Merge branch 'main' into goal-conditioning-sensors-3

.gitignore

 .coverage
 coverage.xml
 /htmlcov/
+
+**/UserSettings/*

.yamato/com.unity.ml-agents-optional-dep-tests.yml

-OptionalDependencyTestsLinux:
-  name : LinuxOptionalDependenciesTests
-  agent:
-    type: Unity::VM
-    image: package-ci/ubuntu:stable
-    flavor: b1.medium
-  commands: 
-    - |
-      curl -L https://artifactory.prd.it.unity3d.com/artifactory/api/gpg/key/public | sudo apt-key add -
-      sudo sh -c "echo 'deb https://artifactory.prd.it.unity3d.com/artifactory/unity-apt-local bionic main' > /etc/apt/sources.list.d/unity.list"
-      sudo apt update
-      sudo apt install -y unity-config 
-      npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
-      unity-config settings editor-path ./.Editor
-      unity-config project create opt-deps-test
-      unity-config project add dependency com.unity.ml-agents/
-      unity-config project add testable com.unity.ml-agents
-      unity-config project add dependency com.unity.modules.imageconversion@1.0.0
-      unity-config project add dependency com.unity.modules.jsonserialize@1.0.0
-      unity-config project add dependency com.unity.modules.physics@1.0.0
-      unity-config project add dependency com.unity.modules.physics2d@1.0.0
-      upm-ci project test -u 2019.4 --type project-tests --project-path opt-deps-test --package-filter com.unity.ml-agents 
-  artifacts:
-    logs:
-      paths:
-        - "upm-ci~/test-results/**/*"
-  dependencies:
-    - .yamato/com.unity.ml-agents-pack.yml#pack
-  triggers:
-    cancel_old_ci: true
-    expression: |
-      (pull_request.target eq "main" OR
-      pull_request.target match "release.+") AND
-      NOT pull_request.draft AND
-      (pull_request.changes.any match "com.unity.ml-agents/**" OR
-      pull_request.changes.any match ".yamato/com.unity.ml-agents-test.yml")
+optional_deps:
+    - name: Analytics
+      project: "OptionalDepedencyTests/NoAnalyticsModule"
+      version: 2020.2
+    - name: Physics
+      project: OptionalDepedencyTests/NoPhysicsModule
+      version: 2020.2
+    - name: Physics2D
+      project: OptionalDepedencyTests/NoPhysics2DModule
+      version: 2020.2
+---
+
+  {% for optional_dep in optional_deps %}
+OptionalDependencyTests_{{ optional_dep.name }}:
+    name : Test Optional Package Dependencies {{ optional_dep.name }}
+    agent:
+        type: Unity::VM
+        image: package-ci/ubuntu:stable
+        flavor: b1.medium
+    commands:
+        - |
+            curl -L https://artifactory.prd.it.unity3d.com/artifactory/api/gpg/key/public | sudo apt-key add -
+            sudo sh -c "echo 'deb https://artifactory.prd.it.unity3d.com/artifactory/unity-apt-local bionic main' > /etc/apt/sources.list.d/unity.list"
+            sudo apt update
+            sudo apt install -y unity-config
+            npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
+            unity-config settings editor-path ./.Editor
+            unity-config project create opt-deps-test
+            unity-config project add dependency com.unity.ml-agents/
+            unity-config project add testable com.unity.ml-agents
+            unity-config project add dependency com.unity.modules.imageconversion@1.0.0
+            unity-config project add dependency com.unity.modules.jsonserialize@1.0.0
+            {% unless optional_dep.name == "Physics" %}
+            unity-config project add dependency com.unity.modules.physics@1.0.0
+            {% endunless %}
+            {% unless optional_dep.name == "Physics2D" %}
+            unity-config project add dependency com.unity.modules.physics2d@1.0.0
+            {% endunless %}
+            {% unless optional_dep.name == "Analytics" %}
+            unity-config project add dependency com.unity.modules.unityanalytics@1.0.0
+            {% endunless %}
+            upm-ci project test -u {{ optional_dep.version }} --type project-tests --project-path opt-deps-test --package-filter com.unity.ml-agents
+    artifacts:
+        logs:
+            paths:
+                - "upm-ci~/test-results/**/*"
+    dependencies:
+        - .yamato/com.unity.ml-agents-pack.yml#pack
+        {% for coverage_editor in coverage_test_editors %}
+        {% for coverage_platform in coverage_test_platforms %}
+        {% for coverage_package in coverage_test_packages %}
+        - .yamato/com.unity.ml-agents-coverage.yml#test_coverage_{{ coverage_package.name }}_{{ coverage_platform.name }}_{{ coverage_editor.version }}
+        {% endfor %}
+        {% endfor %}
+        {% endfor %}
+    triggers:
+        cancel_old_ci: true
+        expression: |
+            (pull_request.target eq "main" OR
+            pull_request.target match "release.+") AND
+            NOT pull_request.draft AND
+            (pull_request.changes.any match "com.unity.ml-agents/**" OR
+            pull_request.changes.any match ".yamato/com.unity.ml-agents-test.yml")
+  {% endfor %}
 

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

   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
+      unity-downloader-cli -u 2019.4 -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

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

+{% metadata_file .yamato/coverage_tests.metafile %}
-  - version: 2018.4
-    # 2018.4 doesn't support code-coverage
-    enableCodeCoverage: !!bool false
-    # We want some scene tests to run in the DevProject, but packages there only support 2019+
-    testProject: Project
-    enableNoDefaultPackages: !!bool false
-  - version: 2019.4
-    enableCodeCoverage: !!bool true
-    testProject: DevProject
-    enableNoDefaultPackages: !!bool true
-  - version: 2020.2
-    enableCodeCoverage: !!bool true
-    testProject: DevProject
-    enableNoDefaultPackages: !!bool true
+    - version: 2019.4
+        # We want some scene tests to run in the DevProject, but packages there only support 2020+
+      testProject: Project
+      enableNoDefaultPackages: !!bool true
+    - version: 2020.2
+      testProject: DevProject
+      enableNoDefaultPackages: !!bool true
+    - version: 2021.1
+      testProject: DevProject
+      enableNoDefaultPackages: !!bool true
-  - version: trunk
-    # Workaround for MLA-1596 - need to make sure we load the right results.
-    enableCodeCoverage: !!bool false
-    testProject: DevProject
+    - version: trunk
+        # Workaround for MLA-1596 - need to make sure we load the right results.
+      testProject: DevProject
-  - name: win
-    type: Unity::VM
-    image: package-ci/win10:stable
-    flavor: b1.large
-  - name: mac
-    type: Unity::VM::osx
-    image: package-ci/mac:stable
-    flavor: b1.small
-  - name: linux
-    type: Unity::VM
-    image: package-ci/ubuntu:stable
-    flavor: b1.medium
+    - name: win
+      type: Unity::VM
+      image: package-ci/win10:stable
+      flavor: b1.large
+    - name: mac
+      type: Unity::VM::osx
+      image: package-ci/mac:stable
+      flavor: b1.small
+    - name: linux
+      type: Unity::VM
+      image: package-ci/ubuntu:stable
+      flavor: b1.medium
-  - name: com.unity.ml-agents
-    assembly: Unity.ML-Agents
-    minCoveragePct: 72
-  - name: com.unity.ml-agents.extensions
-    assembly: Unity.ML-Agents.Extensions*
-    minCoveragePct: 75
+    - name: com.unity.ml-agents
+      assembly: Unity.ML-Agents
+      minCoveragePct: 72
+    - name: com.unity.ml-agents.extensions
+      assembly: Unity.ML-Agents.Extensions*
+      minCoveragePct: 75
-  name: Run All Combinations of Editors/Platforms Tests
-  dependencies:
-  {% for editor in test_editors %}
-    {% for platform in test_platforms %}
-  - .yamato/com.unity.ml-agents-test.yml#test_com.unity.ml-agents_{{ platform.name }}_{{ editor.version }}
-    {% endfor %}
-  {% endfor %}
+    name: Run All Combinations of Editors/Platforms Tests
+    dependencies:
+        {% for coverage_editor in coverage_test_editors %}
+        {% for coverage_platform in coverage_test_platforms %}
+        {% for coverage_package in coverage_test_packages %}
+        - .yamato/com.unity.ml-agents-coverage.yml#test_coverage_{{ coverage_package.name }}_{{ coverage_platform.name }}_{{ coverage_editor.version }}
+        {% endfor %}
+        {% endfor %}
+        {% endfor %}
+        {% for editor in test_editors %}
+        {% for platform in test_platforms %}
+        - .yamato/com.unity.ml-agents-test.yml#test_com.unity.ml-agents_{{ platform.name }}_{{ editor.version }}
+        {% endfor %}
+        {% endfor %}
+        {% for editor in trunk_editor %}
+        {% for platform in test_platforms %}
+        - .yamato/com.unity.ml-agents-test.yml#test_com.unity.ml-agents_{{ platform.name }}_{{ editor.version }}
+        {% endfor %}
+        {% endfor %}
+    triggers:
+        cancel_old_ci: true
+        recurring:
+            - branch: main
+              frequency: daily
-  {% for editor in trunk_editor %}
-    {% for platform in test_platforms %}
-  - .yamato/com.unity.ml-agents-test.yml#test_com.unity.ml-agents_{{ platform.name }}_{{ editor.version }}
-    {% endfor %}
-  {% endfor %}
-  triggers:
-    cancel_old_ci: true
-    recurring:
-      - branch: main
-        frequency: daily
-
-{% for package in packages %}
+  {% for package in packages %}
-    {% for platform in test_platforms %}
+  {% for platform in test_platforms %}
-{% if editor.enableCodeCoverage %}
-  {% capture coverageOptions %} --enable-code-coverage --code-coverage-options 'generateHtmlReport;assemblyFilters:+{{ package.assembly }}'{% endcapture %}
-{% else %}
-  {% assign coverageOptions = "" %}
-{% endif %}
-
-{% if editor.enableNoDefaultPackages %}
+  {% if editor.enableNoDefaultPackages %}
-{% else %}
+  {% else %}
-{% endif %}
+  {% endif %}
-  name : {{ package.name }} test {{ editor.version }} on {{ platform.name }}
-  agent:
-    type: {{ platform.type }}
-    image: {{ platform.image }}
-    flavor: {{ platform.flavor}}
-  commands:
-    - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
-    - upm-ci project test -u {{ editor.version }} --project-path {{ editor.testProject }} --package-filter {{ package.name }} {{ coverageOptions }} {{ noDefaultPackagesOptions }} --extra-utr-arg "reruncount=2"
-    {% if editor.enableCodeCoverage %}
-    - python3 ml-agents/tests/yamato/check_coverage_percent.py upm-ci~/test-results/ {{ package.minCoveragePct }}
-    {% endif %}
-  artifacts:
-    logs:
-      paths:
-        - "upm-ci~/test-results/**/*"
-  dependencies:
-    - .yamato/com.unity.ml-agents-pack.yml#pack
-  triggers:
-    cancel_old_ci: true
-    {% if platform.name == "linux" %}
-    expression: |
-      (pull_request.target eq "main" OR
-      pull_request.target match "release.+") AND
-      NOT pull_request.draft AND
-      (pull_request.changes.any match "com.unity.ml-agents/**" OR
-       pull_request.changes.any match " {{ editor.testProject }}/**" OR
-      {% if package.name == "com.unity.ml-agents.extensions" %}
-        pull_request.changes.any match "com.unity.ml-agents.extensions/**" OR
+    name : {{ package.name }} test {{ editor.version }} on {{ platform.name }}
+    agent:
+        type: {{ platform.type }}
+        image: {{ platform.image }}
+        flavor: {{ platform.flavor}}
+    commands:
+        - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
+        - upm-ci project test -u {{ editor.version }} --project-path {{ editor.testProject }} --package-filter {{ package.name }} {{ noDefaultPackagesOptions }} --extra-utr-arg "reruncount=2"
+    artifacts:
+        logs:
+            paths:
+                - "upm-ci~/test-results/**/*"
+    dependencies:
+        - .yamato/com.unity.ml-agents-pack.yml#pack
+        {% for coverage_editor in coverage_test_editors %}
+        {% for coverage_platform in coverage_test_platforms %}
+        {% for coverage_package in coverage_test_packages %}
+        - .yamato/com.unity.ml-agents-coverage.yml#test_coverage_{{ coverage_package.name }}_{{ coverage_platform.name }}_{{ coverage_editor.version }}
+        {% endfor %}
+        {% endfor %}
+        {% endfor %}
+    triggers:
+        cancel_old_ci: true
+      {% if platform.name == "linux" %}
+        expression: |
+            (pull_request.target eq "main" OR
+            pull_request.target match "release.+") AND
+            NOT pull_request.draft AND
+            (pull_request.changes.any match "com.unity.ml-agents/**" OR
+             pull_request.changes.any match " {{ editor.testProject }}/**" OR
+            {% if package.name == "com.unity.ml-agents.extensions" %}
+              pull_request.changes.any match "com.unity.ml-agents.extensions/**" OR
+            {% endif %}
+            pull_request.changes.any match ".yamato/com.unity.ml-agents-test.yml")
-      pull_request.changes.any match ".yamato/com.unity.ml-agents-test.yml")
-    {% endif %}
-    {% endfor %}
+      {% endfor %}
+  {% endfor %}
-{% endfor %}
-{% for package in packages %}
+  {% for package in packages %}
-    {% for platform in test_platforms %}
+  {% for platform in test_platforms %}
-{% if editor.enableCodeCoverage %}
-  {% capture coverageOptions %} --enable-code-coverage --code-coverage-options 'generateHtmlReport;assemblyFilters:+{{ package.assembly }}'{% endcapture %}
-{% else %}
-  {% assign coverageOptions = "" %}
-{% endif %}
-  name : {{ package.name }} test {{ editor.version }} on {{ platform.name }}
-  agent:
-    type: {{ platform.type }}
-    image: {{ platform.image }}
-    flavor: {{ platform.flavor}}
-  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 trunk -c editor --wait --fast
-    - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
-    - upm-ci project test -u {{ editor.version }} --project-path {{ editor.testProject }} --package-filter {{ package.name }} {{ coverageOptions }} --extra-create-project-arg="-upmNoDefaultPackages" --extra-utr-arg "reruncount=2"
-    {% if editor.enableCodeCoverage %}
-    - python3 ml-agents/tests/yamato/check_coverage_percent.py upm-ci~/test-results/ {{ package.minCoveragePct }}
-    {% endif %}
-  artifacts:
-    logs:
-      paths:
-        - "upm-ci~/test-results/**/*"
-  dependencies:
-    - .yamato/com.unity.ml-agents-pack.yml#pack
-  triggers:
-    cancel_old_ci: true
-    {% endfor %}
+    name : {{ package.name }} test {{ editor.version }} on {{ platform.name }}
+    agent:
+        type: {{ platform.type }}
+        image: {{ platform.image }}
+        flavor: {{ platform.flavor}}
+    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 trunk -c editor --wait --fast
+        - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
+        - upm-ci project test -u {{ editor.version }} --project-path {{ editor.testProject }} --package-filter {{ package.name }} --extra-create-project-arg="-upmNoDefaultPackages" --extra-utr-arg "reruncount=2"
+    artifacts:
+        logs:
+            paths:
+                - "upm-ci~/test-results/**/*"
+    dependencies:
+        - .yamato/com.unity.ml-agents-pack.yml#pack
+        {% for coverage_editor in coverage_test_editors %}
+        {% for coverage_platform in coverage_test_platforms %}
+        {% for coverage_package in coverage_test_packages %}
+        - .yamato/com.unity.ml-agents-coverage.yml#test_coverage_{{ coverage_package.name }}_{{ coverage_platform.name }}_{{ coverage_editor.version }}
+        {% endfor %}
+        {% endfor %}
+        {% endfor %}
+    triggers:
+        cancel_old_ci: true
+      {% endfor %}
+  {% endfor %}
-{% endfor %}
-

.yamato/test_versions.metafile

 # For each "other" test, we only run it against a single version of the
 # editor to reduce the number of yamato jobs
 test_editors:
-  - version: 2018.4
-    extra_test: llapi
-  - version: 2020.2
+  - version: 2020.3
+  - version: 2021.1
+    extra_test: llapi

DevProject/Packages/manifest.json

 {
   "dependencies": {
-    "com.unity.2d.sprite": "1.0.0",
-    "com.unity.2d.tilemap": "1.0.0",
-    "com.unity.ads": "3.6.1",
-    "com.unity.analytics": "3.3.5",
-    "com.unity.collab-proxy": "1.2.16",
-    "com.unity.ide.rider": "1.1.4",
-    "com.unity.ide.vscode": "1.2.3",
-    "com.unity.multiplayer-hlapi": "1.0.8",
-    "com.unity.purchasing": "2.2.1",
-    "com.unity.textmeshpro": "2.0.1",
-    "com.unity.timeline": "1.2.12",
-    "com.unity.ugui": "1.0.0",
-    "com.unity.xr.legacyinputhelpers": "2.1.7",
-    "com.unity.modules.ai": "1.0.0",
-    "com.unity.modules.androidjni": "1.0.0",
-    "com.unity.modules.animation": "1.0.0",
-    "com.unity.modules.assetbundle": "1.0.0",
-    "com.unity.modules.audio": "1.0.0",
-    "com.unity.modules.cloth": "1.0.0",
-    "com.unity.modules.director": "1.0.0",
-    "com.unity.modules.imgui": "1.0.0",
-    "com.unity.modules.jsonserialize": "1.0.0",
-    "com.unity.modules.particlesystem": "1.0.0",
-    "com.unity.modules.screencapture": "1.0.0",
-    "com.unity.modules.terrain": "1.0.0",
-    "com.unity.modules.terrainphysics": "1.0.0",
-    "com.unity.modules.tilemap": "1.0.0",
-    "com.unity.modules.umbra": "1.0.0",
-    "com.unity.modules.unityanalytics": "1.0.0",
-    "com.unity.modules.unitywebrequest": "1.0.0",
-    "com.unity.modules.unitywebrequestassetbundle": "1.0.0",
-    "com.unity.modules.unitywebrequestaudio": "1.0.0",
-    "com.unity.modules.unitywebrequesttexture": "1.0.0",
-    "com.unity.modules.unitywebrequestwww": "1.0.0",
-    "com.unity.modules.vehicles": "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.modules.unityanalytics": "1.0.0"
   },
   "registry": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates",
   "testables": [

DevProject/Packages/packages-lock.json

 {
   "dependencies": {
-    "com.unity.2d.sprite": {
-      "version": "1.0.0",
-      "depth": 0,
-      "source": "builtin",
-      "dependencies": {}
-    },
-    "com.unity.2d.tilemap": {
-      "version": "1.0.0",
-      "depth": 0,
-      "source": "builtin",
-      "dependencies": {}
-    },
-    "com.unity.ads": {
-      "version": "3.6.1",
-      "depth": 0,
-      "source": "registry",
-      "dependencies": {
-        "com.unity.ugui": "1.0.0"
-      },
-      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
-    },
-    "com.unity.analytics": {
-      "version": "3.3.5",
-      "depth": 0,
-      "source": "registry",
-      "dependencies": {
-        "com.unity.ugui": "1.0.0"
-      },
-      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
-    },
-      "version": "1.3.1-preview",
+      "version": "1.3.2-preview",
       "depth": 1,
       "source": "registry",
       "dependencies": {
       "dependencies": {
         "nuget.moq": "1.0.0"
       },
-      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
-    },
-    "com.unity.collab-proxy": {
-      "version": "1.2.16",
-      "depth": 0,
-      "source": "registry",
-      "dependencies": {},
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.ext.nunit": {
       "dependencies": {},
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
-    "com.unity.ide.rider": {
-      "version": "1.1.4",
-      "depth": 0,
-      "source": "registry",
-      "dependencies": {
-        "com.unity.test-framework": "1.1.1"
-      },
-      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
-    },
-    "com.unity.ide.vscode": {
-      "version": "1.2.3",
-      "depth": 0,
-      "source": "registry",
-      "dependencies": {},
-      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
-    },
     "com.unity.inputsystem": {
       "version": "1.1.0-preview.3",
       "depth": 0,
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.barracuda": "1.3.1-preview",
+        "com.unity.barracuda": "1.3.2-preview",
-        "com.unity.modules.physics2d": "1.0.0",
-        "com.unity.modules.unityanalytics": "1.0.0"
+        "com.unity.modules.physics2d": "1.0.0"
       }
     },
     "com.unity.ml-agents.extensions": {
       "dependencies": {
-        "com.unity.ml-agents": "1.8.0-preview"
+        "com.unity.ml-agents": "2.0.0-exp.1"
-    },
-    "com.unity.multiplayer-hlapi": {
-      "version": "1.0.8",
-      "depth": 0,
-      "source": "registry",
-      "dependencies": {
-        "nuget.mono-cecil": "0.1.6-preview"
-      },
-      "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.nuget.mono-cecil": {
       "version": "0.1.6-preview.2",
       },
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
-    "com.unity.purchasing": {
-      "version": "2.2.1",
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-      "source": "registry",
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Project/Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureSensorComponent.cs

 
 
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Project/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2018.4.32f1
+m_EditorVersion: 2019.4.20f1
+m_EditorVersionWithRevision: 2019.4.20f1 (6dd1c08eedfa)

com.unity.ml-agents.extensions/Documentation~/com.unity.ml-agents.extensions.md

 
 ## Requirements
 
-This version of the Unity ML-Agents Extensions package is compatible with the
-following versions of the Unity Editor:
+This version of the Unity ML-Agents package is compatible with the following
+versions of the Unity Editor:
-- If using the `InputActuatorComponent`
-    - 2019.4 or later
-    - install the `com.unity.inputsystem` package version `1.1.0-preview.3` or later.
-- Else 2018.4 and later
+- 2019.4 and later
+
+If using the `InputActuatorComponent`
+- install the `com.unity.inputsystem` package version `1.1.0-preview.3` or later.
 
 ## Known Limitations
 - For the `InputActuatorComponent`

com.unity.ml-agents.extensions/Editor/Input/InputActuatorComponentEditor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using Unity.MLAgents.Extensions.Input;
 using UnityEditor;
 
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using Unity.MLAgents.Actuators;
 using UnityEngine;
 using UnityEngine.InputSystem;
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/Adaptors/DoubleInputActionAdaptor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using Unity.MLAgents.Actuators;
 using UnityEngine.InputSystem;
 using UnityEngine.InputSystem.Controls;
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/Adaptors/FloatInputActionAdaptor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using Unity.MLAgents.Actuators;
 using UnityEngine.InputSystem;
 using UnityEngine.InputSystem.LowLevel;
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/Adaptors/IntegerInputActionAdaptor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using Unity.MLAgents.Actuators;
 using UnityEngine.InputSystem;
 using UnityEngine.InputSystem.LowLevel;
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/Adaptors/Vector2InputActionAdaptor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using System;
 using Unity.MLAgents.Actuators;
 using UnityEngine;
 
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/IInputActionAssetProvider.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using UnityEngine.InputSystem;
 
 namespace Unity.MLAgents.Extensions.Input
         (InputActionAsset, IInputActionCollection2) GetInputActionAsset();
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/IRLActionInputAdaptor.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using System;
 using Unity.MLAgents.Actuators;
 using UnityEngine.InputSystem;
         void WriteToHeuristic(InputAction action, in ActionBuffers actionBuffers);
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Policies;
     }
 }
 
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/InputActuatorComponent.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using System;
 using System.Collections.Generic;
 using Unity.Collections;
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs

-#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_SYSTEM
 using System;
 using Unity.Collections;
 using UnityEngine.InputSystem;
         }
     }
 }
-#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_SYSTEM

com.unity.ml-agents.extensions/Runtime/Match3/Match3Sensor.cs

 
 namespace Unity.MLAgents.Extensions.Match3
 {
+
+    /// <summary>
+    /// Delegate that provides integer values at a given (x,y) coordinate.
+    /// </summary>
+    /// <param name="x"></param>
+    /// <param name="y"></param>
+    public delegate int GridValueProvider(int x, int y);
+
     /// <summary>
     /// Type of observations to generate.
     ///
 
     /// <summary>
     /// Sensor for Match3 games. Can generate either vector, compressed visual,
-    /// or uncompressed visual observations. Uses AbstractBoard.GetCellType()
-    /// and AbstractBoard.GetSpecialType() to determine the observation values.
+    /// or uncompressed visual observations. Uses a GridValueProvider to determine the observation values.
-    public class Match3Sensor : ISparseChannelSensor, IBuiltInSensor
+    public class Match3Sensor : ISensor, IBuiltInSensor
-        private AbstractBoard m_Board;
-        private int[] m_SparseChannelMapping;
-        private int m_NumCellTypes;
-        private int m_NumSpecialTypes;
-        private ISparseChannelSensor sparseChannelSensorImplementation;
-
-        private int SpecialTypeSize
-        {
-            get { return m_NumSpecialTypes == 0 ? 0 : m_NumSpecialTypes + 1; }
-        }
+        private GridValueProvider m_GridValues;
+        private int m_OneHotSize;
-        /// Create a sensor for the board with the specified observation type.
+        /// Create a sensor for the GridValueProvider with the specified observation type.
-        /// <param name="board"></param>
-        /// <param name="obsType"></param>
-        /// <param name="name"></param>
-        public Match3Sensor(AbstractBoard board, Match3ObservationType obsType, string name)
+        /// <remarks>
+        /// Use Match3Sensor.CellTypeSensor() or Match3Sensor.SpecialTypeSensor() instead of calling
+        /// the constructor directly.
+        /// </remarks>
+        /// <param name="board">The abstract board. This is only used to get the size.</param>
+        /// <param name="gvp">The GridValueProvider, should be either board.GetCellType or board.GetSpecialType.</param>
+        /// <param name="oneHotSize">The number of possible values that the GridValueProvider can return.</param>
+        /// <param name="obsType">Whether to produce vector or visual observations</param>
+        /// <param name="name">Name of the sensor.</param>
+        public Match3Sensor(AbstractBoard board, GridValueProvider gvp, int oneHotSize, Match3ObservationType obsType, string name)
-            m_Board = board;
-            m_NumCellTypes = board.NumCellTypes;
-            m_NumSpecialTypes = board.NumSpecialTypes;
+            m_GridValues = gvp;
+            m_OneHotSize = oneHotSize;
-                ? ObservationSpec.Vector(m_Rows * m_Columns * (m_NumCellTypes + SpecialTypeSize))
-                : ObservationSpec.Visual(m_Rows, m_Columns, m_NumCellTypes + SpecialTypeSize);
+                ? ObservationSpec.Vector(m_Rows * m_Columns * oneHotSize)
+                : ObservationSpec.Visual(m_Rows, m_Columns, oneHotSize);
+        }
-            // See comment in GetCompressedObservation()
-            var cellTypePaddedSize = 3 * ((m_NumCellTypes + 2) / 3);
-            m_SparseChannelMapping = new int[cellTypePaddedSize + SpecialTypeSize];
-            // If we have 4 cell types and 2 special types (3 special size), we'd have
-            // [0, 1, 2, 3, -1, -1, 4, 5, 6]
-            for (var i = 0; i < m_NumCellTypes; i++)
-            {
-                m_SparseChannelMapping[i] = i;
-            }
+        /// <summary>
+        /// Create a sensor that encodes the board cells as observations.
+        /// </summary>
+        /// <param name="board">The abstract board.</param>
+        /// <param name="obsType">Whether to produce vector or visual observations</param>
+        /// <param name="name">Name of the sensor.</param>
+        /// <returns></returns>
+        public static Match3Sensor CellTypeSensor(AbstractBoard board, Match3ObservationType obsType, string name)
+        {
+            return new Match3Sensor(board, board.GetCellType, board.NumCellTypes, obsType, name);
+        }
-            for (var i = m_NumCellTypes; i < cellTypePaddedSize; i++)
-            {
-                m_SparseChannelMapping[i] = -1;
-            }
-
-            for (var i = 0; i < SpecialTypeSize; i++)
-            {
-                m_SparseChannelMapping[cellTypePaddedSize + i] = i + m_NumCellTypes;
-            }
+        /// <summary>
+        /// Create a sensor that encodes the cell special types as observations.
+        /// </summary>
+        /// <param name="board">The abstract board.</param>
+        /// <param name="obsType">Whether to produce vector or visual observations</param>
+        /// <param name="name">Name of the sensor.</param>
+        /// <returns></returns>
+        public static Match3Sensor SpecialTypeSensor(AbstractBoard board, Match3ObservationType obsType, string name)
+        {
+            var specialSize = board.NumSpecialTypes == 0 ? 0 : board.NumSpecialTypes + 1;
+            return new Match3Sensor(board, board.GetSpecialType, specialSize, obsType, name);
         }
 
         /// <inheritdoc/>
         /// <inheritdoc/>
         public int Write(ObservationWriter writer)
         {
-            if (m_Board.Rows != m_Rows || m_Board.Columns != m_Columns || m_Board.NumCellTypes != m_NumCellTypes)
-            {
-                Debug.LogWarning(
-                    $"Board shape changes since sensor initialization. This may cause unexpected results. " +
-                    $"Old shape: Rows={m_Rows} Columns={m_Columns}, NumCellTypes={m_NumCellTypes} " +
-                    $"Current shape: Rows={m_Board.Rows} Columns={m_Board.Columns}, NumCellTypes={m_Board.NumCellTypes}"
-                );
-            }
+            // if (m_Board.Rows != m_Rows || m_Board.Columns != m_Columns || m_Board.NumCellTypes != m_NumCellTypes)
+            // {
+            //     Debug.LogWarning(
+            //         $"Board shape changes since sensor initialization. This may cause unexpected results. " +
+            //         $"Old shape: Rows={m_Rows} Columns={m_Columns}, NumCellTypes={m_NumCellTypes} " +
+            //         $"Current shape: Rows={m_Board.Rows} Columns={m_Board.Columns}, NumCellTypes={m_Board.NumCellTypes}"
+            //     );
+            // }
 
             if (m_ObservationType == Match3ObservationType.Vector)
             {
                     for (var c = 0; c < m_Columns; c++)
                     {
-                        var val = m_Board.GetCellType(r, c);
-                        for (var i = 0; i < m_NumCellTypes; i++)
+                        var val = m_GridValues(r, c);
+
+                        for (var i = 0; i < m_OneHotSize; i++)
-
-                        if (m_NumSpecialTypes > 0)
-                        {
-                            var special = m_Board.GetSpecialType(r, c);
-                            for (var i = 0; i < SpecialTypeSize; i++)
-                            {
-                                writer[offset] = (i == special) ? 1.0f : 0.0f;
-                                offset++;
-                            }
-                        }
                     }
                 }
 
                 {
                     for (var c = 0; c < m_Columns; c++)
                     {
-                        var val = m_Board.GetCellType(r, c);
-                        for (var i = 0; i < m_NumCellTypes; i++)
+                        var val = m_GridValues(r, c);
+                        for (var i = 0; i < m_OneHotSize; i++)
-
-                        if (m_NumSpecialTypes > 0)
-                        {
-                            var special = m_Board.GetSpecialType(r, c);
-                            for (var i = 0; i < SpecialTypeSize; i++)
-                            {
-                                writer[offset] = (i == special) ? 1.0f : 0.0f;
-                                offset++;
-                            }
-                        }
                     }
                 }
 
             // fit in in 2 images, but we'll use 3 here (2 PNGs for the 4 cell type channels, and 1 for
             // the special types). Note that we have to also implement the sparse channel mapping.
             // Optimize this it later.
-            var numCellImages = (m_NumCellTypes + 2) / 3;
+            var numCellImages = (m_OneHotSize + 2) / 3;
-                converter.EncodeToTexture(m_Board.GetCellType, tempTexture, 3 * i);
-                bytesOut.AddRange(tempTexture.EncodeToPNG());
-            }
-
-            var numSpecialImages = (SpecialTypeSize + 2) / 3;
-            for (var i = 0; i < numSpecialImages; i++)
-            {
-                converter.EncodeToTexture(m_Board.GetSpecialType, tempTexture, 3 * i);
+                converter.EncodeToTexture(m_GridValues, tempTexture, 3 * i);
                 bytesOut.AddRange(tempTexture.EncodeToPNG());
             }
 
         {
         }
 
-        /// <inheritdoc/>
-        public SensorCompressionType GetCompressionType()
+        internal SensorCompressionType GetCompressionType()
         {
             return m_ObservationType == Match3ObservationType.CompressedVisual ?
                 SensorCompressionType.PNG :
         /// <inheritdoc/>
-        public string GetName()
+        public CompressionSpec GetCompressionSpec()
-            return m_Name;
+            return new CompressionSpec(GetCompressionType());
-        public int[] GetCompressedChannelMapping()
+        public string GetName()
-            return m_SparseChannelMapping;
+            return m_Name;
         }
 
         /// <inheritdoc/>
         int m_Height;
         int m_Width;
         private static Color[] s_OneHotColors = { Color.red, Color.green, Color.blue };
-
-        public delegate int GridValueProvider(int x, int y);
-
 
         public OneHotToTextureUtil(int height, int width)
         {

com.unity.ml-agents.extensions/Runtime/Match3/Match3SensorComponent.cs

         public Match3ObservationType ObservationType = Match3ObservationType.Vector;
 
         /// <inheritdoc/>
-        public override ISensor CreateSensor()
+        public override ISensor[] CreateSensors()
-            return new Match3Sensor(board, ObservationType, SensorName);
-        }
-
-        /// <inheritdoc/>
-        public override int[] GetObservationShape()
-        {
-            var board = GetComponent<AbstractBoard>();
-            if (board == null)
+            var cellSensor = Match3Sensor.CellTypeSensor(board, ObservationType, SensorName + " (cells)");
+            if (board.NumSpecialTypes > 0)
-                return System.Array.Empty<int>();
+                var specialSensor =
+                    Match3Sensor.SpecialTypeSensor(board, ObservationType, SensorName + " (special)");
+                return new ISensor[] { cellSensor, specialSensor };
+            }
+            else
+            {
+                return new ISensor[] { cellSensor };
-
-            var specialSize = board.NumSpecialTypes == 0 ? 0 : board.NumSpecialTypes + 1;
-            return ObservationType == Match3ObservationType.Vector ?
-                new[] { board.Rows * board.Columns * (board.NumCellTypes + specialSize) } :
-                new[] { board.Rows, board.Columns, board.NumCellTypes + specialSize };
+
     }
 }

com.unity.ml-agents.extensions/Runtime/Sensors/ArticulationBodySensorComponent.cs

         /// Creates a PhysicsBodySensor.
         /// </summary>
         /// <returns></returns>
-        public override ISensor CreateSensor()
+        public override ISensor[] CreateSensors()
-            return new PhysicsBodySensor(RootBody, Settings, sensorName);
+            return new ISensor[] {new PhysicsBodySensor(RootBody, Settings, sensorName)};
-        /// <inheritdoc/>
-        public override int[] GetObservationShape()
-        {
-            if (RootBody == null)
-            {
-                return new[] { 0 };
-            }
-
-            // TODO static method in PhysicsBodySensor?
-            // TODO only update PoseExtractor when body changes?
-            var poseExtractor = new ArticulationBodyPoseExtractor(RootBody);
-            var numPoseObservations = poseExtractor.GetNumPoseObservations(Settings);
-            var numJointObservations = 0;
-
-            foreach(var articBody in poseExtractor.GetEnabledArticulationBodies())
-            {
-                numJointObservations += ArticulationBodyJointExtractor.NumObservations(articBody, Settings);
-            }
-            return new[] { numPoseObservations + numJointObservations };
-        }
     }
 
 }

com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs

         private Color DebugDefaultColor = new Color(1f, 1f, 1f, 0.25f);
 
         /// <inheritdoc/>
-        public override ISensor CreateSensor()
+        public override ISensor[] CreateSensors()
-            return this;
+            return new ISensor[] { this };
         }
 
         /// <summary>
         }
 
         /// <inheritdoc/>
-        public virtual SensorCompressionType GetCompressionType()
+        public virtual CompressionSpec GetCompressionSpec()
-            return CompressionType;
+            return new CompressionSpec(CompressionType);
         }
 
         /// <inheritdoc/>
                 m_ObservationSpec = ObservationSpec.Visual(GridNumSideX, GridNumSideZ, ObservationPerCell);
             }
             return m_ObservationSpec;
-        }
-
-        /// <inheritdoc/>
-        public override int[] GetObservationShape()
-        {
-            var shape = m_ObservationSpec.Shape;
-            return new int[] { shape[0], shape[1], shape[2] };
         }
 
         /// <inheritdoc/>

com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsBodySensor.cs

         }
 
 #if UNITY_2020_1_OR_NEWER
-        public PhysicsBodySensor(ArticulationBody rootBody, PhysicsSensorSettings settings, string sensorName=null)
+        public PhysicsBodySensor(ArticulationBody rootBody, PhysicsSensorSettings settings, string sensorName = null)
         {
             var poseExtractor = new ArticulationBodyPoseExtractor(rootBody);
             m_PoseExtractor = poseExtractor;
             var numJointExtractorObservations = 0;
             m_JointExtractors = new List<IJointExtractor>(poseExtractor.NumEnabledPoses);
-            foreach(var articBody in poseExtractor.GetEnabledArticulationBodies())
+            foreach (var articBody in poseExtractor.GetEnabledArticulationBodies())
             {
                 var jointExtractor = new ArticulationBodyJointExtractor(articBody);
                 numJointExtractorObservations += jointExtractor.NumObservations(settings);
             var numTransformObservations = m_PoseExtractor.GetNumPoseObservations(settings);
             m_ObservationSpec = ObservationSpec.Vector(numTransformObservations + numJointExtractorObservations);
         }
+
 #endif
 
         /// <inheritdoc/>
         public void Reset() { }
 
         /// <inheritdoc/>
-        public SensorCompressionType GetCompressionType()
+        public CompressionSpec GetCompressionSpec()
-            return SensorCompressionType.None;
+            return CompressionSpec.Default();
         }
 
         /// <inheritdoc/>
         {
             return BuiltInSensorType.PhysicsBodySensor;
         }
-
     }
 }

com.unity.ml-agents.extensions/Runtime/Sensors/RigidBodySensorComponent.cs

         /// Creates a PhysicsBodySensor.
         /// </summary>
         /// <returns></returns>
-        public override ISensor CreateSensor()
+        public override ISensor[] CreateSensors()
-            return new PhysicsBodySensor(GetPoseExtractor(), Settings, _sensorName);
-        }
-
-        /// <inheritdoc/>
-        public override int[] GetObservationShape()
-        {
-            if (RootBody == null)
-            {
-                return new[] { 0 };
-            }
-
-            var poseExtractor = GetPoseExtractor();
-            var numPoseObservations = poseExtractor.GetNumPoseObservations(Settings);
-
-            var numJointObservations = 0;
-            foreach (var rb in poseExtractor.GetEnabledRigidbodies())
-            {
-                var joint = rb.GetComponent<Joint>();
-                numJointObservations += RigidBodyJointExtractor.NumObservations(rb, joint, Settings);
-            }
-            return new[] { numPoseObservations + numJointObservations };
+            return new ISensor[] { new PhysicsBodySensor(GetPoseExtractor(), Settings, _sensorName) };
         }
 
         /// <summary>

com.unity.ml-agents.extensions/Tests/Editor/Match3/Match3SensorTests.cs

         // Whether the expected PNG data should be written to a file.
         // Only set this to true if the compressed observation format changes.
         private bool WritePNGDataToFile = false;
+        private const string k_CellObservationPng = "match3obs";
+        private const string k_SpecialObservationPng = "match3obs_special";
 
         [Test]
         public void TestVectorObservations()
 
             var sensorComponent = gameObj.AddComponent<Match3SensorComponent>();
             sensorComponent.ObservationType = Match3ObservationType.Vector;
-            var sensor = sensorComponent.CreateSensor();
+            var sensor = sensorComponent.CreateSensors()[0];
-            var expectedShape = new[] { 3 * 3 * 2 };
-            Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
+            var expectedShape = new InplaceArray<int>(3 * 3 * 2);
+            Assert.AreEqual(expectedShape, sensor.GetObservationSpec().Shape);
 
             var expectedObs = new float[]
             {
 
             var sensorComponent = gameObj.AddComponent<Match3SensorComponent>();
             sensorComponent.ObservationType = Match3ObservationType.Vector;
-            var sensor = sensorComponent.CreateSensor();
+            var sensors = sensorComponent.CreateSensors();
+            var cellSensor = sensors[0];
+            var specialSensor = sensors[1];
-            var expectedShape = new[] { 3 * 3 * (2 + 3) };
-            Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
-            var expectedObs = new float[]
-                1, 0, 1, 0, 0, /* (0, 0) */ 0, 1, 1, 0, 0, /* (0, 1) */ 1, 0, 1, 0, 0, /* (0, 0) */
-                1, 0, 0, 0, 1, /* (0, 2) */ 1, 0, 1, 0, 0, /* (0, 0) */ 1, 0, 1, 0, 0, /* (0, 0) */
-                1, 0, 1, 0, 0, /* (0, 0) */ 1, 0, 0, 1, 0, /* (0, 1) */ 1, 0, 1, 0, 0, /* (0, 0) */
-            };
-            SensorTestHelper.CompareObservation(sensor, expectedObs);
-        }
+                var expectedShape = new InplaceArray<int>(3 * 3 * 2);
+                Assert.AreEqual(expectedShape, cellSensor.GetObservationSpec().Shape);
+                var expectedObs = new float[]
+                {
+                    1, 0, /* (0) */ 0, 1, /* (1) */ 1, 0, /* (0) */
+                    1, 0, /* (0) */ 1, 0, /* (0) */ 1, 0, /* (0) */
+                    1, 0, /* (0) */ 1, 0, /* (0) */ 1, 0, /* (0) */
+                };
+                SensorTestHelper.CompareObservation(cellSensor, expectedObs);
+            }
+            {
+                var expectedShape = new InplaceArray<int>(3 * 3 * 3);
+                Assert.AreEqual(expectedShape, specialSensor.GetObservationSpec().Shape);
+
+                var expectedObs = new float[]
+                {
+                    1, 0, 0, /* (0) */ 1, 0, 0, /* (1) */ 1, 0, 0, /* (0) */
+                    0, 0, 1, /* (2) */ 1, 0, 0, /* (0) */ 1, 0, 0, /* (0) */
+                    1, 0, 0, /* (0) */ 0, 1, 0, /* (1) */ 1, 0, 0, /* (0) */
+                };
+                SensorTestHelper.CompareObservation(specialSensor, expectedObs);
+            }
+        }
 
         [Test]
         public void TestVisualObservations()
 
             var sensorComponent = gameObj.AddComponent<Match3SensorComponent>();
             sensorComponent.ObservationType = Match3ObservationType.UncompressedVisual;
-            var sensor = sensorComponent.CreateSensor();
+            var sensor = sensorComponent.CreateSensors()[0];
-            var expectedShape = new[] { 3, 3, 2 };
-            Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
+            var expectedShape = new InplaceArray<int>(3, 3, 2);
+            Assert.AreEqual(expectedShape, sensor.GetObservationSpec().Shape);
-            Assert.AreEqual(SensorCompressionType.None, sensor.GetCompressionType());
+            Assert.AreEqual(SensorCompressionType.None, sensor.GetCompressionSpec().SensorCompressionType);
 
             var expectedObs = new float[]
             {
 
             var sensorComponent = gameObj.AddComponent<Match3SensorComponent>();
             sensorComponent.ObservationType = Match3ObservationType.UncompressedVisual;
-            var sensor = sensorComponent.CreateSensor();
+            var sensors = sensorComponent.CreateSensors();
+            var cellSensor = sensors[0];
+            var specialSensor = sensors[1];
-            var expectedShape = new[] { 3, 3, 2 + 3 };
-            Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
+            {
+                var expectedShape = new InplaceArray<int>(3, 3, 2);
+                Assert.AreEqual(expectedShape, cellSensor.GetObservationSpec().Shape);
-            Assert.AreEqual(SensorCompressionType.None, sensor.GetCompressionType());
+                Assert.AreEqual(SensorCompressionType.None, cellSensor.GetCompressionSpec().SensorCompressionType);
-            var expectedObs = new float[]
-            {
-                1, 0, 1, 0, 0, /* (0, 0) */ 0, 1, 1, 0, 0, /* (0, 1) */ 1, 0, 1, 0, 0, /* (0, 0) */
-                1, 0, 0, 0, 1, /* (0, 2) */ 1, 0, 1, 0, 0, /* (0, 0) */ 1, 0, 1, 0, 0, /* (0, 0) */
-                1, 0, 1, 0, 0, /* (0, 0) */ 1, 0, 0, 1, 0, /* (0, 1) */ 1, 0, 1, 0, 0, /* (0, 0) */
-            };
-            SensorTestHelper.CompareObservation(sensor, expectedObs);
+                var expectedObs = new float[]
+                {
+                    1, 0, /* (0) */ 0, 1, /* (1) */ 1, 0, /* (0) */
+                    1, 0, /* (0) */ 1, 0, /* (0) */ 1, 0, /* (0) */
+                    1, 0, /* (0) */ 1, 0, /* (0) */ 1, 0, /* (0) */
+                };
+                SensorTestHelper.CompareObservation(cellSensor, expectedObs);
-            var expectedObs3D = new float[,,]
+                var expectedObs3D = new float[,,]
+                {
+                    {{1, 0}, {0, 1}, {1, 0}},
+                    {{1, 0}, {1, 0}, {1, 0}},
+                    {{1, 0}, {1, 0}, {1, 0}},
+                };
+                SensorTestHelper.CompareObservation(cellSensor, expectedObs3D);
+            }
-                {{1, 0, 1, 0, 0}, {0, 1, 1, 0, 0}, {1, 0, 1, 0, 0}},
-                {{1, 0, 0, 0, 1}, {1, 0, 1, 0, 0}, {1, 0, 1, 0, 0}},
-                {{1, 0, 1, 0, 0}, {1, 0, 0, 1, 0}, {1, 0, 1, 0, 0}},
-            };
-            SensorTestHelper.CompareObservation(sensor, expectedObs3D);
+                var expectedShape = new InplaceArray<int>(3, 3, 3);
+                Assert.AreEqual(expectedShape, specialSensor.GetObservationSpec().Shape);
+
+                Assert.AreEqual(SensorCompressionType.None, specialSensor.GetCompressionSpec().SensorCompressionType);
+
+                var expectedObs = new float[]
+                {
+                    1, 0, 0, /* (0) */ 1, 0, 0, /* (1) */ 1, 0, 0, /* (0) */
+                    0, 0, 1, /* (2) */ 1, 0, 0, /* (0) */ 1, 0, 0, /* (0) */
+                    1, 0, 0, /* (0) */ 0, 1, 0, /* (1) */ 1, 0, 0, /* (0) */
+                };
+                SensorTestHelper.CompareObservation(specialSensor, expectedObs);
+
+                var expectedObs3D = new float[,,]
+                {
+                    {{1, 0, 0}, {1, 0, 0}, {1, 0, 0}},
+                    {{0, 0, 1}, {1, 0, 0}, {1, 0, 0}},
+                    {{1, 0, 0}, {0, 1, 0}, {1, 0, 0}},
+                };
+                SensorTestHelper.CompareObservation(specialSensor, expectedObs3D);
+            }
         }
 
         [Test]
 
             var sensorComponent = gameObj.AddComponent<Match3SensorComponent>();
             sensorComponent.ObservationType = Match3ObservationType.CompressedVisual;
-            var sensor = sensorComponent.CreateSensor();
+            var sensor = sensorComponent.CreateSensors()[0];
-            var expectedShape = new[] { 3, 3, 2 };
-            Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
+            var expectedShape = new InplaceArray<int>(3, 3, 2);
+            Assert.AreEqual(expectedShape, sensor.GetObservationSpec().Shape);
-            Assert.AreEqual(SensorCompressionType.PNG, sensor.GetCompressionType());
+            Assert.AreEqual(SensorCompressionType.PNG, sensor.GetCompressionSpec().SensorCompressionType);
-                SavePNGs(pngData, "match3obs");
+                SavePNGs(pngData, k_CellObservationPng);
-            var expectedPng = LoadPNGs("match3obs", 1);
+            var expectedPng = LoadPNGs(k_CellObservationPng, 1);
-
-
 
         [Test]
         public void TestCompressedVisualObservationsSpecial()
 
             var sensorComponent = gameObj.AddComponent<Match3SensorComponent>();
             sensorComponent.ObservationType = Match3ObservationType.CompressedVisual;
-            var sensor = sensorComponent.CreateSensor();
-
-            var expectedShape = new[] { 3, 3, 2 + 3 };
-            Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
-            Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
+            var sensors = sensorComponent.CreateSensors();
-            Assert.AreEqual(SensorCompressionType.PNG, sensor.GetCompressionType());
+            var paths = new[] { k_CellObservationPng, k_SpecialObservationPng };
+            var expectedChannels = new[] { 2, 3 };
-            var concatenatedPngData = sensor.GetCompressedObservation();
-            var pathPrefix = "match3obs_special";
-            if (WritePNGDataToFile)
+            for (var i = 0; i < 2; i++)
-                // Enable this if the format of the observation changes
-                SavePNGs(concatenatedPngData, pathPrefix);
+                var sensor = sensors[i];
+                var expectedShape = new InplaceArray<int>(3, 3, expectedChannels[i]);
+                Assert.AreEqual(expectedShape, sensor.GetObservationSpec().Shape);
+
+                Assert.AreEqual(SensorCompressionType.PNG, sensor.GetCompressionSpec().SensorCompressionType);
+
+                var pngData = sensor.GetCompressedObservation();
+                if (WritePNGDataToFile)
+                {
+                    // Enable this if the format of the observation changes
+                    SavePNGs(pngData, paths[i]);
+                }
+
+                var expectedPng = LoadPNGs(paths[i], 1);
+                Assert.AreEqual(expectedPng, pngData);
-            var expectedPng = LoadPNGs(pathPrefix, 2);
-            Assert.AreEqual(expectedPng, concatenatedPngData);
 
         }
 
             }
 
             return bytesOut.ToArray();
-
         }
     }
 }

com.unity.ml-agents.extensions/Tests/Editor/Match3/match3obs0.png.meta

 fileFormatVersion: 2
 guid: 3e1767bf6c63e46b1a16404dc1afe508
 TextureImporter:
-  fileIDToRecycleName: {}
+  internalIDToNameTable: []
-  serializedVersion: 9
+  serializedVersion: 11
   mipmaps:
     mipMapMode: 0
     enableMipMap: 1
   maxTextureSizeSet: 0
   compressionQualitySet: 0
   textureFormatSet: 0
+  applyGammaDecoding: 0
-  - serializedVersion: 2
+  - serializedVersion: 3
     buildTarget: DefaultTexturePlatform
     maxTextureSize: 2048
     resizeAlgorithm: 0
     allowsAlphaSplitting: 0
     overridden: 0
     androidETC2FallbackOverride: 0
+    forceMaximumCompressionQuality_BC6H_BC7: 0
   spriteSheet:
     serializedVersion: 2
     sprites: []
     spriteID: 
+    internalID: 0
+    secondaryTextures: []
   spritePackingTag: 
   pSDRemoveMatte: 0
   pSDShowRemoveMatteOption: 0

com.unity.ml-agents.extensions/Tests/Editor/Match3/match3obs_special0.png.meta

 fileFormatVersion: 2
 guid: 2e4ca31cf9cff4505acbefe44b621d6f
 TextureImporter:
-  fileIDToRecycleName: {}
+  internalIDToNameTable: []
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+  serializedVersion: 11
   mipmaps:
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     enableMipMap: 1
   maxTextureSizeSet: 0
   compressionQualitySet: 0
   textureFormatSet: 0
+  applyGammaDecoding: 0
-  - serializedVersion: 2
+  - serializedVersion: 3
     buildTarget: DefaultTexturePlatform
     maxTextureSize: 2048
     resizeAlgorithm: 0
     allowsAlphaSplitting: 0
     overridden: 0
     androidETC2FallbackOverride: 0
+    forceMaximumCompressionQuality_BC6H_BC7: 0
   spriteSheet:
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     spriteID: 
+    internalID: 0
+    secondaryTextures: []
   spritePackingTag: 
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com.unity.ml-agents.extensions/Tests/Editor/Sensors/ChannelHotShapeTests.cs

                 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
             gridSensor.Start();
 
-            int[] expectedShape = { 10, 10, 1 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
-
+            var expectedShape = new InplaceArray<int>(10, 10, 1);
+            Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);
         }
 
 
                 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
             gridSensor.Start();
 
-            int[] expectedShape = { 10, 10, 2 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
-
+            var expectedShape = new InplaceArray<int>(10, 10, 2);
+            Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);
         }
 
         [Test]
                 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
             gridSensor.Start();
 
-            int[] expectedShape = { 10, 10, 3 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
+            var expectedShape = new InplaceArray<int>(10, 10, 3);
+            Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);
 
         }
 
                 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
             gridSensor.Start();
 
-            int[] expectedShape = { 10, 10, 6 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
-
+            var expectedShape = new InplaceArray<int>(10, 10, 6);
+            Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);
         }
 
     }

com.unity.ml-agents.extensions/Tests/Editor/Sensors/ChannelShapeTests.cs

                 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
             gridSensor.Start();
 
-            int[] expectedShape = { 10, 10, 1 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
+            var expectedShape = new InplaceArray<int>(10, 10, 1);
+            Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);
+
         }
 
         [Test]
                 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
             gridSensor.Start();
 
-            int[] expectedShape = { 10, 10, 2 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
+            var expectedShape = new InplaceArray<int>(10, 10, 2);
+            Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);
+
         }
 
         [Test]
                 1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
             gridSensor.Start();
 
-            int[] expectedShape = { 10, 10, 7 };
-            GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
+            var expectedShape = new InplaceArray<int>(10, 10, 7);
+            Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);
+
         }
     }
 }

com.unity.ml-agents.extensions/Tests/Editor/Sensors/GridSensorTestUtils.cs

             return duplicated;
         }
 
-        /// <summary>
-        /// Asserts that 2 int arrays are the same
-        /// </summary>
-        /// <param name="expected">The expected array</param>
-        /// <param name="actual">The actual array</param>
-        public static void AssertArraysAreEqual(int[] expected, int[] actual)
-        {
-            Assert.AreEqual(expected.Length, actual.Length, "Lengths are not the same");
-            for (int i = 0; i < actual.Length; i++)
-            {
-                Assert.AreEqual(expected[i], actual[i], "Got " + Array2Str(actual) + ", expected " + Array2Str(expected));
-            }
-        }
-
-        /// <summary>
-        /// Asserts that 2 float arrays are the same
-        /// </summary>
-        /// <param name="expected">The expected array</param>
-        /// <param name="actual">The actual array</param>
-        public static void AssertArraysAreEqual(float[] expected, float[] actual)
-        {
-            Assert.AreEqual(expected.Length, actual.Length, "Lengths are not the same");
-            for (int i = 0; i < actual.Length; i++)
-            {
-                Assert.AreEqual(expected[i], actual[i], "Got " + Array2Str(actual) + ", expected " + Array2Str(expected));
-            }
-        }
 
         /// <summary>
         /// Asserts that the sub-arrays of the total array are equal to specific subarrays at specific subarray indicies and equal to a default everywhere else.

com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/ButtonInputActionAdaptorTests.cs

-#if MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_TESTS
 using NUnit.Framework;
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Extensions.Input;
         }
     }
 }
-#endif // MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_TESTS

com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/DoubleInputActionAdaptorTests.cs

-#if MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_TESTS
 using NUnit.Framework;
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Extensions.Input;
         }
     }
 }
-#endif // MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_TESTS

com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/FloatInputActionAdapatorTests.cs

-#if MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_TESTS
 using NUnit.Framework;
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Extensions.Input;
         }
     }
 }
-#endif // MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_TESTS

com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/IntegerInputActionAdaptorTests.cs

-#if MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_TESTS
 using System;
 using NUnit.Framework;
 using Unity.MLAgents.Actuators;
         }
     }
 }
-#endif // MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_TESTS

com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/Vector2InputActionAdaptorTests.cs

-#if MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_TESTS
 using NUnit.Framework;
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Extensions.Input;
         }
     }
 }
-#endif // MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_TESTS

com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActionActuatorTests.cs

-#if MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_TESTS
 using NUnit.Framework;
 using Unity.Barracuda;
 using Unity.MLAgents.Actuators;
         }
     }
 }
-#endif // MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_TESTS

com.unity.ml-agents.extensions/Tests/Runtime/Input/TestPushBlockActions.cs

-#if MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#if MLA_INPUT_TESTS
 //------------------------------------------------------------------------------
 // <auto-generated>
 //     This code was auto-generated by com.unity.inputsystem:InputActionCodeGenerator
         void OnJump(InputAction.CallbackContext context);
     }
 }
-#endif // MLA_INPUT_TESTS && UNITY_2019_4_OR_NEWER
+#endif // MLA_INPUT_TESTS

com.unity.ml-agents.extensions/Tests/Runtime/Sensors/ArticulationBodySensorTests.cs

             var gameObj = new GameObject();
 
             var sensorComponent = gameObj.AddComponent<ArticulationBodySensorComponent>();
-            var sensor = sensorComponent.CreateSensor();
+            var sensor = sensorComponent.CreateSensors()[0];
             SensorTestHelper.CompareObservation(sensor, new float[0]);
         }
 
                 UseLocalSpaceRotations = true
             };
 
-            var sensor = sensorComponent.CreateSensor();
+            var sensor = sensorComponent.CreateSensors()[0];
             sensor.Update();
             var expected = new[]
             {
             };
             SensorTestHelper.CompareObservation(sensor, expected);
-            Assert.AreEqual(expected.Length, sensorComponent.GetObservationShape()[0]);
+            Assert.AreEqual(expected.Length, sensor.GetObservationSpec().Shape[0]);
         }
 
         [Test]
 #endif
             };
 
-            var sensor = sensorComponent.CreateSensor();
+            var sensor = sensorComponent.CreateSensors()[0];
             sensor.Update();
             var expected = new[]
             {
 #endif
             };
             SensorTestHelper.CompareObservation(sensor, expected);
-            Assert.AreEqual(expected.Length, sensorComponent.GetObservationShape()[0]);
+            Assert.AreEqual(expected.Length, sensor.GetObservationSpec().Shape[0]);
 
             // Update the settings to only process joint observations
             sensorComponent.Settings = new PhysicsSensorSettings
             };
 
-            sensor = sensorComponent.CreateSensor();
+            sensor = sensorComponent.CreateSensors()[0];
             sensor.Update();
 
             expected = new[]
                 0f, // joint2.force
             };
             SensorTestHelper.CompareObservation(sensor, expected);
-            Assert.AreEqual(expected.Length, sensorComponent.GetObservationShape()[0]);
+            Assert.AreEqual(expected.Length, sensor.GetObservationSpec().Shape[0]);
         }
     }
 }

com.unity.ml-agents.extensions/Tests/Runtime/Sensors/RigidBodySensorTests.cs

             var gameObj = new GameObject();
 
             var sensorComponent = gameObj.AddComponent<RigidBodySensorComponent>();
-            var sensor = sensorComponent.CreateSensor();
+            var sensor = sensorComponent.CreateSensors()[0];
             SensorTestHelper.CompareObservation(sensor, new float[0]);
         }
 
                 UseLocalSpaceRotations = true
             };
 
-            var sensor = sensorComponent.CreateSensor();
+            var sensor = sensorComponent.CreateSensors()[0];
-            Assert.AreEqual(expected.Length, sensorComponent.GetObservationShape()[0]);
+            Assert.AreEqual(expected.Length, sensor.GetObservationSpec().Shape[0]);
             SensorTestHelper.CompareObservation(sensor, expected);
         }
 
             };
             sensorComponent.VirtualRoot = virtualRoot;
 
-            var sensor = sensorComponent.CreateSensor();
+            var sensor = sensorComponent.CreateSensors()[0];
             sensor.Update();
 
             // Note that the VirtualRoot is ignored from the observations
                 -1f, 1f, 0f, // Attached vel
                 0f, -1f, 1f // Leaf vel
             };
-            Assert.AreEqual(expected.Length, sensorComponent.GetObservationShape()[0]);
+            Assert.AreEqual(expected.Length, sensor.GetObservationSpec().Shape[0]);
             SensorTestHelper.CompareObservation(sensor, expected);
 
             // Update the settings to only process joint observations
                 UseJointForces = true,
             };
 
-            sensor = sensorComponent.CreateSensor();
+            sensor = sensorComponent.CreateSensors()[0];
             sensor.Update();
 
             expected = new[]
                 0f, 0f, 0f, // joint2.torque
             };
             SensorTestHelper.CompareObservation(sensor, expected);
-            Assert.AreEqual(expected.Length, sensorComponent.GetObservationShape()[0]);
+            Assert.AreEqual(expected.Length, sensor.GetObservationSpec().Shape[0]);
 
         }
     }

com.unity.ml-agents.extensions/package.json

   "name": "com.unity.ml-agents.extensions",
   "displayName": "ML Agents Extensions",
   "version": "0.3.0-preview",
-  "unity": "2018.4",
+  "unity": "2019.4",
-    "com.unity.ml-agents": "2.0.0-exp.1"
+    "com.unity.ml-agents": "2.0.0-exp.1",
+    "com.unity.modules.physics": "1.0.0"
   }
 }

com.unity.ml-agents/CHANGELOG.md

 
 ## [Unreleased]
 ### Major Changes
-#### com.unity.ml-agents (C#)
+#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#)
+- The minimum supported Unity version was updated to 2019.4. (#5166)
 - Several breaking interface changes were made. See the
 [Migration Guide](https://github.com/Unity-Technologies/ml-agents/blob/release_14_docs/docs/Migrating.md) for more
 details.
 `SetActionEnabled(int branch, int actionIndex, bool isEnabled)`. (#5060)
 - IActuator now implements IHeuristicProvider. (#5110)
-- `ISensor.GetObservationShape()` was removed, and `GetObservationSpec()` was added. (#5127)
+- `ISensor.GetObservationShape()` was removed, and `GetObservationSpec()` was added. The `ITypedSensor`
+and `IDimensionPropertiesSensor` interfaces were removed. (#5127)
+- `ISensor.GetCompressionType()` was removed, and `GetCompressionSpec()` was added. The `ISparseChannelSensor`
+interface was removed. (#5164)
+- The abstract method `SensorComponent.GetObservationShape()` was no longer being called, so it has been removed. (#5172)
+- `SensorComponent.CreateSensor()` was replaced with `SensorComponent.CreateSensor()`, which returns an `ISensor[]`. (#5181)
+- `Match3Sensor` was refactored to produce cell and special type observations separately, and `Match3SensorComponent` now
+produces two `Match3Sensor`s (unless there are no special types). Previously trained models will have different observation
+sizes and will need to be retrained. (#5181)
 
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 
 - The `.onnx` models discrete action output now contains the discrete actions values and not the logits. Models created with this version will not be usable with previous versions of the package (#5080)
 - Added ML-Agents package settings. (#5027)
+- Make com.unity.modules.unityanalytics an optional dependency. (#5109)
+- Make com.unity.modules.physics and com.unity.modules.physics2d optional dependencies. (#5112)
+- The default `InferenceDevice` is now `InferenceDevice.Default`, which is equivalent to `InferenceDevice.Burst`. If you
+depend on the previous behavior, you can explicitly set the Agent's `InferenceDevice` to `InferenceDevice.CPU`. (#5175)
+
-#### com.unity.ml-agents (C#)
+#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#)
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 
 

com.unity.ml-agents/Documentation~/com.unity.ml-agents.md

 This version of the Unity ML-Agents package is compatible with the following
 versions of the Unity Editor:
 
-- 2018.4 and later
+- 2019.4 and later
 
 ## Known Limitations
 

com.unity.ml-agents/Editor/MLAgentsSettingsBuildProvider.cs

 
         private static bool IsPlayerSettingsDirty()
         {
-#if UNITY_2019_OR_NEWER
-#else
-            return false;
-#endif
-#if UNITY_2019_OR_NEWER
-#endif
         }
     }
 }

com.unity.ml-agents/Editor/MLAgentsSettingsProvider.cs

 using System.Runtime.CompilerServices;
 using UnityEngine;
 using UnityEditor;
-#if UNITY_2019_4_OR_NEWER
-#else
-using UnityEngine.Experimental.UIElements;
-#endif
 
 [assembly: InternalsVisibleTo("Unity.ML-Agents.DevTests.Editor")]
 namespace Unity.MLAgents.Editor

com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs

 
         protected void OnRayPerceptionInspectorGUI(bool is3d)
         {
+#if !MLA_UNITY_PHYSICS_MODULE
+            if (is3d)
+            {
+                EditorGUILayout.HelpBox("The Physics Module is not currently present.  " +
+                "Please add it to your project in order to use the Ray Perception APIs in the " +
+                $"{nameof(RayPerceptionSensorComponent3D)}", MessageType.Warning);
+            }
+#endif
+#if !MLA_UNITY_PHYSICS2D_MODULE
+            if (!is3d)
+            {
+                EditorGUILayout.HelpBox("The Physics2D Module is not currently present.  " +
+                "Please add it to your project in order to use the Ray Perception APIs in the " +
+                $"{nameof(RayPerceptionSensorComponent3D)}", MessageType.Warning);
+            }
+#endif
             var so = serializedObject;
             so.Update();
 

com.unity.ml-agents/Editor/Unity.ML-Agents.Editor.asmdef

     "overrideReferences": false,
     "precompiledReferences": [],
     "autoReferenced": true,
-    "defineConstraints": []
+    "defineConstraints": [],
+    "versionDefines": [
+        {
+            "name": "com.unity.modules.physics",
+            "expression": "1.0.0",
+            "define": "MLA_UNITY_PHYSICS_MODULE"
+        },
+        {
+            "name": "com.unity.modules.physics2d",
+            "expression": "1.0.0",
+            "define": "MLA_UNITY_PHYSICS2D_MODULE"
+        }
+    ]
 }

com.unity.ml-agents/Runtime/Agent.cs

     internal class AgentVectorActuator : VectorActuator
     {
         public AgentVectorActuator(IActionReceiver actionReceiver,
-            IHeuristicProvider heuristicProvider,
-            ActionSpec actionSpec,
-            string name = "VectorActuator"
+                                   IHeuristicProvider heuristicProvider,
+                                   ActionSpec actionSpec,
+                                   string name = "VectorActuator"
         ) : base(actionReceiver, heuristicProvider, actionSpec, name)
         { }
 
         public void SetModel(
             string behaviorName,
             NNModel model,
-            InferenceDevice inferenceDevice = InferenceDevice.CPU)
+            InferenceDevice inferenceDevice = InferenceDevice.Default)
         {
             if (behaviorName == m_PolicyFactory.BehaviorName &&
                 model == m_PolicyFactory.Model &&
         /// <param name="reward">The new value of the reward.</param>
         public void SetReward(float reward)
         {
-#if DEBUG
-#endif
             m_CumulativeReward += (reward - m_Reward);
             m_Reward = reward;
         }
         /// <param name="increment">Incremental reward value.</param>
         public void AddReward(float increment)
         {
-#if DEBUG
-#endif
             m_Reward += increment;
             m_CumulativeReward += increment;
         }
-#if DEBUG
-#endif
-#if DEBUG
-#endif
             m_GroupReward += increment;
         }
 
             sensors.Capacity += attachedSensorComponents.Length;
             foreach (var component in attachedSensorComponents)
             {
-                sensors.Add(component.CreateSensor());
+                sensors.AddRange(component.CreateSensors());
             }
 
             // Support legacy CollectObservations

com.unity.ml-agents/Runtime/Analytics/Events.cs

             return new EventObservationSpec
             {
                 SensorName = sensor.GetName(),
-                CompressionType = sensor.GetCompressionType().ToString(),
+                CompressionType = sensor.GetCompressionSpec().SensorCompressionType.ToString(),
                 BuiltInSensorType = (int)builtInSensorType,
                 DimensionInfos = dimInfos,
             };

com.unity.ml-agents/Runtime/Analytics/InferenceAnalytics.cs

-#if MLA_UNITY_ANALYTICS_MODULE || !UNITY_2019_4_OR_NEWER
-#define MLA_UNITY_ANALYTICS_MODULE_ENABLED
-#endif
-
-
-using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 using Unity.Barracuda;
 using Unity.MLAgents.Sensors;
 using UnityEngine;
 
-#if MLA_UNITY_ANALYTICS_MODULE_ENABLED
+#if MLA_UNITY_ANALYTICS_MODULE
 using UnityEngine.Analytics;
 #endif
 
-#if MLA_UNITY_ANALYTICS_MODULE_ENABLED
+#if MLA_UNITY_ANALYTICS_MODULE
-#endif // MLA_UNITY_ANALYTICS_MODULE_ENABLED
+#endif // MLA_UNITY_ANALYTICS_MODULE
 #endif // UNITY_EDITOR
 
 
         const int k_MaxNumberOfElements = 1000;
 
 
+#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE
+#endif
+#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE
-#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE_ENABLED
-#elif MLA_UNITY_ANALYTICS_MODULE_ENABLED
-            AnalyticsResult result = AnalyticsResult.UnsupportedPlatform;
-            if (result == AnalyticsResult.Ok)
-            {
-                s_EventRegistered = true;
-            }
-#endif
+#else  // no editor, no analytics
+            s_EventRegistered = false;
+#endif
             return s_EventRegistered;
         }
 
         /// <param name="actionSpec">ActionSpec for the Agent. Used to generate information about the action space.</param>
         /// <param name="actuators">List of IActuators for the Agent. Used to generate information about the action space.</param>
         /// <returns></returns>
-        [Conditional("MLA_UNITY_ANALYTICS_MODULE_ENABLED")]
+        [Conditional("MLA_UNITY_ANALYTICS_MODULE")]
         public static void InferenceModelSet(
             NNModel nnModel,
             string behaviorName,
             IList<IActuator> actuators
         )
         {
+#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE
             // The event shouldn't be able to report if this is disabled but if we know we're not going to report
             // Lets early out and not waste time gathering all the data
             if (!IsAnalyticsEnabled())
             var data = GetEventForModel(nnModel, behaviorName, inferenceDevice, sensors, actionSpec, actuators);
             // Note - to debug, use JsonUtility.ToJson on the event.
             // Debug.Log(JsonUtility.ToJson(data, true));
-#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE_ENABLED
-#else
-            return;
 #endif
         }
 
                 inferenceEvent.BarracudaModelProducer = "tensorflow_to_barracuda.py";
             }
 
-#if UNITY_2019_3_OR_NEWER && UNITY_EDITOR
+#if UNITY_EDITOR
             var barracudaPackageInfo = UnityEditor.PackageManager.PackageInfo.FindForAssembly(typeof(Tensor).Assembly);
             inferenceEvent.BarracudaPackageVersion = barracudaPackageInfo.version;
 #else

com.unity.ml-agents/Runtime/Analytics/TrainingAnalytics.cs

-#if MLA_UNITY_ANALYTICS_MODULE || !UNITY_2019_4_OR_NEWER
-#define MLA_UNITY_ANALYTICS_MODULE_ENABLED
-#endif
-
 using System;
 using System.Collections.Generic;
 using System.Diagnostics;
-#if MLA_UNITY_ANALYTICS_MODULE_ENABLED
+#if MLA_UNITY_ANALYTICS_MODULE
 using UnityEngine.Analytics;
 #if UNITY_EDITOR
 using UnityEditor.Analytics;
 
 namespace Unity.MLAgents.Analytics
 {
-    internal class TrainingAnalytics
+    internal static class TrainingAnalytics
     {
         const string k_VendorKey = "unity.ml-agents";
         const string k_TrainingEnvironmentInitializedEventName = "ml_agents_training_environment_initialized";
             k_TrainingBehaviorInitializedEventName,
             k_RemotePolicyInitializedEventName
         };
-
-        /// <summary>
-        /// Whether or not we've registered this particular event yet
-        /// </summary>
-        static bool s_EventsRegistered = false;
 
         /// <summary>
         /// Hourly limit for this event name
         const int k_MaxNumberOfElements = 1000;
 
         private static bool s_SentEnvironmentInitialized;
+
+#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE
+        /// <summary>
+        /// Whether or not we've registered this particular event yet
+        /// </summary>
+        static bool s_EventsRegistered = false;
+
+#endif
 
         private static Guid s_TrainingSessionGuid;
 
 
-        static bool EnableAnalytics()
+        internal static bool EnableAnalytics()
-#if MLA_UNITY_ANALYTICS_MODULE_ENABLED
+#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE
             if (s_EventsRegistered)
             {
                 return true;
-#if UNITY_EDITOR
-#else
-                return false;
-#endif // UNITY_EDITOR
             }
             s_EventsRegistered = true;
 
             return s_EventsRegistered;
 #else
             return false;
-#endif // MLA_UNITY_ANALYTICS_MODULE_ENABLED
+#endif // MLA_UNITY_ANALYTICS_MODULE
         }
 
         /// <summary>
         /// <param name="packageVersion"></param>
-        [Conditional("MLA_UNITY_ANALYTICS_MODULE_ENABLED")]
+        [Conditional("MLA_UNITY_ANALYTICS_MODULE")]
         public static void SetTrainerInformation(string packageVersion, string communicationVersion)
         {
             s_TrainerPackageVersion = packageVersion;
         public static bool IsAnalyticsEnabled()
         {
-#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE_ENABLED
+#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE
             return EditorAnalytics.enabled;
 #else
             return false;
-        [Conditional("MLA_UNITY_ANALYTICS_MODULE_ENABLED")]
+        [Conditional("MLA_UNITY_ANALYTICS_MODULE")]
         public static void TrainingEnvironmentInitialized(TrainingEnvironmentInitializedEvent tbiEvent)
         {
             if (!IsAnalyticsEnabled())
             // Debug.Log(
             //     $"Would send event {k_TrainingEnvironmentInitializedEventName} with body {JsonUtility.ToJson(tbiEvent, true)}"
             // );
-#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE_ENABLED
+#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE
             if (AnalyticsUtils.s_SendEditorAnalytics)
             {
                 EditorAnalytics.SendEventWithLimit(k_TrainingEnvironmentInitializedEventName, tbiEvent);
 
-        [Conditional("MLA_UNITY_ANALYTICS_MODULE_ENABLED")]
+        [Conditional("MLA_UNITY_ANALYTICS_MODULE")]
         public static void RemotePolicyInitialized(
             string fullyQualifiedBehaviorName,
             IList<ISensor> sensors,
         {
+#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE
             if (!IsAnalyticsEnabled())
                 return;
 
             // Debug.Log(
             //     $"Would send event {k_RemotePolicyInitializedEventName} with body {JsonUtility.ToJson(data, true)}"
             // );
-#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE_ENABLED
             if (AnalyticsUtils.s_SendEditorAnalytics)
             {
                 EditorAnalytics.SendEventWithLimit(k_RemotePolicyInitializedEventName, data);
             return fullyQualifiedBehaviorName.Substring(0, lastQuestionIndex);
         }
 
-        [Conditional("MLA_UNITY_ANALYTICS_MODULE_ENABLED")]
+        [Conditional("MLA_UNITY_ANALYTICS_MODULE")]
+#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE
             if (!IsAnalyticsEnabled())
                 return;
 
             // Debug.Log(
             //     $"Would send event {k_TrainingBehaviorInitializedEventName} with body {JsonUtility.ToJson(tbiEvent, true)}"
             // );
-#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE_ENABLED
-#else
-            return;
 #endif
         }
 

com.unity.ml-agents/Runtime/Communicator/GrpcExtensions.cs

             var obsSpec = sensor.GetObservationSpec();
             var shape = obsSpec.Shape;
             ObservationProto observationProto = null;
-            var compressionType = sensor.GetCompressionType();
+            var compressionSpec = sensor.GetCompressionSpec();
+            var compressionType = compressionSpec.SensorCompressionType;
             // Check capabilities if we need to concatenate PNGs
             if (compressionType == SensorCompressionType.PNG && shape.Length == 3 && shape[2] > 3)
             {
             if (compressionType != SensorCompressionType.None && shape.Length == 3 && shape[2] > 3)
             {
                 var trainerCanHandleMapping = Academy.Instance.TrainerCapabilities == null || Academy.Instance.TrainerCapabilities.CompressedChannelMapping;
-                var isTrivialMapping = IsTrivialMapping(sensor);
+                var isTrivialMapping = compressionSpec.IsTrivialMapping();
                 if (!trainerCanHandleMapping && !isTrivialMapping)
                 {
                     if (!s_HaveWarnedTrainerCapabilitiesMapping)
                     throw new UnityAgentsException(
                         $"GetCompressedObservation() returned null data for sensor named {sensor.GetName()}. " +
                         "You must return a byte[]. If you don't want to use compressed observations, " +
-                        "return SensorCompressionType.None from GetCompressionType()."
+                        "return CompressionSpec.Default() from GetCompressionSpec()."
-                    CompressionType = (CompressionTypeProto)sensor.GetCompressionType(),
+                    CompressionType = (CompressionTypeProto)sensor.GetCompressionSpec().SensorCompressionType,
-                var compressibleSensor = sensor as ISparseChannelSensor;
-                if (compressibleSensor != null)
+                if (compressionSpec.CompressedChannelMapping != null)
-                    observationProto.CompressedChannelMapping.AddRange(compressibleSensor.GetCompressedChannelMapping());
+                    observationProto.CompressedChannelMapping.AddRange(compressionSpec.CompressedChannelMapping);
                 }
             }
 
             };
         }
 
-        internal static bool IsTrivialMapping(ISensor sensor)
-        {
-            var compressibleSensor = sensor as ISparseChannelSensor;
-            if (compressibleSensor is null)
-            {
-                return true;
-            }
-            var mapping = compressibleSensor.GetCompressedChannelMapping();
-            if (mapping == null)
-            {
-                return true;
-            }
-            // check if mapping equals zero mapping
-            if (mapping.Length == 3 && mapping.All(m => m == 0))
-            {
-                return true;
-            }
-            // check if mapping equals identity mapping
-            for (var i = 0; i < mapping.Length; i++)
-            {
-                if (mapping[i] != i)
-                {
-                    return false;
-                }
-            }
-            return true;
-        }
-
         #region Analytics
         internal static TrainingEnvironmentInitializedEvent ToTrainingEnvironmentInitializedEvent(
             this TrainingEnvironmentInitialized inputProto)
                 NumNetworkHiddenUnits = inputProto.NumNetworkHiddenUnits,
             };
         }
-        #endregion
+        #endregion
     }
 }

com.unity.ml-agents/Runtime/Inference/ModelRunner.cs

                     case InferenceDevice.Burst:
                         executionDevice = WorkerFactory.Type.CSharpBurst;
                         break;
+                    case InferenceDevice.Default: // fallthrough
                     default:
                         executionDevice = WorkerFactory.Type.CSharpBurst;
                         break;

com.unity.ml-agents/Runtime/Policies/BarracudaPolicy.cs

 using Unity.Barracuda;
 using System.Collections.Generic;
+using System.Diagnostics;
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Inference;
 using Unity.MLAgents.Sensors;
     public enum InferenceDevice
     {
         /// <summary>
-        /// CPU inference. Corresponds to in WorkerFactory.Type.CSharp Barracuda.
-        /// Burst is recommended instead; this is kept for legacy compatibility.
+        /// Default inference. This is currently the same as Burst, but may change in the future.
-        CPU = 0,
+        Default = 0,
 
         /// <summary>
         /// GPU inference. Corresponds to WorkerFactory.Type.ComputePrecompiled in Barracuda.
         /// CPU inference using Burst. Corresponds to WorkerFactory.Type.CSharpBurst in Barracuda.
         /// </summary>
         Burst = 2,
+
+        /// <summary>
+        /// CPU inference. Corresponds to in WorkerFactory.Type.CSharp Barracuda.
+        /// Burst is recommended instead; this is kept for legacy compatibility.
+        /// </summary>
+        CPU = 3,
     }
 
     /// <summary>
         /// </summary>
         private bool m_AnalyticsSent;
 
-        /// <inheritdoc />
+        /// <summary>
+        /// Instantiate a BarracudaPolicy with the necessary objects for it to run.
+        /// </summary>
+        /// <param name="actionSpec">The action spec of the behavior.</param>
+        /// <param name="actuators">The actuators used for this behavior.</param>
+        /// <param name="model">The Neural Network to use.</param>
+        /// <param name="inferenceDevice">Which device Barracuda will run on.</param>
+        /// <param name="behaviorName">The name of the behavior.</param>
         public BarracudaPolicy(
             ActionSpec actionSpec,
             IList<IActuator> actuators,
         /// <inheritdoc />
         public void RequestDecision(AgentInfo info, List<ISensor> sensors)
         {
+            SendAnalytics(sensors);
+            m_AgentId = info.episodeId;
+            m_ModelRunner?.PutObservations(info, sensors);
+        }
+
+        [Conditional("MLA_UNITY_ANALYTICS_MODULE")]
+        void SendAnalytics(IList<ISensor> sensors)
+        {
             if (!m_AnalyticsSent)
             {
                 m_AnalyticsSent = true;
                     m_Actuators
                 );
             }
-            m_AgentId = info.episodeId;
-            m_ModelRunner?.PutObservations(info, sensors);
         }
 
         /// <inheritdoc />

com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs

         }
 
         [HideInInspector, SerializeField]
-        InferenceDevice m_InferenceDevice = InferenceDevice.Burst;
+        InferenceDevice m_InferenceDevice = InferenceDevice.Default;
 
         /// <summary>
         /// How inference is performed for this Agent's model.

com.unity.ml-agents/Runtime/Policies/HeuristicPolicy.cs

         /// Trivial implementation of the IList interface that does nothing.
         /// This is only used for "writing" observations that we will discard.
         /// </summary>
-        class NullList : IList<float>
+        internal class NullList : IList<float>
         {
             public IEnumerator<float> GetEnumerator()
             {
         {
             foreach (var sensor in sensors)
             {
-                if (sensor.GetCompressionType() == SensorCompressionType.None)
+                if (sensor.GetCompressionSpec().SensorCompressionType == SensorCompressionType.None)
                 {
                     m_ObservationWriter.SetTarget(m_NullList, sensor.GetObservationSpec(), 0);
                     sensor.Write(m_ObservationWriter);

com.unity.ml-agents/Runtime/Policies/RemotePolicy.cs

-
+using System.Diagnostics;
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;
 using Unity.MLAgents.Analytics;
         string m_FullyQualifiedBehaviorName;
         ActionSpec m_ActionSpec;
         ActionBuffers m_LastActionBuffer;
-        private bool m_AnalyticsSent = false;
+        bool m_AnalyticsSent;
 
         internal ICommunicator m_Communicator;
 
         /// <inheritdoc />
         public void RequestDecision(AgentInfo info, List<ISensor> sensors)
         {
+            SendAnalytics(sensors);
+            m_AgentId = info.episodeId;
+            m_Communicator?.PutObservations(m_FullyQualifiedBehaviorName, info, sensors);
+        }
+
+        [Conditional("MLA_UNITY_ANALYTICS_MODULE")]
+        void SendAnalytics(IList<ISensor> sensors)
+        {
             if (!m_AnalyticsSent)
             {
                 m_AnalyticsSent = true;
                     m_Actuators
                 );
             }
-            m_AgentId = info.episodeId;
-            m_Communicator?.PutObservations(m_FullyQualifiedBehaviorName, info, sensors);
         }
 
         /// <inheritdoc />

com.unity.ml-agents/Runtime/Sensors/BufferSensor.cs

         }
 
         /// <inheritdoc/>
-        public SensorCompressionType GetCompressionType()
+        public CompressionSpec GetCompressionSpec()
-            return SensorCompressionType.None;
+            return CompressionSpec.Default();
         }
 
         /// <inheritdoc/>
         {
             return BuiltInSensorType.BufferSensor;
         }
-
-
 }

com.unity.ml-agents/Runtime/Sensors/BufferSensorComponent.cs

         private BufferSensor m_Sensor;
 
         /// <inheritdoc/>
-        public override ISensor CreateSensor()
+        public override ISensor[] CreateSensors()
-            return m_Sensor;
-        }
-
-        /// <inheritdoc/>
-        public override int[] GetObservationShape()
-        {
-            return new[] { MaxNumObservables, ObservableSize };
+            return new ISensor[] { m_Sensor };
         }
 
         /// <summary>

com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs

         public void Reset() { }
 
         /// <inheritdoc/>
-        public SensorCompressionType GetCompressionType()
+        public CompressionSpec GetCompressionSpec()
-            return m_CompressionType;
+            return new CompressionSpec(m_CompressionType);
         }
 
         /// <summary>
         {
             return BuiltInSensorType.CameraSensor;
         }
-
     }
 }

com.unity.ml-agents/Runtime/Sensors/CameraSensorComponent.cs

         /// Creates the <see cref="CameraSensor"/>
         /// </summary>
         /// <returns>The created <see cref="CameraSensor"/> object for this component.</returns>
-        public override ISensor CreateSensor()
+        public override ISensor[] CreateSensors()
-                return new StackingSensor(m_Sensor, ObservationStacks);
+                return new ISensor[] { new StackingSensor(m_Sensor, ObservationStacks) };
-            return m_Sensor;
-        }
-
-        /// <summary>
-        /// Computes the observation shape of the sensor.
-        /// </summary>
-        /// <returns>The observation shape of the associated <see cref="CameraSensor"/> object.</returns>
-        public override int[] GetObservationShape()
-        {
-            var stacks = ObservationStacks > 1 ? ObservationStacks : 1;
-            var cameraSensorshape = CameraSensor.GenerateShape(m_Width, m_Height, Grayscale);
-            if (stacks > 1)
-            {
-                cameraSensorshape[cameraSensorshape.Length - 1] *= stacks;
-            }
-            return cameraSensorshape;
+            return new ISensor[] { m_Sensor };
         }
 
         /// <summary>

com.unity.ml-agents/Runtime/Sensors/ISensor.cs

 namespace Unity.MLAgents.Sensors
 {
     /// <summary>
-    /// The compression setting for visual/camera observations.
-    /// </summary>
-    public enum SensorCompressionType
-    {
-        /// <summary>
-        /// No compression. Data is preserved as float arrays.
-        /// </summary>
-        None,
-
-        /// <summary>
-        /// PNG format. Data will be stored in binary format.
-        /// </summary>
-        PNG
-    }
-
-    /// <summary>
     /// The Dimension property flags of the observations
     /// </summary>
     [System.Flags]
         void Reset();
 
         /// <summary>
-        /// Return the compression type being used. If no compression is used, return
-        /// <see cref="SensorCompressionType.None"/>.
+        /// Return information on the compression type being used. If no compression is used, return
+        /// <see cref="CompressionSpec.Default()"/>.
-        /// <returns>Compression type used by the sensor.</returns>
-        SensorCompressionType GetCompressionType();
+        /// <returns>CompressionSpec used by the sensor.</returns>
+        CompressionSpec GetCompressionSpec();
 
         /// <summary>
         /// Get the name of the sensor. This is used to ensure deterministic sorting of the sensors

com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensor.cs

         }
 
         /// <inheritdoc/>
-        public virtual SensorCompressionType GetCompressionType()
+        public CompressionSpec GetCompressionSpec()
-            return SensorCompressionType.None;
+            return CompressionSpec.Default();
         }
 
         /// <inheritdoc/>
                 unscaledCastRadius;
 
             // Do the cast and assign the hit information for each detectable tag.
-            bool castHit;
-            float hitFraction;
-            GameObject hitObject;
+            var castHit = false;
+            var hitFraction = 1.0f;
+            GameObject hitObject = null;
+#if MLA_UNITY_PHYSICS_MODULE
                 RaycastHit rayHit;
                 if (scaledCastRadius > 0f)
                 {
                 // To avoid 0/0, set the fraction to 0.
                 hitFraction = castHit ? (scaledRayLength > 0 ? rayHit.distance / scaledRayLength : 0.0f) : 1.0f;
                 hitObject = castHit ? rayHit.collider.gameObject : null;
+#endif
+#if MLA_UNITY_PHYSICS2D_MODULE
                 RaycastHit2D rayHit;
                 if (scaledCastRadius > 0f)
                 {
                 castHit = rayHit;
                 hitFraction = castHit ? rayHit.fraction : 1.0f;
                 hitObject = castHit ? rayHit.collider.gameObject : null;
+#endif
             }
 
             var rayOutput = new RayPerceptionOutput.RayOutput

com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponent2D.cs

     [AddComponentMenu("ML Agents/Ray Perception Sensor 2D", (int)MenuGroup.Sensors)]
     public class RayPerceptionSensorComponent2D : RayPerceptionSensorComponentBase
     {
-        /// <summary>
-        /// Initializes the raycast sensor component.
-        /// </summary>
-        public RayPerceptionSensorComponent2D()
-        {
-            // Set to the 2D defaults (just in case they ever diverge).
-            RayLayerMask = Physics2D.DefaultRaycastLayers;
-        }
-
         /// <inheritdoc/>
         public override RayPerceptionCastType GetCastType()
         {

com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponentBase.cs

             set { m_RayLength = value; UpdateSensor(); }
         }
 
+        // The value of the default layers.
+        const int k_PhysicsDefaultLayers = -5;
-        LayerMask m_RayLayerMask = Physics.DefaultRaycastLayers;
+        LayerMask m_RayLayerMask = k_PhysicsDefaultLayers;
 
         /// <summary>
         /// Controls which layers the rays can hit.
         /// Returns an initialized raycast sensor.
         /// </summary>
         /// <returns></returns>
-        public override ISensor CreateSensor()
+        public override ISensor[] CreateSensors()
         {
             var rayPerceptionInput = GetRayPerceptionInput();
 
             {
                 var stackingSensor = new StackingSensor(m_RaySensor, ObservationStacks);
-                return stackingSensor;
+                return new ISensor[] { stackingSensor };
-            return m_RaySensor;
+            return new ISensor[] { m_RaySensor };
         }
 
         /// <summary>
                 anglesOut[2 * i + 2] = 90 + (i + 1) * delta;
             }
             return anglesOut;
-        }
-
-        /// <summary>
-        /// Returns the observation shape for this raycast sensor which depends on the number
-        /// of tags for detected objects and the number of rays.
-        /// </summary>
-        /// <returns></returns>
-        public override int[] GetObservationShape()
-        {
-            var numRays = 2 * RaysPerDirection + 1;
-            var numTags = m_DetectableTags?.Count ?? 0;
-            var obsSize = (numTags + 2) * numRays;
-            var stacks = ObservationStacks > 1 ? ObservationStacks : 1;
-            return new[] { obsSize * stacks };
         }
 
         /// <summary>

com.unity.ml-agents/Runtime/Sensors/Reflection/ReflectionSensorBase.cs

         public void Reset() { }
 
         /// <inheritdoc/>
-        public SensorCompressionType GetCompressionType()
+        public CompressionSpec GetCompressionSpec()
-            return SensorCompressionType.None;
+            return CompressionSpec.Default();
         }
 
         /// <inheritdoc/>
         {
             return BuiltInSensorType.ReflectionSensor;
         }
-
     }
 }

com.unity.ml-agents/Runtime/Sensors/RenderTextureSensor.cs

         public void Reset() { }
 
         /// <inheritdoc/>
-        public SensorCompressionType GetCompressionType()
+        public CompressionSpec GetCompressionSpec()
-            return m_CompressionType;
+            return new CompressionSpec(m_CompressionType);
         }
 
         /// <inheritdoc/>
         }
-
 
         /// <summary>
         /// Converts a RenderTexture to a 2D texture.

com.unity.ml-agents/Runtime/Sensors/RenderTextureSensorComponent.cs

         }
 
         /// <inheritdoc/>
-        public override ISensor CreateSensor()
+        public override ISensor[] CreateSensors()
-                return new StackingSensor(m_Sensor, ObservationStacks);
-            }
-            return m_Sensor;
-        }
-
-        /// <inheritdoc/>
-        public override int[] GetObservationShape()
-        {
-            var width = RenderTexture != null ? RenderTexture.width : 0;
-            var height = RenderTexture != null ? RenderTexture.height : 0;
-            var observationShape = new[] { height, width, Grayscale ? 1 : 3 };
-
-            var stacks = ObservationStacks > 1 ? ObservationStacks : 1;
-            if (stacks > 1)
-            {
-                observationShape[2] *= stacks;
+                return new ISensor[] { new StackingSensor(m_Sensor, ObservationStacks) };
-
-            return observationShape;
+            return new ISensor[] { m_Sensor };
         }
 
         /// <summary>

com.unity.ml-agents/Runtime/Sensors/SensorComponent.cs

     public abstract class SensorComponent : MonoBehaviour
     {
         /// <summary>
-        /// Create the ISensor. This is called by the Agent when it is initialized.
+        /// Create the ISensors. This is called by the Agent when it is initialized.
-        /// <returns>Created ISensor object.</returns>
-        public abstract ISensor CreateSensor();
-
-        /// <summary>
-        /// Returns the shape of the sensor observations that will be created.
-        /// </summary>
-        /// <returns>Shape of the sensor observation.</returns>
-        public abstract int[] GetObservationShape();
-
+        /// <returns>Created ISensor objects.</returns>
+        public abstract ISensor[] CreateSensors();
     }
 }

com.unity.ml-agents/Runtime/Sensors/StackingSensor.cs

     /// Internally, a circular buffer of arrays is used. The m_CurrentIndex represents the most recent observation.
     /// Currently, observations are stacked on the last dimension.
     /// </summary>
-    public class StackingSensor : ISparseChannelSensor, IBuiltInSensor
+    public class StackingSensor : ISensor, IBuiltInSensor
     {
         /// <summary>
         /// The wrapped sensor.
                 m_StackedObservations[i] = new float[m_UnstackedObservationSize];
             }
 
-            if (m_WrappedSensor.GetCompressionType() != SensorCompressionType.None)
+            if (m_WrappedSensor.GetCompressionSpec().SensorCompressionType != SensorCompressionType.None)
             {
                 m_StackedCompressedObservations = new byte[numStackedObservations][];
                 m_EmptyCompressedObservation = CreateEmptyPNG();
             {
                 Array.Clear(m_StackedObservations[i], 0, m_StackedObservations[i].Length);
             }
-            if (m_WrappedSensor.GetCompressionType() != SensorCompressionType.None)
+            if (m_WrappedSensor.GetCompressionSpec().SensorCompressionType != SensorCompressionType.None)
             {
                 for (var i = 0; i < m_NumStackedObservations; i++)
                 {
             return outputBytes;
         }
 
-        /// <inheritdoc/>
-        public int[] GetCompressedChannelMapping()
+        public CompressionSpec GetCompressionSpec()
-            return m_CompressionMapping;
-        }
-
-        /// <inheritdoc/>
-        public SensorCompressionType GetCompressionType()
-        {
-            return m_WrappedSensor.GetCompressionType();
+            var wrappedSpec = m_WrappedSensor.GetCompressionSpec();
+            return new CompressionSpec(wrappedSpec.SensorCompressionType, m_CompressionMapping);
         }
 
         /// <summary>
         }
 
         /// <summary>
-        /// Constrct stacked CompressedChannelMapping.
+        /// Construct stacked CompressedChannelMapping.
         /// </summary>
         internal int[] ConstructStackedCompressedChannelMapping(ISensor wrappedSenesor)
         {
             int[] wrappedMapping = null;
             int wrappedNumChannel = m_WrappedSpec.Shape[2];
-            var sparseChannelSensor = m_WrappedSensor as ISparseChannelSensor;
-            if (sparseChannelSensor != null)
-            {
-                wrappedMapping = sparseChannelSensor.GetCompressedChannelMapping();
-            }
+
+            wrappedMapping = wrappedSenesor.GetCompressionSpec().CompressedChannelMapping;
             if (wrappedMapping == null)
             {
                 if (wrappedNumChannel == 1)

com.unity.ml-agents/Runtime/Sensors/VectorSensor.cs

         }
 
         /// <inheritdoc/>
-        public virtual SensorCompressionType GetCompressionType()
+        public CompressionSpec GetCompressionSpec()
-            return SensorCompressionType.None;
+            return CompressionSpec.Default();
         }
 
         /// <inheritdoc/>
 
         void AddFloatObs(float obs)
         {
-#if DEBUG
-#endif
             m_Observations.Add(obs);
         }
 

com.unity.ml-agents/Runtime/Unity.ML-Agents.asmdef

             "name": "com.unity.modules.unityanalytics",
             "expression": "1.0.0",
             "define": "MLA_UNITY_ANALYTICS_MODULE"
+        },
+        {
+            "name": "com.unity.modules.physics",
+            "expression": "1.0.0",
+            "define": "MLA_UNITY_PHYSICS_MODULE"
+        },
+        {
+            "name": "com.unity.modules.physics2d",
+            "expression": "1.0.0",
+            "define": "MLA_UNITY_PHYSICS2D_MODULE"
         }
     ]
 }

com.unity.ml-agents/Runtime/Utilities.cs

 using System;
+using System.Diagnostics;
-
         /// <summary>
         /// Calculates the cumulative sum of an integer array. The result array will be one element
         /// larger than the input array since it has a padded 0 at the beginning.
             return result;
         }
 
-#if DEBUG
+        [Conditional("DEBUG")]
-
             if (float.IsNaN(value))
             {
                 throw new ArgumentException($"NaN {valueCategory} passed to {caller}.");
                 throw new ArgumentException($"Inifinity {valueCategory} passed to {caller}.");
             }
         }
-#endif
-
 }

com.unity.ml-agents/Tests/Editor/AcademyTests.cs

 using NUnit.Framework;
 using Unity.MLAgents.Sensors;
 using UnityEngine;
-#if UNITY_2019_3_OR_NEWER
-#endif
 
 namespace Unity.MLAgents.Tests
 {
         [Test]
         public void TestPackageVersion()
         {
-            // Make sure that the version strings in the package and Academy don't get out of sync.
-            // Unfortunately, the PackageInfo methods don't exist in earlier versions of the editor.
-#if UNITY_2019_3_OR_NEWER
-#endif
         }
 
         class RecursiveAgent : Agent

com.unity.ml-agents/Tests/Editor/Analytics/TrainingAnalyticsTest.cs

 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Analytics;
 using Unity.MLAgents.Policies;
+using UnityEditor;
 
 namespace Unity.MLAgents.Tests.Analytics
 {
 
             Assert.AreEqual(2, remotePolicyEvent.ActuatorInfos[0].NumContinuousActions);
             Assert.AreEqual(0, remotePolicyEvent.ActuatorInfos[0].NumDiscreteActions);
-
         }
 
         [Test]
             }
 
             Academy.Instance.Dispose();
+        }
+
+        [Test]
+        public void TestEnableAnalytics()
+        {
+#if UNITY_EDITOR && MLA_UNITY_ANALYTICS_MODULE
+            Assert.IsTrue(EditorAnalytics.enabled == TrainingAnalytics.EnableAnalytics());
+#else
+            Assert.IsFalse(TrainingAnalytics.EnableAnalytics());
+#endif
         }
     }
 }

com.unity.ml-agents/Tests/Editor/Communicator/GrpcExtensionsTests.cs

 using System;
+using System.Text.RegularExpressions;
+using Google.Protobuf;
+using Google.Protobuf.Collections;
 using NUnit.Framework;
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Demonstrations;
 using Unity.MLAgents.Analytics;
 using Unity.MLAgents.CommunicatorObjects;
+using UnityEngine;
+using UnityEngine.TestTools;
 
 namespace Unity.MLAgents.Tests
 {
+        [SetUp]
+        public void SetUp()
+        {
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities();
+        }
+
         [Test]
         public void TestDefaultBrainParametersToProto()
         {
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities
+            {
+                BaseRLCapabilities = true,
+                HybridActions = false
+            };
+            brain.ToProto("foo", false);
         }
 
         [Test]
             var actionSpec = new ActionSpec();
             actionSpec.ToBrainParametersProto("foo", false);
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities
+            {
+                BaseRLCapabilities = true,
+                HybridActions = false
+            };
+            actionSpec.ToBrainParametersProto("foo", false);
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities();
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities
+            {
+                BaseRLCapabilities = true,
+                HybridActions = false
+            };
+            actionSpec.ToBrainParametersProto("foo", false);
+
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities();
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities
+            {
+                BaseRLCapabilities = true,
+                HybridActions = false
+            };
+            actionSpec.ToBrainParametersProto("foo", false);
+        }
+
+        [Test]
+        public void ToBrainParameters()
+        {
+            // Should be able to convert a default instance to proto.
+            var actionSpec = new ActionSpec();
+            actionSpec.ToBrainParametersProto("foo", false).ToBrainParameters();
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities
+            {
+                BaseRLCapabilities = true,
+                HybridActions = false
+            };
+            actionSpec.ToBrainParametersProto("foo", false).ToBrainParameters();
+
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities();
+            // Continuous
+            actionSpec = ActionSpec.MakeContinuous(3);
+            actionSpec.ToBrainParametersProto("foo", false).ToBrainParameters();
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities
+            {
+                BaseRLCapabilities = true,
+                HybridActions = false
+            };
+            actionSpec.ToBrainParametersProto("foo", false).ToBrainParameters();
+
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities();
+
+            // Discrete
+            actionSpec = ActionSpec.MakeDiscrete(1, 2, 3);
+            actionSpec.ToBrainParametersProto("foo", false).ToBrainParameters();
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities
+            {
+                BaseRLCapabilities = true,
+                HybridActions = false
+            };
+            actionSpec.ToBrainParametersProto("foo", false).ToBrainParameters();
         }
 
         [Test]
             var agentInfo = new AgentInfo();
-            agentInfo.ToInfoActionPairProto();
+            var pairProto = agentInfo.ToInfoActionPairProto();
+            pairProto.AgentInfo.Observations.Add(new ObservationProto
+            {
+                CompressedData = ByteString.Empty,
+                CompressionType = CompressionTypeProto.None,
+                FloatData = new ObservationProto.Types.FloatData(),
+                ObservationType = ObservationTypeProto.Default,
+                Name = "Sensor"
+            });
+            pairProto.AgentInfo.Observations[0].Shape.Add(0);
+            pairProto.GetObservationSummaries();
+            agentInfo.ToAgentInfoProto();
+            agentInfo.groupId = 1;
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities
+            {
+                BaseRLCapabilities = true,
+                MultiAgentGroups = false
+            };
+            agentInfo.ToAgentInfoProto();
+            LogAssert.Expect(LogType.Warning, new Regex(".+"));
+            Academy.Instance.TrainerCapabilities = new UnityRLCapabilities
+            {
+                BaseRLCapabilities = true,
+                MultiAgentGroups = true
+            };
             agentInfo.ToAgentInfoProto();
         }
 
 
             public void Reset() { }
 
-            public SensorCompressionType GetCompressionType()
+            public CompressionSpec GetCompressionSpec()
-                return CompressionType;
+                return new CompressionSpec(CompressionType);
-            }
-        }
-
-        class DummySparseChannelSensor : DummySensor, ISparseChannelSensor
-        {
-            public int[] Mapping;
-            internal DummySparseChannelSensor()
-            {
-            }
-
-            public int[] GetCompressedChannelMapping()
-            {
-                return Mapping;
             }
         }
 
                     Assert.AreEqual(obsProto.CompressedData.Length, 0);
                 }
             }
-
-
-        [Test]
-        public void TestIsTrivialMapping()
-        {
-            Assert.AreEqual(GrpcExtensions.IsTrivialMapping(new DummySensor()), true);
-
-            var sparseChannelSensor = new DummySparseChannelSensor();
-            sparseChannelSensor.Mapping = null;
-            Assert.AreEqual(GrpcExtensions.IsTrivialMapping(sparseChannelSensor), true);
-            sparseChannelSensor.Mapping = new[] { 0, 0, 0 };
-            Assert.AreEqual(GrpcExtensions.IsTrivialMapping(sparseChannelSensor), true);
-            sparseChannelSensor.Mapping = new[] { 0, 1, 2, 3, 4 };
-            Assert.AreEqual(GrpcExtensions.IsTrivialMapping(sparseChannelSensor), true);
-            sparseChannelSensor.Mapping = new[] { 1, 2, 3, 4, -1, -1 };
-            Assert.AreEqual(GrpcExtensions.IsTrivialMapping(sparseChannelSensor), false);
-            sparseChannelSensor.Mapping = new[] { 0, 0, 0, 1, 1, 1 };
-            Assert.AreEqual(GrpcExtensions.IsTrivialMapping(sparseChannelSensor), false);
-        }
         [Test]
         public void TestDefaultTrainingEvents()
         {

com.unity.ml-agents/Tests/Editor/Inference/ModelRunnerTest.cs

             var modelRunner = new ModelRunner(discreteONNXModel, actionSpec, InferenceDevice.Burst);
             var info1 = new AgentInfo();
             info1.episodeId = 1;
-            modelRunner.PutObservations(info1, new[] { sensor_21_20_3.CreateSensor() }.ToList());
+            modelRunner.PutObservations(info1, new[] { sensor_21_20_3.CreateSensors()[0] }.ToList());
-            modelRunner.PutObservations(info2, new[] { sensor_21_20_3.CreateSensor() }.ToList());
+            modelRunner.PutObservations(info2, new[] { sensor_21_20_3.CreateSensors()[0] }.ToList());
 
             modelRunner.DecideBatch();