Revert "Merge branch 'main' into develop-superpush-branch-cleanup"

This reverts commit 5bea802525381f931a5e0f8b8778fe27a12f03af, reversing
changes made to cee3524e85161e13689d95f66bc6bff994d2cdfd.

.github/workflows/pytest.yml

         TEST_ENFORCE_BUFFER_KEY_TYPES: 1
     strategy:
       matrix:
-        python-version: [3.6.x, 3.7.x, 3.8.x, 3.9.x]
-        include:
-          - python-version: 3.6.x
-            pip_constraints: test_constraints_min_version.txt
-          - python-version: 3.7.x
-            pip_constraints: test_constraints_mid_version.txt
-          - python-version: 3.8.x
-            pip_constraints: test_constraints_mid_version.txt
-          - python-version: 3.9.x
-            pip_constraints: test_constraints_max_version.txt
+        python-version: [3.6.x, 3.7.x, 3.8.x]
     steps:
     - uses: actions/checkout@v2
     - name: Set up Python
         # This path is specific to Ubuntu
         path: ~/.cache/pip
         # Look to see if there is a cache hit for the corresponding requirements file
-        key: ${{ runner.os }}-pip-${{ hashFiles('ml-agents/setup.py', 'ml-agents-envs/setup.py', 'gym-unity/setup.py', 'test_requirements.txt', matrix.pip_constraints) }}
+        key: ${{ runner.os }}-pip-${{ hashFiles('ml-agents/setup.py', 'ml-agents-envs/setup.py', 'gym-unity/setup.py', 'test_requirements.txt') }}
         restore-keys: |
           ${{ runner.os }}-pip-
           ${{ runner.os }}-
       run: |
         python -m pip install --upgrade pip
         python -m pip install --upgrade setuptools
-        python -m pip install --progress-bar=off -e ./ml-agents-envs -c ${{ matrix.pip_constraints }}
-        python -m pip install --progress-bar=off -e ./ml-agents -c ${{ matrix.pip_constraints }}
-        python -m pip install --progress-bar=off -r test_requirements.txt -c ${{ matrix.pip_constraints }}
-        python -m pip install --progress-bar=off -e ./gym-unity -c ${{ matrix.pip_constraints }}
-        python -m pip install --progress-bar=off -e ./ml-agents-plugin-examples -c ${{ matrix.pip_constraints }}
+        python -m pip install --progress-bar=off -e ./ml-agents-envs
+        python -m pip install --progress-bar=off -e ./ml-agents
+        python -m pip install --progress-bar=off -r test_requirements.txt
+        python -m pip install --progress-bar=off -e ./gym-unity
+        python -m pip install --progress-bar=off -e ./ml-agents-plugin-examples
     - name: Save python dependencies
       run: |
         pip freeze > pip_versions-${{ matrix.python-version }}.txt

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

     image: package-ci/ubuntu:stable
     flavor: b1.small
   commands:
-    - |
-      python3 -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
-      unity-downloader-cli -u 2018.4 -c editor --wait --fast
-      ./.Editor/Unity -projectPath Project -batchMode -executeMethod Unity.MLAgents.SampleExporter.ExportCuratedSamples -logFile -
-      npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
-      upm-ci project pack --project-path Project
+    - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
+    - upm-ci project pack --project-path Project
   artifacts:
     packages:
       paths:

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

       python ml-agents/tests/yamato/scripts/run_llapi.py
       python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Basic
       python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-WallJump
-      python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Match3
+      python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Bouncer
   dependencies:
     - .yamato/standalone-build-test.yml#test_linux_standalone_{{ editor.version }}
   triggers:

.yamato/standalone-build-test.yml

     - unity-downloader-cli -u {{ editor.version }} -c editor --wait --fast
     - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux
     - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Basic/Scenes/Basic.unity
-    - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Match3/Scenes/Match3.unity
+    - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Bouncer/Scenes/Bouncer.unity
     - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/WallJump/Scenes/WallJump.unity
     - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/TestScenes/TestCompressedGrid/TestGridCompressed.unity
     - python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureCompressed.unity

DevProject/Packages/packages-lock.json

       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.barracuda": {
-      "version": "1.3.1-preview",
+      "version": "1.3.0-preview",
       "depth": 1,
       "source": "registry",
       "dependencies": {
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.barracuda": "1.3.1-preview",
+        "com.unity.barracuda": "1.3.0-preview",
         "com.unity.modules.imageconversion": "1.0.0",
         "com.unity.modules.jsonserialize": "1.0.0",
         "com.unity.modules.physics": "1.0.0",
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.ml-agents": "1.8.0-preview"
+        "com.unity.ml-agents": "1.7.2-preview"
       }
     },
     "com.unity.multiplayer-hlapi": {

Project/Assets/ML-Agents/Examples/Crawler/Demos/ExpCrawlerDynVS.demo.meta

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+    11400002: Assets/ML-Agents/Examples/Crawler/Demos/ExpCrawlerDynVS.demo
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Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerDynamicVariableSpeed.unity

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

 [RequireComponent(typeof(JointDriveController))] // Required to set joint forces
 public class CrawlerAgent : Agent
 {
+    //The type of crawler behavior we want to use.
+    //This setting will determine how the agent is set up during initialization.
+    public enum CrawlerAgentBehaviorType
+    {
+        CrawlerDynamic,
+        CrawlerDynamicVariableSpeed,
+        CrawlerStatic,
+        CrawlerStaticVariableSpeed,
+        CrawlerDynamicVariableSpeedCustomTarget
+    }
+
+    [Tooltip(
+        "VariableSpeed - The agent will sample random speed magnitudes while training.\n" +
+        "Dynamic - The agent will run towards a target that changes position.\n" +
+        "Static - The agent will run towards a static target. "
+    )]
+    public CrawlerAgentBehaviorType typeOfCrawler;
+
+    //Crawler Brains
+    //A different brain will be used depending on the CrawlerAgentBehaviorType selected
+    [Header("NN Models")] public NNModel crawlerDyModel;
+    public NNModel crawlerDyVSModel;
+    public NNModel crawlerStModel;
+    public NNModel crawlerStVSModel;
 
     [Header("Walk Speed")]
     [Range(0.1f, m_maxWalkingSpeed)]
         set { m_TargetWalkingSpeed = Mathf.Clamp(value, .1f, m_maxWalkingSpeed); }
     }
 
+    //Should the agent sample a new goal velocity each episode?
+    //If true, TargetWalkingSpeed will be randomly set between 0.1 and m_maxWalkingSpeed in OnEpisodeBegin()
+    //If false, the goal velocity will be m_maxWalkingSpeed
+    private bool m_RandomizeWalkSpeedEachEpisode;
+
-    [Header("Target To Walk Towards")]
-    public Transform TargetPrefab; //Target prefab to use in Dynamic envs
-    private Transform m_Target; //Target the agent will walk towards during training.
+    [Header("Target To Walk Towards")] public Transform dynamicTargetPrefab; //Target prefab to use in Dynamic envs
+    public Transform staticTargetPrefab; //Target prefab to use in Static envs
+    public Transform m_Target; //Target the agent will walk towards during training.
 
     [Header("Body Parts")] [Space(10)] public Transform body;
     public Transform leg0Upper;
 
     public override void Initialize()
     {
-        SpawnTarget(TargetPrefab, transform.position); //spawn target
+        SetAgentType();
 
         m_OrientationCube = GetComponentInChildren<OrientationCubeController>();
         m_DirectionIndicator = GetComponentInChildren<DirectionIndicator>();
     }
 
     /// <summary>
+    /// Set up the agent based on the typeOfCrawler
+    /// </summary>
+    void SetAgentType()
+    {
+        var behaviorParams = GetComponent<Unity.MLAgents.Policies.BehaviorParameters>();
+        switch (typeOfCrawler)
+        {
+            case CrawlerAgentBehaviorType.CrawlerDynamicVariableSpeedCustomTarget:
+                {
+                    behaviorParams.BehaviorName = "CrawlerDynamicVariableSpeed"; //set behavior name
+                    if (crawlerDyVSModel)
+                        behaviorParams.Model = crawlerDyVSModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = true; //randomize m_TargetWalkingSpeed during training
+                    break;
+                }
+            case CrawlerAgentBehaviorType.CrawlerDynamic:
+                {
+                    behaviorParams.BehaviorName = "CrawlerDynamic"; //set behavior name
+                    if (crawlerDyModel)
+                        behaviorParams.Model = crawlerDyModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = false; //do not randomize m_TargetWalkingSpeed during training
+                    SpawnTarget(dynamicTargetPrefab, transform.position); //spawn target
+                    break;
+                }
+            case CrawlerAgentBehaviorType.CrawlerDynamicVariableSpeed:
+                {
+                    behaviorParams.BehaviorName = "CrawlerDynamicVariableSpeed"; //set behavior name
+                    if (crawlerDyVSModel)
+                        behaviorParams.Model = crawlerDyVSModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = true; //randomize m_TargetWalkingSpeed during training
+                    SpawnTarget(dynamicTargetPrefab, transform.position); //spawn target
+                    break;
+                }
+            case CrawlerAgentBehaviorType.CrawlerStatic:
+                {
+                    behaviorParams.BehaviorName = "CrawlerStatic"; //set behavior name
+                    if (crawlerStModel)
+                        behaviorParams.Model = crawlerStModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = false; //do not randomize m_TargetWalkingSpeed during training
+                    SpawnTarget(staticTargetPrefab, transform.TransformPoint(new Vector3(0, 0, 1000))); //spawn target
+                    break;
+                }
+            case CrawlerAgentBehaviorType.CrawlerStaticVariableSpeed:
+                {
+                    behaviorParams.BehaviorName = "CrawlerStaticVariableSpeed"; //set behavior name
+                    if (crawlerStVSModel)
+                        behaviorParams.Model = crawlerStVSModel; //assign the model
+                    m_RandomizeWalkSpeedEachEpisode = true; //randomize m_TargetWalkingSpeed during training
+                    SpawnTarget(staticTargetPrefab, transform.TransformPoint(new Vector3(0, 0, 1000))); //spawn target
+                    break;
+                }
+        }
+    }
+
+    /// <summary>
     /// Loop over body parts and reset them to initial conditions.
     /// </summary>
     public override void OnEpisodeBegin()
         UpdateOrientationObjects();
 
         //Set our goal walking speed
-        TargetWalkingSpeed = Random.Range(0.1f, m_maxWalkingSpeed);
+        TargetWalkingSpeed =
+            m_RandomizeWalkSpeedEachEpisode ? Random.Range(0.1f, m_maxWalkingSpeed) : TargetWalkingSpeed;
     }
 
     /// <summary>

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

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