Merge branch 'main' into release_14_branch-to-main

.github/workflows/pytest.yml

       run: python -c "import sys; print(sys.version)"
     - name: Install dependencies
       run: |
-        # pin pip to workaround https://github.com/pypa/pip/issues/9180
-        python -m pip install pip==20.2
+        python -m pip install --upgrade pip
         python -m pip install --upgrade setuptools
         python -m pip install --progress-bar=off -e ./ml-agents-envs
         python -m pip install --progress-bar=off -e ./ml-agents

.pre-commit-config.yaml

         args: [--py3-plus, --py36-plus]
         exclude: >
             (?x)^(
-                .*barracuda.py|
                 .*_pb2.py|
                 .*_pb2_grpc.py
             )$
         args: [--assume-in-merge]
     -   id: check-yaml
         # Won't handle the templating in yamato
-        exclude: \.yamato/*
+        exclude: \.yamato/.*
 
 -   repo: https://github.com/pre-commit/pygrep-hooks
     rev: v1.4.2

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

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

.yamato/standalone-build-test.yml

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

ML-Agents-Input-Example/Packages/packages-lock.json

       "url": "https://packages.unity.com"
     },
     "com.unity.barracuda": {
-      "version": "1.3.0-preview",
+      "version": "1.3.1-preview",
       "depth": 1,
       "source": "registry",
       "dependencies": {
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.barracuda": "1.3.0-preview",
+        "com.unity.barracuda": "1.3.1-preview",
         "com.unity.modules.imageconversion": "1.0.0",
         "com.unity.modules.jsonserialize": "1.0.0",
         "com.unity.modules.physics": "1.0.0",

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

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Project/Assets/ML-Agents/Examples/Crawler/Scenes/Crawler.unity

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

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

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

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