Merge branch 'master' into sensitivity

.pre-commit-config.yaml

         # flake8-tidy-imports is used for banned-modules, not actually tidying
         additional_dependencies: [flake8-comprehensions==3.2.2, flake8-tidy-imports==4.1.0, flake8-bugbear==20.1.4]
 
+-   repo: https://github.com/asottile/pyupgrade
+    rev: v2.7.0
+    hooks:
+    -   id: pyupgrade
+        args: [--py3-plus, --py36-plus]
+        exclude: .*barracuda.py
+
 -   repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v2.5.0
     hooks:
         language: script
         entry: utils/validate_inits.py
         types: [python]
+    -   id: validate-release-links-py
+        name: validate release links
+        language: script
+        entry: utils/validate_release_links.py
+
 

.pre-commit-search-and-replace.yaml

   search: /ML[ -]Agents toolkit/
   replacement: ML-Agents Toolkit
   insensitive: true
+- description: Replace "the the"
+  search: /the the/
+  replacement: the
+  insensitive: true

.pylintrc

 [MASTER]
-# Add files or directories to the blacklist. They should be base names, not
+# Add files or directories to the ignore list. They should be base names, not
 # paths.
 ignore=CVS
 

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

     flavor: b1.small
   commands:
     - npm install upm-ci-utils@stable -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
-    - upm-ci package pack --package-path com.unity.ml-agents
+    - upm-ci project pack --project-path Project
   artifacts:
     packages:
       paths:

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

 test_editors:
   - version: 2018.4
     # 2018.4 doesn't support code-coverage
-    coverageOptions:
-    minCoveragePct: 0
+    enableCodeCoverage: !!bool false
-    coverageOptions: --enable-code-coverage --code-coverage-options 'generateHtmlReport;assemblyFilters:+Unity.ML-Agents'
-    minCoveragePct: 72
+    enableCodeCoverage: !!bool true
-    coverageOptions: --enable-code-coverage --code-coverage-options 'generateHtmlReport;assemblyFilters:+Unity.ML-Agents'
-    minCoveragePct: 72
+    enableCodeCoverage: !!bool true
-    coverageOptions: --enable-code-coverage --code-coverage-options 'generateHtmlReport;assemblyFilters:+Unity.ML-Agents'
-    minCoveragePct: 72
+    enableCodeCoverage: !!bool true
-    coverageOptions: --enable-code-coverage --code-coverage-options 'generateHtmlReport;assemblyFilters:+Unity.ML-Agents'
-    minCoveragePct: 72
+    enableCodeCoverage: !!bool true
 test_platforms:
   - name: win
     type: Unity::VM
     type: Unity::VM
     image: package-ci/ubuntu:stable
     flavor: b1.medium
+packages:
+  - name: com.unity.ml-agents
+    assembly: Unity.ML-Agents
+    minCoveragePct: 72
+  - name: com.unity.ml-agents.extensions
+    assembly: Unity.ML-Agents.Extensions
+    minCoveragePct: 75
 ---
 
 all_package_tests:
     {% for platform in test_platforms %}
-  - .yamato/com.unity.ml-agents-test.yml#test_{{ platform.name }}_{{ editor.version }}
+  - .yamato/com.unity.ml-agents-test.yml#test_com.unity.ml-agents_{{ platform.name }}_{{ editor.version }}
-  - .yamato/com.unity.ml-agents-test.yml#test_{{ platform.name }}_{{ editor.version }}
+  - .yamato/com.unity.ml-agents-test.yml#test_com.unity.ml-agents_{{ platform.name }}_{{ editor.version }}
     {% endfor %}
   {% endfor %}
   triggers:
         frequency: daily
 
-{% for editor in test_editors %}
-  {% for platform in test_platforms %}
-test_{{ platform.name }}_{{ editor.version }}:
-  name : com.unity.ml-agents test {{ editor.version }} on {{ platform.name }}
+{% for package in packages %}
+  {% for editor in test_editors %}
+    {% 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 %}
+test_{{ package.name }}_{{ platform.name }}_{{ editor.version }}:
+  name : {{ package.name }} test {{ editor.version }} on {{ platform.name }}
   agent:
     type: {{ platform.type }}
     image: {{ platform.image }}
-    - upm-ci package test -u {{ editor.version }} --package-path com.unity.ml-agents {{ editor.coverageOptions }}
-    - python ml-agents/tests/yamato/check_coverage_percent.py upm-ci~/test-results/ {{ editor.minCoveragePct }}
+    - upm-ci project test -u {{ editor.version }} --project-path Project --package-filter {{ package.name }} {{ coverageOptions }}
+    {% if editor.enableCodeCoverage %}
+    - python3 ml-agents/tests/yamato/check_coverage_percent.py upm-ci~/test-results/ {{ package.minCoveragePct }}
+    {% endif %}
   artifacts:
     logs:
       paths:
       pull_request.target match "release.+") AND
       NOT pull_request.draft AND
       (pull_request.changes.any match "com.unity.ml-agents/**" OR
+      {% if package.name == "com.unity.ml-agents.extensions" %}
+        pull_request.changes.any match "com.unity.ml-agents.extensions/**" OR
+      {% endif %}
+    {% endfor %}
-{% for editor in trunk_editor %}
-  {% for platform in test_platforms %}
-test_{{ platform.name }}_trunk:
-  name : com.unity.ml-agents test {{ editor.version }} on {{ platform.name }}
+{% for package in packages %}
+  {% for editor in trunk_editor %}
+    {% 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 %}
+test_{{ package.name }}_{{ platform.name }}_trunk:
+  name : {{ package.name }} test {{ editor.version }} on {{ platform.name }}
-    - python -m pip install unity-downloader-cli --extra-index-url https://artifactory.eu-cph-1.unityops.net/api/pypi/common-python/simple
+    - python -m pip install unity-downloader-cli --extra-index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/unity-pypi-local/simple --upgrade
-    - upm-ci package test -u {{ editor.version }} --package-path com.unity.ml-agents {{ editor.coverageOptions }}
-    - python ml-agents/tests/yamato/check_coverage_percent.py upm-ci~/test-results/ {{ editor.minCoveragePct }}
+    - upm-ci project test -u {{ editor.version }} --project-path Project --package-filter {{ package.name }} {{ coverageOptions }}
+    {% if editor.enableCodeCoverage %}
+    - python3 ml-agents/tests/yamato/check_coverage_percent.py upm-ci~/test-results/ {{ package.minCoveragePct }}
+    {% endif %}
   artifacts:
     logs:
       paths:
     cancel_old_ci: true
     {% endfor %}
   {% endfor %}
+{% endfor %}

.yamato/standalone-build-test.yml

       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 "com.unity.ml-agents.extensions/**" OR
       pull_request.changes.any match ".yamato/standalone-build-test.yml") AND
       NOT pull_request.changes.all match "**/*.md"
   artifacts:

.yamato/training-int-tests.yml

       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 "com.unity.ml-agents.extensions/**" OR
       pull_request.changes.any match "Project/**" OR
       pull_request.changes.any match "ml-agents/**" OR
       pull_request.changes.any match "ml-agents-envs/**" OR
     logs:
       paths:
         - "artifacts/standalone_build.txt"
+        - "artifacts/inference.nn.txt"
+        - "artifacts/inference.onnx.txt"
+        - "artifacts/models/**"
 {% endfor %}

DevProject/Packages/manifest.json

   "dependencies": {
     "com.unity.2d.sprite": "1.0.0",
     "com.unity.2d.tilemap": "1.0.0",
-    "com.unity.ads": "2.0.8",
+    "com.unity.ads": "3.4.4",
     "com.unity.analytics": "3.3.5",
     "com.unity.coding": "0.1.0-preview.13",
     "com.unity.collab-proxy": "1.2.16",
-    "com.unity.multiplayer-hlapi": "1.0.4",
+    "com.unity.ml-agents.extensions": "file:../../com.unity.ml-agents.extensions",
+    "com.unity.multiplayer-hlapi": "1.0.6",
-    "com.unity.package-validation-suite": "0.7.15-preview",
+    "com.unity.package-validation-suite": "0.11.0-preview",
-    "com.unity.test-framework": "1.1.11",
+    "com.unity.test-framework": "1.1.13",
+    "com.unity.test-framework.performance": "2.2.0-preview",
-    "com.unity.xr.legacyinputhelpers": "1.3.8",
+    "com.unity.xr.legacyinputhelpers": "1.3.11",
     "com.unity.modules.ai": "1.0.0",
     "com.unity.modules.androidjni": "1.0.0",
     "com.unity.modules.animation": "1.0.0",
   },
   "registry": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates",
   "testables": [
-    "com.unity.ml-agents"
+    "com.unity.ml-agents",
+    "com.unity.ml-agents.extensions"
   ]
 }

DevProject/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2019.3.3f1
-m_EditorVersionWithRevision: 2019.3.3f1 (7ceaae5f7503)
+m_EditorVersion: 2019.3.11f1
+m_EditorVersionWithRevision: 2019.3.11f1 (ceef2d848e70)

Dockerfile

 WORKDIR /ml-agents
 RUN pip install -e .
 
-# Port 5004 is the port used in in Editor training.
+# Port 5004 is the port used in Editor training.
 # Environments will start from port 5005, 
 # so allow enough ports for several environments.
 EXPOSE 5004-5050

Project/Assets/ML-Agents/Examples/Basic/TFModels/Basic.nn

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

+using System;
+using Random = UnityEngine.Random;
-    [Header("Target To Walk Towards")]
-    [Space(10)]
-    public Transform target;
+    public float maximumWalkingSpeed = 999; //The max walk velocity magnitude an agent will be rewarded for
+    Vector3 m_WalkDir; //Direction to the target
+    Quaternion m_WalkDirLookRot; //Will hold the rotation to our target
-    public Transform ground;
-    public bool detectTargets;
-    public bool targetIsStatic;
-    public bool respawnTargetWhenTouched;
-    public float targetSpawnRadius;
+    [Header("Target To Walk Towards")] [Space(10)]
+    public TargetController target; //Target the agent will walk towards.
 
     [Header("Body Parts")] [Space(10)] public Transform body;
     public Transform leg0Upper;
     public Transform leg3Upper;
     public Transform leg3Lower;
 
-    [Header("Joint Settings")] [Space(10)] JointDriveController m_JdController;
-    Vector3 m_DirToTarget;
-    float m_MovingTowardsDot;
-    float m_FacingDot;
-    [Header("Reward Functions To Use")]
-    [Space(10)]
+    [Header("Orientation")] [Space(10)]
+    //This will be used as a stabilized model space reference point for observations
+    //Because ragdolls can move erratically during training, using a stabilized reference transform improves learning
+    public OrientationCubeController orientationCube;
+
+    JointDriveController m_JdController;
+
+    [Header("Reward Functions To Use")] [Space(10)]
-    [Header("Foot Grounded Visualization")]
-    [Space(10)]
+    [Header("Foot Grounded Visualization")] [Space(10)]
     public bool useFootGroundedVisualization;
 
     public MeshRenderer foot0;
     public Material groundedMaterial;
     public Material unGroundedMaterial;
 
-    Quaternion m_LookRotation;
-    Matrix4x4 m_TargetDirMatrix;
-
-        m_JdController = GetComponent<JointDriveController>();
-        m_DirToTarget = target.position - body.position;
+        orientationCube.UpdateOrientation(body, target.transform);
+        m_JdController = GetComponent<JointDriveController>();
 
         //Setup each body part
         m_JdController.SetupBodyPart(body);
     }
 
     /// <summary>
+    /// Loop over body parts and reset them to initial conditions.
+    /// </summary>
+    public override void OnEpisodeBegin()
+    {
+        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        {
+            bodyPart.Reset(bodyPart);
+        }
+
+        //Random start rotation to help generalize
+        transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
+
+        orientationCube.UpdateOrientation(body, target.transform);
+    }
+
+    /// <summary>
-        var rb = bp.rb;
-        sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
+        //GROUND CHECK
+        sensor.AddObservation(bp.groundContact.touchingGround); // Is this bp touching the ground
-        var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity);
-        sensor.AddObservation(velocityRelativeToLookRotationToTarget);
+        //Get velocities in the context of our orientation cube's space
+        //Note: You can get these velocities in world space as well but it may not train as well.
+        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.velocity));
+        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.angularVelocity));
-        var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
-        sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
+        //Get position relative to hips in the context of our orientation cube's space
+        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.position - body.position));
-            var localPosRelToBody = body.InverseTransformPoint(rb.position);
-            sensor.AddObservation(localPosRelToBody);
-            sensor.AddObservation(bp.currentXNormalizedRot); // Current x rot
-            sensor.AddObservation(bp.currentYNormalizedRot); // Current y rot
-            sensor.AddObservation(bp.currentZNormalizedRot); // Current z rot
+            sensor.AddObservation(bp.rb.transform.localRotation);
+    /// <summary>
+    /// Loop over body parts to add them to observation.
+    /// </summary>
-        m_JdController.GetCurrentJointForces();
+        //Add body rotation delta relative to orientation cube
+        sensor.AddObservation(Quaternion.FromToRotation(body.forward, orientationCube.transform.forward));
-        // Update pos to target
-        m_DirToTarget = target.position - body.position;
-        m_LookRotation = Quaternion.LookRotation(m_DirToTarget);
-        m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one);
+        //Add pos of target relative to orientation cube
+        sensor.AddObservation(orientationCube.transform.InverseTransformPoint(target.transform.position));
-        if (Physics.Raycast(body.position, Vector3.down, out hit, 10.0f))
+        float maxRaycastDist = 10;
+        if (Physics.Raycast(body.position, Vector3.down, out hit, maxRaycastDist))
-            sensor.AddObservation(hit.distance);
+            sensor.AddObservation(hit.distance / maxRaycastDist);
-            sensor.AddObservation(10.0f);
-
-        // Forward & up to help with orientation
-        var bodyForwardRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.forward);
-        sensor.AddObservation(bodyForwardRelativeToLookRotationToTarget);
-
-        var bodyUpRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(body.up);
-        sensor.AddObservation(bodyUpRelativeToLookRotationToTarget);
+            sensor.AddObservation(1);
-        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        foreach (var bodyPart in m_JdController.bodyPartsList)
         {
             CollectObservationBodyPart(bodyPart, sensor);
         }
     public void TouchedTarget()
     {
         AddReward(1f);
-        if (respawnTargetWhenTouched)
-        {
-            GetRandomTargetPos();
-        }
-    }
-
-    /// <summary>
-    /// Moves target to a random position within specified radius.
-    /// </summary>
-    public void GetRandomTargetPos()
-    {
-        var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
-        newTargetPos.y = 5;
-        target.position = newTargetPos + ground.position;
     }
 
     public override void OnActionReceived(float[] vectorAction)
 
     void FixedUpdate()
     {
-        if (detectTargets)
-        {
-            foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
-            {
-                if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget)
-                {
-                    TouchedTarget();
-                }
-            }
-        }
+        orientationCube.UpdateOrientation(body, target.transform);
 
         // If enabled the feet will light up green when the foot is grounded.
         // This is just a visualization and isn't necessary for function
     /// </summary>
     void RewardFunctionMovingTowards()
     {
-        m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[body].rb.velocity, m_DirToTarget.normalized);
-        AddReward(0.03f * m_MovingTowardsDot);
+        var movingTowardsDot = Vector3.Dot(orientationCube.transform.forward,
+            Vector3.ClampMagnitude(m_JdController.bodyPartsDict[body].rb.velocity, maximumWalkingSpeed));
+        if (float.IsNaN(movingTowardsDot))
+        {
+            throw new ArgumentException(
+                "NaN in movingTowardsDot.\n" +
+                $" orientationCube.transform.forward: {orientationCube.transform.forward}\n"+
+                $" body.velocity: {m_JdController.bodyPartsDict[body].rb.velocity}\n"+
+                $" maximumWalkingSpeed: {maximumWalkingSpeed}"
+            );
+        }
+        AddReward(0.03f * movingTowardsDot);
     }
 
     /// <summary>
     {
-        m_FacingDot = Vector3.Dot(m_DirToTarget.normalized, body.forward);
-        AddReward(0.01f * m_FacingDot);
+        var facingReward = Vector3.Dot(orientationCube.transform.forward, body.forward);
+        if (float.IsNaN(facingReward))
+        {
+            throw new ArgumentException(
+                "NaN in movingTowardsDot.\n" +
+                $" orientationCube.transform.forward: {orientationCube.transform.forward}\n"+
+                $" body.forward: {body.forward}"
+            );
+        }
+        AddReward(0.01f * facingReward);
     }
 
     /// <summary>
     {
         AddReward(-0.001f);
-    }
-
-    /// <summary>
-    /// Loop over body parts and reset them to initial conditions.
-    /// </summary>
-    public override void OnEpisodeBegin()
-    {
-        if (m_DirToTarget != Vector3.zero)
-        {
-            transform.rotation = Quaternion.LookRotation(m_DirToTarget);
-        }
-        transform.Rotate(Vector3.up, Random.Range(0.0f, 360.0f));
-
-        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
-        {
-            bodyPart.Reset(bodyPart);
-        }
-        if (!targetIsStatic)
-        {
-            GetRandomTargetPos();
-        }
     }
 }

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