVectorObs((bodyRB.velocity - past_velocity) / Time.fixedDeltaTime);
-            AddVectorObs(limbs[i].localPosition.x);
-            AddVectorObs(limbs[i].localPosition.y);
-            AddVectorObs(limbs[i].localPosition.z);
-            AddVectorObs(limbs[i].localRotation.x);
-            AddVectorObs(limbs[i].localRotation.y);
-            AddVectorObs(limbs[i].localRotation.z);
-            AddVectorObs(limbs[i].localRotation.w);
-            AddVectorObs(limbRBs[i].velocity.x);
-            AddVectorObs(limbRBs[i].velocity.y);
-            AddVectorObs(limbRBs[i].velocity.z);
-            AddVectorObs(limbRBs[i].angularVelocity.x);
-            AddVectorObs(limbRBs[i].angularVelocity.y);
-            AddVectorObs(limbRBs[i].angularVelocity.z);
+            AddVectorObs(limbs[i].localPosition);
+            AddVectorObs(limbs[i].localRotation);
+            AddVectorObs(limbRBs[i].velocity);
+            AddVectorObs(limbRBs[i].angularVelocity);
         }
 
         for (int index = 0; index < 4; index++)
-                AddVectorObs(1.0f);
+                AddVectorObs(1);
-                AddVectorObs(0.0f);
+                AddVectorObs(0);
             }
             leg_touching[index] = false;
         }

unity-environment/Assets/ML-Agents/Examples/Reacher/Scripts/ReacherAgent.cs

     /// </summary>
     public override void CollectObservations()
     {
-        AddVectorObs(pendulumA.transform.rotation.eulerAngles.x / 180.0f - 1.0f);
-        AddVectorObs(pendulumA.transform.rotation.eulerAngles.y / 180.0f - 1.0f);
-        AddVectorObs(pendulumA.transform.rotation.eulerAngles.z / 180.0f - 1.0f);
-        AddVectorObs(rbA.angularVelocity.x);
-        AddVectorObs(rbA.angularVelocity.y);
-        AddVectorObs(rbA.angularVelocity.z);
-        AddVectorObs(rbA.velocity.x);
-        AddVectorObs(rbA.velocity.y);
-        AddVectorObs(rbA.velocity.z);
+        AddVectorObs(pendulumA.transform.rotation.eulerAngles / 180.0f - Vector3.one);
+        AddVectorObs(rbA.angularVelocity);
+        AddVectorObs(rbA.velocity);
-        AddVectorObs(pendulumB.transform.rotation.eulerAngles.x / 180.0f - 1.0f);
-        AddVectorObs(pendulumB.transform.rotation.eulerAngles.y / 180.0f - 1.0f);
-        AddVectorObs(pendulumB.transform.rotation.eulerAngles.z / 180.0f - 1.0f);
-        AddVectorObs(rbB.angularVelocity.x);
-        AddVectorObs(rbB.angularVelocity.y);
-        AddVectorObs(rbB.angularVelocity.z);
-        AddVectorObs(rbB.velocity.x);
-        AddVectorObs(rbB.velocity.y);
-        AddVectorObs(rbB.velocity.z);
+        AddVectorObs(pendulumB.transform.rotation.eulerAngles / 180.0f - Vector3.one);
+        AddVectorObs(rbB.angularVelocity);
+        AddVectorObs(rbB.velocity);
-        AddVectorObs(localGoalPosition.x);
-        AddVectorObs(localGoalPosition.y);
-        AddVectorObs(localGoalPosition.z);
+        AddVectorObs(localGoalPosition);
-        AddVectorObs(localHandPosition.x);
-        AddVectorObs(localHandPosition.y);
-        AddVectorObs(localHandPosition.z);
+        AddVectorObs(localHandPosition);
 	}
 
     /// <summary>

unity-environment/Assets/ML-Agents/Scripts/Agent.cs

     {
         _info.vectorObservation.AddRange(observation);
     }
+    internal void AddVectorObs(Quaternion observation)
+    {
+        _info.vectorObservation.Add(observation.x);
+        _info.vectorObservation.Add(observation.y);
+        _info.vectorObservation.Add(observation.z);
+        _info.vectorObservation.Add(observation.w);
+    }
+