Second Push

.editorconfig

@@ -0,0 +1,74 @@
+; see http://editorconfig.org/ for docs on this file
+
+root = true
+
+[*]
+ignore_if_in_header = This code was generated by a tool|<auto-generated>
+indent_style = space
+indent_size = 4
+; uncomment to help with sharing files across os's (i.e. network share or through local vm)
+#end_of_line = lf
+; avoid a bom, which causes endless problems with naive text tooling
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = true
+; keeping auto-format enabled helps avoid merge hell for projects without CI-based format validation
+#disable_auto_format = true
+
+[*.cs]
+; uncomment to enable full formatting of c# files
+formatters = generic, uncrustify
+
+[*.asmdef]
+scrape_api = true
+
+[**/Tests/**.asmdef]
+scrape_api = false
+
+[*.Tests.asmdef]
+scrape_api = false
+
+[*.md]
+indent_size = 2
+; trailing whitespace is unfortunately significant in markdown
+trim_trailing_whitespace = false
+; uncomment to enable basic formatting of markdown files
+#formatters = generic
+
+[{Makefile,makefile}]
+; tab characters are part of the Makefile format
+indent_style = tab
+
+[*.asmdef]
+indent_size = 4
+
+[*.json]
+indent_size = 2
+
+[*.{vcproj,bat,cmd,xaml,tt,t4,ttinclude}]
+end_of_line = crlf
+
+; this VS-specific stuff is based on experiments to see how VS will modify a file after it has been manually edited.
+; the settings are meant to closely match what VS does to minimize unnecessary diffs.
+[*.{vcxproj,vcxproj.filters}]
+indent_style = space
+indent_size = 2
+end_of_line = crlf
+charset = utf-8-bom
+trim_trailing_whitespace = true
+insert_final_newline = false
+; must be broken out because of 51-char bug (https://github.com/editorconfig/editorconfig-visualstudio/issues/21)
+[*.{csproj,pyproj,props,targets}]
+indent_style = space
+indent_size = 2
+end_of_line = crlf
+charset = utf-8-bom
+trim_trailing_whitespace = true
+insert_final_newline = false
+[*.{sln,sln.template}]
+indent_style = tab
+indent_size = 4
+end_of_line = crlf
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = false

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+*.asset binary
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.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,33 @@
+---
+name: Bug report
+about: Report a bug with ML-Agents
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Console logs / stack traces**
+Please wrap in triple backticks (```) to make it easier to read.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Environment (please complete the following information):**
+- Unity Version: [e.g. Unity 2022.3f1]
+- OS + version: [e.g. Windows 10]
+- _ML-Agents version_: (e.g. ML-Agents v0.8, or latest `develop` branch from source)
+- _Torch version_: (you can run `pip3 show torch` to get this)
+- _Environment_: (which example environment you used to reproduce the error)
+
+**NOTE:** We are unable to help reproduce bugs with custom environments.  Please attempt to reproduce your issue with one of the example environments, or provide a minimal patch to one of the environments needed to reproduce the issue.

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,11 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Discussion / General Questions
+    url: https://forum.unity.com/forums/ml-agents.453/
+    about: Discussion about ML-Agents, RL algorithms, or game integrations.
+  - name: Installation / Setup
+    url: https://forum.unity.com/forums/ml-agents.453/
+    about: Questions about python installation, initial connection between Unity and training, etc.
+  - name: ML-Agents Unity Forum
+    url: https://forum.unity.com/forums/ml-agents.453/
+    about: Please ask other questions in the ML-Agents Unity Forum.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: request
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,24 @@
+### Proposed change(s)
+
+Describe the changes made in this PR.
+
+### Useful links (Github issues, JIRA tickets, ML-Agents forum threads etc.)
+
+
+
+### Types of change(s)
+
+- [ ] Bug fix
+- [ ] New feature
+- [ ] Code refactor
+- [ ] Breaking change
+- [ ] Documentation update
+- [ ] Other (please describe)
+
+### Checklist
+- [ ] Added tests that prove my fix is effective or that my feature works
+- [ ] Updated the changelog (if applicable)
+- [ ] Updated the documentation (if applicable)
+- [ ] Updated the migration guide (if applicable)
+
+### Other comments

.github/stale.yml

@@ -0,0 +1,26 @@
+# Configuration for probot-stale - https://github.com/probot/stale
+
+# General configuration
+# Label to use when marking as stale
+staleLabel: stale
+
+# Only run on issues
+only: issues
+
+# Issue specific configuration
+issues:
+  limitPerRun: 5
+  daysUntilStale: 90
+  daysUntilClose: 30
+  markComment: >
+    This issue has been automatically marked as stale because it has not had activity in the
+    last 90 days. It will be closed in the next 30 days if no further activity occurs.
+    Thank you for your contributions.
+  closeComment: >
+    This issue has been automatically closed because it has not had activity in the
+    last 120 days. If this issue is still valid, please ping a maintainer.
+    Thank you for your contributions.
+  exemptLabels:
+    - request
+    - help-wanted
+    - announcement

.github/workflows/colab.yml

@@ -0,0 +1,65 @@
+name: colab
+
+on:
+  pull_request:
+    paths:  # This action will only run if the PR modifies a file in one of these directories
+    - 'ml-agents-envs/**'
+    - 'gym-unity/**'
+    - 'colab/**'
+    - '.github/workflows/colab.yml'
+  push:
+    branches:
+     - main
+     - develop
+     - 'release/**'
+  workflow_dispatch:
+
+jobs:
+  colab:
+    runs-on: ubuntu-latest
+    env:
+        COLAB_ALWAYS_INSTALL_XVFB: 1
+        QLEARNING_NUM_TRAINING_STEPS: 5
+        QLEARNING_NUM_NEW_EXP: 64
+        QLEARNING_BUFFER_SIZE: 64
+    strategy:
+      fail-fast: false
+      matrix:
+        notebook_path: [Colab_UnityEnvironment_1_Run.ipynb, Colab_UnityEnvironment_2_Train.ipynb, Colab_UnityEnvironment_3_SideChannel.ipynb]
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.9.x
+    - uses: actions/setup-dotnet@v1
+      with:
+        dotnet-version: '6.0.x'
+    - name: Cache pip
+      uses: actions/cache@v2
+      with:
+        # This path is specific to Ubuntu
+        path: ~/.cache/pip
+        # Look to see if there is a cache hit for the corresponding requirements file
+        key: ${{ runner.os }}-pip-${{ hashFiles('ml-agents/setup.py', 'ml-agents-envs/setup.py', 'gym-unity/setup.py', 'colab_requirements.txt') }}
+        restore-keys: |
+          ${{ runner.os }}-pip-
+          ${{ runner.os }}-
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        python -m pip install --upgrade setuptools
+        # Install the local checkouts of ml-agents. This will prevent the colab notebooks from installing a released version.
+        python -m pip install --progress-bar=off -e ./ml-agents-envs
+        python -m pip install --progress-bar=off -e ./ml-agents
+        python -m pip install --progress-bar=off -r colab_requirements.txt
+    - name: Execute notebook
+      run: jupyter nbconvert --to notebook --execute --log-level=DEBUG --ExecutePreprocessor.kernel_name=python3 --output output-${{ matrix.notebook_path }} colab/${{ matrix.notebook_path }}
+    - name: Upload colab results
+      uses: actions/upload-artifact@v2
+      with:
+        name: artifacts
+        path: |
+          colab/output-${{ matrix.notebook_path }}
+      # Use always() to always run this step to publish execution results when there are failures
+      if: ${{ always() }}

.github/workflows/lock.yml

@@ -0,0 +1,23 @@
+name: 'Lock Threads'
+
+on:
+  schedule:
+    - cron: '0 0/4 * * *'
+  workflow_dispatch:
+
+jobs:
+  lock:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: dessant/lock-threads@v2
+        with:
+          github-token: ${{ github.token }}
+          issue-lock-inactive-days: '30'
+          issue-exclude-created-before: ''
+          issue-exclude-labels: ''
+          issue-lock-labels: ''
+          issue-lock-comment: >
+            This thread has been automatically locked since there has not been
+            any recent activity after it was closed. Please open a new issue for
+            related bugs.
+          issue-lock-reason: 'resolved'

.github/workflows/nightly.yml

@@ -0,0 +1,92 @@
+name: nightly
+
+on:
+  schedule:
+    - cron: '0 7 * * *' # run at 7 AM UTC == midnight PST
+  workflow_dispatch:
+
+jobs:
+  markdown-link-check-full:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+    - uses: actions/setup-node@v2
+      with:
+        node-version: '12'
+    - name: Install manual dependencies
+      run: |
+        sudo npm install -g markdown-link-check@3.8.7
+        python -m pip install pre-commit
+        pre-commit install
+    - name: Run markdown checker
+      run: |
+        pre-commit run --hook-stage manual markdown-link-check-full --all-files
+  full-pytest:
+    runs-on: ubuntu-latest
+#   TODO: Re-use pytest workflow once https://github.com/github/roadmap/issues/257 is done.
+#    steps:
+#    - uses: actions/checkout@v2
+#    - uses: ./.github/workflows/pytest.yml
+#      with:
+#        # Run all tests.
+#        pytest_markers: "not slow or slow"
+    env:
+        TEST_ENFORCE_BUFFER_KEY_TYPES: 1
+    strategy:
+      # If one test in the matrix fails we still want to run the others.
+      fail-fast: false
+      matrix:
+        python-version: [3.8.x, 3.9.x, 3.10.x]
+        include:
+          - python-version: 3.8.x
+            pip_constraints: test_constraints_min_version.txt
+          - python-version: 3.9.x
+            pip_constraints: test_constraints_mid_version.txt
+          - python-version: 3.10.x
+            pip_constraints: test_constraints_max_version.txt
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python
+      uses: actions/setup-python@v2
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Cache pip
+      uses: actions/cache@v2
+      with:
+        # This path is specific to Ubuntu
+        path: ~/.cache/pip
+        # Look to see if there is a cache hit for the corresponding requirements file
+        key: ${{ runner.os }}-pip-${{ hashFiles('ml-agents/setup.py', 'ml-agents-envs/setup.py', 'test_requirements.txt', matrix.pip_constraints) }}
+        restore-keys: |
+          ${{ runner.os }}-pip-
+          ${{ runner.os }}-
+    - name: Display Python version
+      run: python -c "import sys; print(sys.version)"
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        python -m pip install --upgrade setuptools
+        python -m pip install --progress-bar=off -e ./ml-agents-envs -c ${{ matrix.pip_constraints }}
+        python -m pip install --progress-bar=off -e ./ml-agents -c ${{ matrix.pip_constraints }}
+        python -m pip install --progress-bar=off -r test_requirements.txt -c ${{ matrix.pip_constraints }}
+        python -m pip install --progress-bar=off -e ./ml-agents-plugin-examples -c ${{ matrix.pip_constraints }}
+    - name: Save python dependencies
+      run: |
+        pip freeze > pip_versions-${{ matrix.python-version }}.txt
+        cat pip_versions-${{ matrix.python-version }}.txt
+    - name: Run pytest
+      run: |
+        pytest --cov=ml-agents --cov=ml-agents-envs \
+        --cov-report=html --junitxml=junit/test-results-${{ matrix.python-version }}.xml \
+        -p no:warnings -v -n 8
+    - name: Upload pytest test results
+      uses: actions/upload-artifact@v2
+      with:
+        name: artifacts-${{ matrix.python-version }}
+        path: |
+          htmlcov
+          pip_versions-${{ matrix.python-version }}.txt
+          junit/test-results-${{ matrix.python-version }}.xml
+      # Use always() to always run this step to publish test results when there are test failures
+      if: ${{ always() }}

.github/workflows/pre-commit.yml

@@ -0,0 +1,57 @@
+name: pre-commit
+
+on:
+  pull_request:
+  push:
+    branches:
+     - main
+     - develop
+     - 'release/**'
+  workflow_dispatch:
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+      with:
+        python-version: 3.8.x
+    - uses: actions/setup-ruby@v1
+      env:
+        ImageOS: ubuntu20
+      with:
+        ruby-version: '2.6'
+    - uses: actions/setup-dotnet@v3
+      with:
+        dotnet-version: '7.0.100'
+    - name: Install manual dependencies
+      run: |
+        python -m pip install pre-commit
+        pre-commit install
+    - name: Run pre-commit
+      run: |
+        pre-commit run --all-files
+  markdown-link-check:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+    - uses: actions/setup-node@v2
+      with:
+        node-version: '12'
+    - name: Install manual dependencies
+    # pin markdown-link-check version to support multi-level reference link
+      run: |
+        sudo npm install -g markdown-link-check@3.8.7
+        python -m pip install pre-commit
+        pre-commit install
+    - name: Run markdown checker
+      run: |
+        pre-commit run --hook-stage manual markdown-link-check --all-files
+  validate-meta-files:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+    - run: python utils/validate_meta_files.py

.github/workflows/publish_docs.yaml

@@ -0,0 +1,24 @@
+name: Publish HTML Docs
+
+on:
+  workflow_dispatch:
+
+jobs:
+  publish:
+    name: Publish Docs to GH Pages
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+        with:
+          token: ${{ secrets.PUBLIC_GH_TOKEN }}
+      - name: Setup Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Publish docs
+        run: |
+          pip install mkdocs
+          git remote add public git@github.com:Unity-Technologies/ml-agents.git
+          mkdocs gh-deploy --clean -r public
+

.github/workflows/publish_pypi.yaml

@@ -0,0 +1,48 @@
+# Adapted from https://packaging.python.org/guides/publishing-package-distribution-releases-using-github-actions-ci-cd-workflows/
+name: Publish to PyPI (or TestPyPI)
+
+on:
+  push:
+    tags:
+      - "release_[0-9]+_test[0-9]+"
+      - "release_[0-9]+"
+  workflow_dispatch:
+
+jobs:
+  build-and-publish:
+    name: publish to PyPI (or TestPyPI)
+    runs-on: ubuntu-latest
+    strategy:
+        matrix:
+            package-path: [ml-agents, ml-agents-envs]
+
+    steps:
+    - uses: actions/checkout@main
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+    - name: Install dependencies
+      run: pip install setuptools wheel twine --user
+    - name: verify git tag vs. version
+      run: |
+        cd ${{ matrix.package-path }}
+        python setup.py verify
+    - name: Build package
+      run: |
+        cd ${{ matrix.package-path }}
+        python setup.py sdist
+        python setup.py bdist_wheel
+    - name: Publish distribution 📦 to Test PyPI
+      if: startsWith(github.ref, 'refs/tags') && contains(github.ref, 'test')
+      uses: actions/gh-action-pypi-publish@717ba43cfbb0387f6ce311b169a825772f54d295
+      with:
+        password: ${{ secrets.TEST_PYPI_PASSWORD }}
+        repository_url: https://test.pypi.org/legacy/
+        packages_dir: ${{ matrix.package-path }}/dist/
+    - name: Publish distribution 📦 to Production PyPI
+      if: startsWith(github.ref, 'refs/tags') && !contains(github.ref, 'test')
+      uses: actions/gh-action-pypi-publish@717ba43cfbb0387f6ce311b169a825772f54d295
+      with:
+        password: ${{ secrets.PYPI_PASSWORD }}
+        packages_dir: ${{ matrix.package-path }}/dist/

.github/workflows/publish_pypi_python_api.yaml

@@ -0,0 +1,50 @@
+# Adapted from https://packaging.python.org/guides/publishing-package-distribution-releases-using-github-actions-ci-cd-workflows/
+name: Publish Python APIs to PyPI (or TestPyPI)
+
+on:
+  push:
+    tags:
+      - "api_release_[0-9]+_test[0-9]+"
+      - "api_release_[0-9]+"
+  workflow_dispatch:
+
+jobs:
+  build-and-publish:
+    name: publish to PyPI (or TestPyPI)
+    runs-on: ubuntu-latest
+    strategy:
+        matrix:
+            package-path: [ml-agents-envs]
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+    - name: Install dependencies
+      run: pip install setuptools wheel twine --user
+    - name: verify git tag vs. version
+      run: |
+        cd ${{ matrix.package-path }}
+        python setup.py verify
+    - name: Build package
+      run: |
+        cd ${{ matrix.package-path }}
+        python setup.py sdist
+        python setup.py bdist_wheel
+    - name: Publish distribution 📦 to Test PyPI
+      if: startsWith(github.ref, 'refs/tags') && contains(github.ref, 'test')
+      uses: actions/gh-action-pypi-publish@717ba43cfbb0387f6ce311b169a825772f54d295
+      with:
+        user: __token__
+        password: ${{ secrets.TEST_PYPI_PASSWORD }}
+        repository_url: https://test.pypi.org/legacy/
+        packages_dir: ${{ matrix.package-path }}/dist/
+    - name: Publish distribution 📦 to Production PyPI
+      if: startsWith(github.ref, 'refs/tags') && !contains(github.ref, 'test')
+      uses: actions/gh-action-pypi-publish@717ba43cfbb0387f6ce311b169a825772f54d295
+      with:
+        user: __token__
+        password: ${{ secrets.PYPI_PASSWORD }}
+        packages_dir: ${{ matrix.package-path }}/dist/

.github/workflows/pytest.yml

@@ -0,0 +1,100 @@
+name: pytest
+
+on:
+  pull_request:
+    paths:  # This action will only run if the PR modifies a file in one of these directories
+    - 'ml-agents/**'
+    - 'ml-agents-envs/**'
+    - 'test_constraints*.txt'
+    - 'test_requirements.txt'
+    - '.github/workflows/pytest.yml'
+  push:
+    branches:
+     - main
+     - develop
+     - 'release/**'
+  workflow_dispatch:
+    inputs:
+      pytest_markers:
+        description: "Restrict which tests to run based on pytest markers"
+        required: false
+        default: "not slow"
+        type: string
+  workflow_call:
+    inputs:
+      pytest_markers:
+        required: false
+        # Hacky way to make sure we run all tests
+        default: "slow or not slow"
+        type: string
+
+jobs:
+  pytest:
+    runs-on: ubuntu-latest
+    env:
+        TEST_ENFORCE_BUFFER_KEY_TYPES: 1
+    strategy:
+      # If one test in the matrix fails we still want to run the others.
+      fail-fast: false
+      matrix:
+        python-version: [3.8.x, 3.9.x, 3.10.x]
+        include:
+          - python-version: 3.8.x
+            pip_constraints: test_constraints_min_version.txt
+          - python-version: 3.9.x
+            pip_constraints: test_constraints_mid_version.txt
+          - python-version: 3.10.x
+            pip_constraints: test_constraints_max_version.txt
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python
+      uses: actions/setup-python@v2
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Cache pip
+      uses: actions/cache@v2
+      with:
+        # This path is specific to Ubuntu
+        path: ~/.cache/pip
+        # Look to see if there is a cache hit for the corresponding requirements file
+        key: ${{ runner.os }}-pip-${{ hashFiles('ml-agents/setup.py', 'ml-agents-envs/setup.py', 'test_requirements.txt', matrix.pip_constraints) }}
+        restore-keys: |
+          ${{ runner.os }}-pip-
+          ${{ runner.os }}-
+    - name: Display Python version
+      run: python -c "import sys; print(sys.version)"
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        python -m pip install --upgrade setuptools
+        python -m pip install --progress-bar=off -e ./ml-agents-envs -c ${{ matrix.pip_constraints }}
+        python -m pip install --progress-bar=off -e ./ml-agents -c ${{ matrix.pip_constraints }}
+        python -m pip install --progress-bar=off -r test_requirements.txt -c ${{ matrix.pip_constraints }}
+        python -m pip install --progress-bar=off -e ./ml-agents-plugin-examples -c ${{ matrix.pip_constraints }}
+    - name: Save python dependencies
+      run: |
+        pip freeze > pip_versions-${{ matrix.python-version }}.txt
+        cat pip_versions-${{ matrix.python-version }}.txt
+    - name: Get pytest marker
+      id: pytest_marker
+      run: |
+        if [ "${{ github.event.inputs.pytest_markers }}" != "" ]; then
+          echo "::set-output name=markers::${{ github.event.inputs.pytest_markers }}"
+        else
+          echo "::set-output name=markers::not slow"
+        fi
+    - name: Run pytest
+      run: |
+        pytest --cov=ml-agents --cov=ml-agents-envs \
+        --cov-report=html --junitxml=junit/test-results-${{ matrix.python-version }}.xml \
+        -p no:warnings -v -m "${{ steps.pytest_marker.outputs.markers }}" -n 8
+    - name: Upload pytest test results
+      uses: actions/upload-artifact@v2
+      with:
+        name: artifacts-${{ matrix.python-version }}
+        path: |
+          htmlcov
+          pip_versions-${{ matrix.python-version }}.txt
+          junit/test-results-${{ matrix.python-version }}.xml
+      # Use always() to always run this step to publish test results when there are test failures
+      if: ${{ always() }}

.github/workflows/validate_catalog.yaml

@@ -0,0 +1,21 @@
+# Validate catalog-info.yaml file
+name: Validate Catalog-info.yaml
+on:
+  pull_request:
+    paths:
+      - 'catalog-info.yaml'
+  push:
+    paths:
+      - 'catalog-info.yaml'
+    branches: [ main ]
+
+jobs:
+  validate_catalog:
+    runs-on: [ubuntu-latest]
+    steps:
+      - id: 'Checkout'
+        uses: actions/checkout@v2
+
+      - id: 'Validate'
+        uses: 'RoadieHQ/backstage-entity-validator@v0.3.2'
+  

.gitignore

@@ -0,0 +1,97 @@
+# Output Artifacts (Legacy)
+/models
+/summaries
+# Output Artifacts
+/results
+# Output Builds
+/Builds
+
+# Training environments
+/envs
+
+# Environemnt logfile
+*Project.log
+
+# Custom settings asset
+*.settings.asset*
+
+# Visual Studio 2015 cache directory
+/Project/.vs/
+
+# Autogenerated VS/MD/Consulo solution and project files
+/com.unity.ml-agentsExportedObj/
+/com.unity.ml-agents.consulo/
+*.csproj
+*.unityproj
+*.sln
+*.suo
+*.tmp
+*.user
+*.userprefs
+*.pidb
+*.booproj
+*.svd
+*.pdb
+
+# Unity3D generated meta files
+*.pidb.meta
+
+# Unity3D Generated File On Crash Reports
+/com.unity.ml-agents/sysinfo.txt
+
+# Builds
+*.apk
+*.unitypackage
+*.app
+*.exe
+*.x86_64
+*.x86
+
+# Plugins
+/com.unity.ml-agents/VideoRecorder*
+
+# Generated doc folders
+/docs/html
+
+# Mac hidden files
+*.DS_Store
+*/.ipynb_checkpoints
+*/.idea
+*.pyc
+*.idea/misc.xml
+*.idea/modules.xml
+*.idea/
+*.iml
+*.cache
+*/build/
+*/dist/
+*.egg-info*
+*.eggs*
+*.gitignore.swp
+
+# VSCode hidden files
+*.vscode/
+
+.DS_Store
+.ipynb_checkpoints
+
+# pytest cache
+*.pytest_cache/
+
+# Ignore compiled protobuf files.
+*Grpc.Tools*
+
+# Ignore PyPi build files.
+dist/
+build/
+
+# Python virtual environment
+venv/
+.mypy_cache/
+
+# Code coverage report
+.coverage
+coverage.xml
+/htmlcov/
+
+**/UserSettings/*

.pre-commit-config.yaml

@@ -0,0 +1,138 @@
+repos:
+-   repo: https://github.com/python/black
+    rev: 22.3.0
+    hooks:
+    -   id: black
+        exclude: >
+            (?x)^(
+                .*_pb2.py|
+                .*_pb2.pyi|
+                .*_pb2_grpc.py
+            )$
+
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: v0.991
+    hooks:
+    -   id: mypy
+        name: mypy-ml-agents
+        files: "ml-agents/.*"
+        args: [--ignore-missing-imports, --disallow-incomplete-defs, --no-strict-optional]
+        additional_dependencies: [types-PyYAML, types-attrs, types-protobuf, types-setuptools, types-filelock]
+    -   id: mypy
+        name: mypy-ml-agents-envs
+        files: "ml-agents-envs/.*"
+        # Exclude protobuf files and don't follow them when imported
+        exclude: ".*_pb2.py"
+        args: [--ignore-missing-imports, --disallow-incomplete-defs, --no-strict-optional]
+        additional_dependencies: [types-PyYAML, types-attrs, types-protobuf, types-setuptools, types-filelock]
+-   repo: https://github.com/PyCQA/flake8
+    rev: 3.9.2
+    hooks:
+    -   id: flake8
+        exclude: >
+            (?x)^(
+                .*_pb2.py|
+                .*_pb2_grpc.py
+            )$
+        # 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: v2.31.0
+    hooks:
+    -   id: pyupgrade
+        args: [--py3-plus, --py36-plus]
+        exclude: >
+            (?x)^(
+                .*_pb2.py|
+                .*_pb2_grpc.py
+            )$
+
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.1.0
+    hooks:
+    -   id: mixed-line-ending
+        exclude: >
+            (?x)^(
+                .*cs.meta|
+                .*.css|
+                .*.meta
+            )$
+        args: [--fix=lf]
+
+    -   id: trailing-whitespace
+        name: trailing-whitespace-markdown
+        types: [markdown]
+    -   id: check-merge-conflict
+        args: [--assume-in-merge]
+    -   id: check-yaml
+        # Won't handle the templating in yamato
+        exclude: \.yamato/.*
+
+-   repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.9.0
+    hooks:
+    -   id: python-check-mock-methods
+
+- repo: https://github.com/mattlqx/pre-commit-search-and-replace
+  rev: v1.0.5
+  hooks:
+  - id: search-and-replace
+    types: [markdown]
+    exclude: ".*localized.*"
+
+#- repo: https://github.com/dotnet/format
+#  rev: v5.1.225507
+#  hooks:
+#  - id: dotnet-format
+#    entry: dotnet-format whitespace
+#    args: [--folder, --include]
+
+# "Local" hooks, see https://pre-commit.com/#repository-local-hooks
+-   repo: local
+    hooks:
+    -   id: dotnet-format
+        name: dotnet-format
+        language: system
+        entry: dotnet format whitespace --folder --include
+        types_or: ["c#"]
+    -   id: markdown-link-check
+        name: markdown-link-check
+        entry: utils/run_markdown_link_check.py
+        language: script
+        types: [markdown]
+        # Don't check localized files since their target might not be localized.
+        exclude: ".*localized.*"
+        # Only run manually, e.g. pre-commit run --hook-stage manual markdown-link-check
+        stages: [manual]
+    -   id: markdown-link-check-full
+        name: markdown-link-check-full
+        entry: utils/run_markdown_link_check.py
+        language: script
+        types: [markdown]
+        # Don't check localized files since their target might not be localized.
+        exclude: ".*localized.*"
+        # Only run manually, e.g. pre-commit run --hook-stage manual markdown-link-check-full
+        stages: [manual]
+        args: [--check-remote]
+    -   id: validate-versions
+        name: validate library versions
+        language: script
+        entry: utils/validate_versions.py
+        files: ".*/__init__.py"
+    -   id: validate-init-py
+        name: validate __init__.py files
+        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
+        require_serial: true
+    -   id: generate-markdown-docs
+        name: generate markdown docs
+        language: python
+        entry: ./utils/generate_markdown_docs.py --package_dirs ml-agents-envs ml-agents
+        pass_filenames: false
+        additional_dependencies: [pyyaml, pydoc-markdown==3.10.1]

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

@@ -0,0 +1,8 @@
+- description: Replace "ML agents toolkit", "ML-Agents toolkit" etc
+  search: /ML[ -]Agents toolkit/
+  replacement: ML-Agents Toolkit
+  insensitive: true
+- description: Replace "the the"
+  search: /the the/
+  replacement: the
+  insensitive: true

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

@@ -0,0 +1,43 @@
+{% metadata_file .yamato/coverage_tests.metafile %}
+---
+{% for package in coverage_test_packages %}
+{% for editor in coverage_test_editors %}
+{% for platform in coverage_test_platforms %}
+{% capture coverageOptions %} --enable-code-coverage --code-coverage-options 'generateHtmlReport;assemblyFilters:+{{ package.assembly }}'{% endcapture %}
+
+test_coverage_{{ package.name }}_{{ platform.name }}_{{ editor.version }}:
+    name : Coverage {{ package.name }} test {{ editor.version }} on {{ platform.name }}
+    agent:
+        type: {{ platform.type }}
+        image: {{ platform.image }}
+        flavor: {{ platform.flavor}}
+    commands:
+        - npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
+        - upm-ci project test -u {{ editor.version }} --type project-tests --project-path {{ editor.testProject }} --package-filter {{ package.name }} {{ coverageOptions }} --extra-utr-arg "reruncount=2"
+        - |
+          conda activate python3.8
+          python3 ml-agents/tests/yamato/check_coverage_percent.py upm-ci~/test-results/ {{ package.minCoveragePct }}
+    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 eq "develop" 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-coverage.yml")
+      {% endif %}
+{% endfor %}
+{% endfor %}
+{% endfor %}

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

@@ -0,0 +1,21 @@
+pack:
+  name: Pack
+  agent:
+    type: Unity::VM
+    image: ml-agents/ml-agents-ubuntu-18.04:latest
+    flavor: b1.small
+  commands:
+    - |
+      eval "$($HOME/anaconda/bin/conda shell.bash hook)"
+      conda activate python3.8
+      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 2022.3 -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
+  artifacts:
+    packages:
+      paths:
+        - "upm-ci~/packages/**/*"
+  triggers:
+    cancel_old_ci: true

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

@@ -0,0 +1,30 @@
+test_editors:
+  - version: 2022.3
+  - version: 2023.1
+---
+{% for editor in test_editors %}
+Run_Mac_Perfomance_Tests{{ editor.version }}:
+  name: Run Mac Performance Tests {{ editor.version }}
+  agent:
+    type: Unity::VM::osx
+    image: package-ci/mac:stable
+    flavor: b1.small
+  variables:
+    UNITY_VERSION: {{ editor.version }}
+  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 {{ editor.version }} -c editor --wait --fast
+    - curl -s https://artifactory.prd.it.unity3d.com/artifactory/unity-tools-local/utr-standalone/utr --output utr
+    - chmod +x ./utr
+    - ./utr --suite=editor --platform=StandaloneOSX --editor-location=.Editor --testproject=DevProject --artifacts_path=build/test-results --report-performance-data --performance-project-id=com.unity.ml-agents --zero-tests-are-ok=1
+  triggers:
+    cancel_old_ci: true
+    recurring:
+      - branch: develop
+        frequency: daily
+  artifacts:
+    logs:
+      paths:
+        - "build/test-results/**"
+        - "*.log"
+{% endfor %}

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

@@ -0,0 +1,67 @@
+test_editors:
+  - version: 2022.3
+test_platforms:
+  - name: win
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.large
+---
+
+{% for editor in test_editors %}
+{% for platform in test_platforms %}
+promotion_test_{{ platform.name }}_{{ editor.version }}:
+  name : Promotion Test {{ editor.version }} on {{ platform.name }}
+  agent:
+    type: {{ platform.type }}
+    image: {{ platform.image }}
+    flavor: {{ platform.flavor}}
+  variables:
+    UPMCI_PROMOTION: 1
+  commands:
+    - npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
+    - upm-ci package test --unity-version {{ editor.version }} --package-path com.unity.ml-agents
+  artifacts:
+    logs:
+      paths:
+        - "upm-ci~/test-results/**/*"
+  dependencies:
+    - .yamato/com.unity.ml-agents-pack.yml#pack
+{% endfor %}
+{% endfor %}
+
+promotion_test_trigger:
+  name: Promotion Tests Trigger
+  dependencies:
+{% for editor in test_editors %}
+{% for platform in test_platforms %}
+    - .yamato/com.unity.ml-agents-promotion.yml#promotion_test_{{platform.name}}_{{editor.version}}
+{% endfor %}
+{% endfor %}
+
+
+promote:
+  name: Promote to Production
+  agent:
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.large
+  variables:
+    UPMCI_PROMOTION: 1
+  commands:
+    - npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
+    - upm-ci package promote --package-path com.unity.ml-agents
+#  triggers:
+#    tags:
+#      only:
+#        - /^(r|R)elease-\d+\.\d+\.\d+(-preview(\.\d+)?)?$/
+  artifacts:
+    artifacts:
+      paths:
+        - "upm-ci~/packages/*.tgz"
+  dependencies:
+    - .yamato/com.unity.ml-agents-pack.yml#pack
+{% for editor in test_editors %}
+{% for platform in test_platforms %}
+    - .yamato/com.unity.ml-agents-promotion.yml#promotion_test_{{ platform.name }}_{{ editor.version }}
+{% endfor %}
+{% endfor %}

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

@@ -0,0 +1,23 @@
+publish:
+  name: Publish ML-Agents to Internal Registry
+  agent:
+    type: Unity::VM
+    image: package-ci/win10:stable
+    flavor: b1.large
+  variables:
+    UPMCI_ENABLE_PACKAGE_SIGNING: 1
+  commands:
+    - npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
+    - upm-ci package publish --package-path com.unity.ml-agents
+  triggers:
+    cancel_old_ci: true
+#    tags:
+#      only:
+#        - /^(r|R)(c|C)-\d+\.\d+\.\d+(-preview(\.\d+)?)?$/
+  artifacts:
+    artifacts:
+      paths:
+        - "upm-ci~/packages/*.tgz"
+  dependencies:
+    - .yamato/com.unity.ml-agents-pack.yml#pack
+    - .yamato/com.unity.ml-agents-test.yml#all_package_tests

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

@@ -0,0 +1,152 @@
+{% metadata_file .yamato/coverage_tests.metafile %}
+test_editors:
+    - version: 2022.3
+        # We want some scene tests to run in the DevProject, but packages there only support 2020+
+      testProject: Project
+      enableNoDefaultPackages: !!bool true
+    - version: 2023.1
+      testProject: DevProject
+      enableNoDefaultPackages: !!bool true
+
+trunk_editor:
+    - version: trunk
+        # Workaround for MLA-1596 - need to make sure we load the right results.
+      testProject: DevProject
+
+test_platforms:
+    - 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.large
+    - name: linux
+      type: Unity::VM
+      image: ml-agents/ml-agents-ubuntu-18.04:latest
+      flavor: b1.large
+
+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:
+    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: develop
+              frequency: daily
+
+  {% for package in packages %}
+  {% for editor in test_editors %}
+  {% for platform in test_platforms %}
+
+  {% if editor.enableNoDefaultPackages %}
+  {% assign noDefaultPackagesOptions = "--extra-create-project-arg='-upmNoDefaultPackages'" %}
+  {% else %}
+  {% assign noDefaultPackagesOptions = "" %}
+  {% endif %}
+
+test_{{ package.name }}_{{ platform.name }}_{{ editor.version }}:
+    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@1.27.0 -g --registry https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-npm
+        - upm-ci package test -u {{ editor.version }} --package-path {{ package.name }} {{ noDefaultPackagesOptions }} --warnings-as-errors --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 eq "develop" 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")
+      {% endif %}
+      {% endfor %}
+  {% endfor %}
+  {% endfor %}
+
+  {% for package in packages %}
+  {% for editor in trunk_editor %}
+  {% for platform in test_platforms %}
+
+test_{{ package.name }}_{{ platform.name }}_trunk:
+    name : {{ package.name }} test {{ editor.version }} on {{ platform.name }}
+    agent:
+        type: {{ platform.type }}
+        image: {{ platform.image }}
+        flavor: {{ platform.flavor}}
+    commands:
+        - |
+{% if platform.name == "linux" %}
+          conda activate python3.8
+{% endif %}
+          python -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@1.27.0 -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/compressed-sensor-test.yml

@@ -0,0 +1,38 @@
+{% metadata_file .yamato/test_versions.metafile %}
+---
+{% for editor in test_editors %}
+test_compressed_obs_{{ editor.version }}:
+  name: Test Compressed Sensor Observation {{ editor.version }}
+  agent:
+    type: Unity::VM
+    image: ml-agents/ml-agents-ubuntu-18.04:latest
+    flavor: b1.medium
+  variables:
+    UNITY_VERSION: {{ editor.version }}
+  commands:
+    - |
+      eval "$($HOME/anaconda/bin/conda shell.bash hook)"
+      conda activate python3.8
+      python -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+      python -u -m ml-agents.tests.yamato.setup_venv
+      python ml-agents/tests/yamato/scripts/run_compressed_sensor.py --env=artifacts/testPlayer-TestGridCompressed
+      python ml-agents/tests/yamato/scripts/run_compressed_sensor.py --env=artifacts/testPlayer-TestTextureCompressed
+  dependencies:
+    - .yamato/standalone-build-test.yml#test_linux_standalone_{{ editor.version }}
+  triggers:
+    cancel_old_ci: true
+    {% if editor.extra_test == "sensor" %}
+    expression: |
+      (pull_request.target eq "main" OR
+      pull_request.target eq "develop" 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 "com.unity.ml-agents.extensions/**" OR
+      pull_request.changes.any match "Project/**" OR
+      pull_request.changes.any match "ml-agents/tests/yamato/**" OR
+      pull_request.changes.any match "ml-agents-envs/**" OR
+      pull_request.changes.any match ".yamato/compressed-sensor-test.yml") AND
+      NOT pull_request.changes.all match "**/*.md"
+    {% endif %}
+{% endfor %}

.yamato/coverage_tests.metafile

@@ -0,0 +1,17 @@
+coverage_test_editors:
+    - version: 2022.3
+      testProject: DevProject
+
+coverage_test_platforms:
+    - name: linux
+      type: Unity::VM
+      image: ml-agents/ml-agents-ubuntu-18.04:latest
+      flavor: b1.medium
+
+coverage_test_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

.yamato/gym-interface-test.yml

@@ -0,0 +1,37 @@
+{% metadata_file .yamato/test_versions.metafile %}
+---
+{% for editor in test_editors %}
+test_gym_interface_{{ editor.version }}:
+  name: Test Linux Gym Interface {{ editor.version }}
+  agent:
+    type: Unity::VM
+    image: ml-agents/ml-agents-ubuntu-18.04:latest
+    flavor: b1.medium
+  variables:
+    UNITY_VERSION: {{ editor.version }}
+  commands:
+    - |
+      eval "$($HOME/anaconda/bin/conda shell.bash hook)"
+      conda activate python3.8
+      python -m pip install wheel --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+      python -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+      python -u -m ml-agents.tests.yamato.setup_venv
+      python ml-agents/tests/yamato/scripts/run_gym.py --env=artifacts/testPlayer-Basic
+  dependencies:
+    - .yamato/standalone-build-test.yml#test_linux_standalone_{{ editor.version }}
+  triggers:
+    cancel_old_ci: true
+    {% if editor.extra_test == "gym" %}
+    expression: |
+      (pull_request.target eq "main" OR
+      pull_request.target eq "develop" 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 "Project/**" OR
+      pull_request.changes.any match "ml-agents/tests/yamato/**" OR
+      pull_request.changes.any match "ml-agents-envs/**" OR
+      pull_request.changes.any match ".yamato/gym-interface-test.yml") AND
+      NOT pull_request.changes.all match "**/*.md"
+    {% endif %}
+{% endfor %}

.yamato/protobuf-generation-test.yml

@@ -0,0 +1,44 @@
+test_linux_protobuf_generation:
+  name: Protobuf Generation Tests
+  agent:
+    type: Unity::VM
+    image: ml-agents/ml-agents-ubuntu-18.04:latest
+    flavor: b1.large
+  variables:
+    GRPC_VERSION: "1.14.1"
+    CS_PROTO_PATH: "com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects"
+  commands:
+    - |
+      sudo apt-get update && sudo apt-get install -y nuget
+      eval "$($HOME/anaconda/bin/conda shell.bash hook)"
+      conda activate python3.8
+      nuget install Grpc.Tools -Version $GRPC_VERSION -OutputDirectory protobuf-definitions/
+      python3 -m pip install --upgrade pip --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+      python3 -m pip install grpcio==1.28.1 grpcio-tools==1.13.0 protobuf==3.11.3 six==1.14.0 mypy-protobuf==1.16.0  --progress-bar=off --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+      pushd protobuf-definitions
+      chmod +x Grpc.Tools.$GRPC_VERSION/tools/linux_x64/protoc
+      chmod +x Grpc.Tools.$GRPC_VERSION/tools/linux_x64/grpc_csharp_plugin
+      COMPILER=Grpc.Tools.$GRPC_VERSION/tools/linux_x64 ./make.sh
+      popd
+      mkdir -p artifacts
+      touch artifacts/proto.patch
+      git diff --exit-code -- :/ ":(exclude,top)$CS_PROTO_PATH/*.meta"                          \
+      || { GIT_ERR=$?; echo "protobufs need to be regenerated, apply the patch uploaded to artifacts."; \
+      echo "Apply the patch with the command 'git apply proto.patch'";                                  \
+      git diff -- :/ ":(exclude,top)$CS_PROTO_PATH/*.meta" > ../artifacts/proto.patch; exit $GIT_ERR; }
+  triggers:
+    cancel_old_ci: true
+    expression: |
+      (pull_request.target eq "main" OR
+      pull_request.target eq "develop" OR
+      pull_request.target match "release.+") AND
+      NOT pull_request.draft AND
+      (pull_request.changes.any match "protobuf-definitions/**" OR
+      pull_request.changes.any match "com.unity.ml-agents/Runtime/Grpc/CommunicatorObjects/**" OR
+      pull_request.changes.any match "ml-agents-envs/mlagents_envs/communicator_objects/**" OR
+      pull_request.changes.any match ".yamato/protobuf-generation-test.yml") AND
+      NOT pull_request.changes.all match "protobuf-definitions/**/*.md"
+  artifacts:
+    patch:
+      paths:
+        - "artifacts/*.*"

.yamato/pytest-gpu.yml

@@ -0,0 +1,32 @@
+pytest_gpu:
+  name: Pytest GPU
+  agent:
+    type: Unity::VM::GPU
+    image: ml-agents/ml-agents-ubuntu-18.04:latest
+    flavor: b1.large
+  commands:
+    - |
+      eval "$($HOME/anaconda/bin/conda shell.bash hook)"
+      conda activate python3.8
+      python3 -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+      python3 -u -m ml-agents.tests.yamato.setup_venv
+      python3 -m pip install --progress-bar=off -r test_requirements.txt --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+      python3 -m pip install torch==1.7.1+cu101 torchvision==0.8.2+cu101 torchaudio==0.7.2 -f https://download.pytorch.org/whl/torch_stable.html --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+      if python -c "exec('import torch \nif not torch.cuda.is_available(): raise')" &> /dev/null; then
+        echo 'all good'
+      else
+        exit 1
+      fi
+      python3 -m pytest -m "not slow" --junitxml=junit/test-results.xml -p no:warnings
+  triggers:
+    cancel_old_ci: true
+    expression: |
+      (push.branch eq "main" OR
+      push.branch eq "develop" OR
+      push.branch match "release.+") AND
+      push.changes.any match "ml-agents/**" AND
+      NOT push.changes.all match "**/*.md"
+  artifacts:
+    logs:
+      paths:
+        - "artifacts/standalone_build.txt"

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

@@ -0,0 +1,39 @@
+{% metadata_file .yamato/test_versions.metafile %}
+---
+{% for editor in test_editors %}
+test_linux_ll_api_{{ editor.version }}:
+  name: Test Linux LL-API {{ editor.version }}
+  agent:
+    type: Unity::VM
+    image: ml-agents/ml-agents-ubuntu-18.04:latest
+    flavor: b1.medium
+  variables:
+    UNITY_VERSION: {{ editor.version }}
+  commands:
+    - |
+      eval "$($HOME/anaconda/bin/conda shell.bash hook)"
+      conda activate python3.8
+      python -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+      python -u -m ml-agents.tests.yamato.setup_venv
+      python ml-agents/tests/yamato/scripts/run_llapi.py
+      python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Basic
+      python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-WallJump
+      python ml-agents/tests/yamato/scripts/run_llapi.py --env=artifacts/testPlayer-Match3
+  dependencies:
+    - .yamato/standalone-build-test.yml#test_linux_standalone_{{ editor.version }}
+  triggers:
+    cancel_old_ci: true
+    {% if editor.extra_test == "llapi" %}
+    expression: |
+      (pull_request.target eq "main" OR
+      pull_request.target eq "develop" 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 "Project/**" OR
+      pull_request.changes.any match "ml-agents/tests/yamato/**" OR
+      pull_request.changes.any match "ml-agents-envs/**" OR
+      pull_request.changes.any match ".yamato/python-ll-api-test.yml") AND
+      NOT pull_request.changes.all match "**/*.md"
+    {% endif %}
+{% endfor %}

.yamato/sonar-python-package.yml

@@ -0,0 +1,21 @@
+csharp:
+  name: Sonarqube Scan for ml-agents python repo
+  agent:
+    type: Unity::metal::macmini
+    image: package-ci/mac:v1.8.1-822785
+    flavor: m1.mac
+  variables:
+    SONARQUBE_PROJECT_KEY: ai-ml-agents-toolkit
+    TARGET_BRANCH: develop
+  commands:
+    - npm install shellcheck --save-dev
+    - npm install upm-ci-utils@1.27.0 -g --registry https://artifactory.prd.it.unity3d.com/artifactory/api/npm/upm-npm
+    - curl https://binaries.sonarsource.com/Distribution/sonar-scanner-cli/sonar-scanner-cli-4.7.0.2747-macosx.zip -o sonar-scanner-cli-macosx.zip -L
+    - unzip sonar-scanner-cli-macosx.zip -d ~/sonar-scanner-cli
+    - ~/sonar-scanner-cli/sonar-scanner-4.7.0.2747-macosx/bin/sonar-scanner -Dsonar.projectKey=$SONARQUBE_PROJECT_KEY -Dsonar.sources=ml-agents-env -Dsonar.sources=ml-agents -Dsonar.sources=ml-agents-plugin-examples -Dsonar.sources=ml-agents-trainer-plugin -Dsonar.sources=utils -Dsonar.host.url=$SONARQUBE_URL -Dsonar.login=$SONARQUBE_TOKEN -Dsonar.branch.name=$TARGET_BRANCH -Dsonar.scm.provider=git
+  triggers:
+    cancel_old_ci: true
+    expression: |
+      ((pull_request.target eq "main" OR pull_request.target eq "develop" OR pull_request.target match "release.+")
+      AND NOT pull_request.push.changes.all match "**/*.md") OR
+      (push.branch eq "main" OR push.branch eq "develop")

.yamato/standalone-build-test.yml

@@ -0,0 +1,44 @@
+{% metadata_file .yamato/test_versions.metafile %}
+---
+{% for editor in test_editors %}
+test_linux_standalone_{{ editor.version }}:
+  name: Test Linux Standalone {{ editor.version }}
+  agent:
+    type: Unity::VM
+    image: ml-agents/ml-agents-ubuntu-18.04:latest
+    flavor: b1.large
+  variables:
+    UNITY_VERSION: {{ editor.version }}
+  commands:
+    - |
+      eval "$($HOME/anaconda/bin/conda shell.bash hook)"
+      conda activate python3.8
+      python3 -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+      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 {{ editor.version }} -c editor --wait --fast
+      python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux
+      python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Basic/Scenes/Basic.unity
+      python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/Match3/Scenes/Match3.unity
+      python3 -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=linux --scene=Assets/ML-Agents/Examples/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
+  triggers:
+    cancel_old_ci: true
+    expression: |
+      (pull_request.target eq "main" OR
+      pull_request.target eq "develop" 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 "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:
+    logs:
+      paths:
+        - "artifacts/standalone_build.txt"
+    standalonebuild:
+      paths:
+        - "artifacts/testPlayer*/**"
+        - "artifacts/**/UnityPlayer.so"
+{% endfor %}

.yamato/standalone-build-webgl-test.yml

@@ -0,0 +1,30 @@
+{% capture editor_version %}2022.3{% endcapture %}
+test_webgl_standalone_{{ editor_version }}:
+  name: Test WebGL Standalone {{ editor_version }}
+  agent:
+    type: Unity::VM
+    image: ml-agents/ml-agents-ubuntu-18.04:latest
+    flavor: b1.large
+  variables:
+    UNITY_VERSION: {{ editor_version }}
+  commands:
+    - |
+      eval "$($HOME/anaconda/bin/conda shell.bash hook)"
+      conda activate python3.8
+      python -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+      python -m pip install unity-downloader-cli --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple --upgrade
+      unity-downloader-cli -u {{ editor_version }} -c editor -c WebGL --wait --fast
+      python -u -m ml-agents.tests.yamato.standalone_build_tests --build-target=webgl
+  triggers:
+    cancel_old_ci: true
+    recurring:
+      - branch: develop
+        frequency: weekly
+  artifacts:
+    logs:
+      paths:
+        - "artifacts/standalone_build.txt"
+    standalonebuild:
+      paths:
+        - "artifacts/testPlayer*/**"
+        - "artifacts/**/UnityPlayer.so"

.yamato/test_versions.metafile

@@ -0,0 +1,11 @@
+# List of editor versions for standalone-build-test and its dependencies.
+# We always run training-int-tests for all versions of the editor
+# 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: 2022.3
+    extra_test: gym
+  - version: 2023.1
+    extra_test: sensor
+  - version: trunk
+    extra_test: llapi

.yamato/training-int-tests.yml

@@ -0,0 +1,44 @@
+{% metadata_file .yamato/test_versions.metafile %}
+---
+{% for editor in test_editors %}
+test_linux_training_int_{{ editor.version }}:
+  name: Test Linux Fast Training {{ editor.version }}
+  agent:
+    type: Unity::VM
+    image: ml-agents/ml-agents-ubuntu-18.04:latest
+    flavor: b1.medium
+  variables:
+    UNITY_VERSION: {{ editor.version }}
+  commands:
+    - |
+      eval "$($HOME/anaconda/bin/conda shell.bash hook)"
+      conda activate python3.8
+      python -m pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+      python -u -m ml-agents.tests.yamato.training_int_tests
+  dependencies:
+    - .yamato/standalone-build-test.yml#test_linux_standalone_{{ editor.version }}
+  triggers:
+    cancel_old_ci: true
+    expression: |
+      (pull_request.target eq "main" OR
+      pull_request.target eq "develop" 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 "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
+      pull_request.changes.any match ".yamato/training-int-tests.yml") AND
+      NOT pull_request.changes.all match "**/*.md"
+  artifacts:
+    logs:
+      paths:
+        - "artifacts/standalone_build.txt"
+        - "artifacts/inference.nn.txt"
+        - "artifacts/inference.onnx.txt"
+    standalonebuild:
+      paths:
+        - "artifacts/testPlayer*/**"
+        - "artifacts/models/**"
+{% endfor %}

CODE_OF_CONDUCT.md

@@ -0,0 +1,74 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as
+contributors and maintainers pledge to making participation in our project and
+our community a harassment-free experience for everyone, regardless of age, body
+size, disability, ethnicity, gender identity and expression, level of experience,
+nationality, personal appearance, race, religion, or sexual identity and
+orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment
+include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or
+  advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic
+  address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a
+  professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable
+behavior and are expected to take appropriate and fair corrective action in
+response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or
+reject comments, commits, code, wiki edits, issues, and other contributions
+that are not aligned to this Code of Conduct, or to ban temporarily or
+permanently any contributor for other behaviors that they deem inappropriate,
+threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies both within project spaces and in public spaces
+when an individual is representing the project or its community. Examples of
+representing a project or community include using an official project e-mail
+address, posting via an official social media account, or acting as an appointed
+representative at an online or offline event. Representation of a project may be
+further defined and clarified by project maintainers.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be
+reported by contacting the project team at ml-agents@unity3d.com. All
+complaints will be reviewed and investigated and will result in a response that
+is deemed necessary and appropriate to the circumstances. The project team is
+obligated to maintain confidentiality with regard to the reporter of an incident.
+Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good
+faith may face temporary or permanent repercussions as determined by other
+members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage],
+version 1.4, available at
+https://www.contributor-covenant.org/version/1/4/code-of-conduct/
+
+[homepage]: https://www.contributor-covenant.org

DevProject/.gitignore

@@ -0,0 +1,71 @@
+/[Ll]ibrary/
+/Logs/
+/[Tt]emp/
+/[Oo]bj/
+/[Bb]uild/
+/[Bb]uilds/
+/Assets/AssetStoreTools*
+/Assets/Plugins*
+/Assets/Demonstrations*
+/Assets/ML-Agents/Timers*
+/csharp_timers.json
+/CodeCoverage/
+
+# Environemnt logfile
+*Project.log
+
+# Visual Studio 2015 cache directory
+/.vs/
+
+# Autogenerated VS/MD/Consulo solution and project files
+/ProjectExportedObj/
+/Project.consulo/
+*.csproj
+*.unityproj
+*.sln
+*.suo
+*.tmp
+*.user
+*.userprefs
+*.pidb
+*.booproj
+*.svd
+*.pdb
+
+# Unity3D generated meta files
+*.pidb.meta
+
+# Unity3D Generated File On Crash Reports
+/sysinfo.txt
+
+# Builds
+*.apk
+*.unitypackage
+*.app
+*.exe
+*.x86_64
+*.x86
+
+# Plugins
+/Assets/VideoRecorder*
+
+# Mac hidden files
+*.DS_Store
+*/.ipynb_checkpoints
+*/.idea
+*.pyc
+*.idea/misc.xml
+*.idea/modules.xml
+*.idea/
+*.iml
+*.cache
+*/build/
+*/dist/
+*.egg-info*
+*.eggs*
+*.gitignore.swp
+
+# VSCode hidden files
+*.vscode/
+
+.DS_Store

DevProject/Assets/ML-Agents.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 8498a7556d0b348cbaff70bd8635db8b
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

DevProject/Assets/ML-Agents/Scripts.meta

@@ -0,0 +1,8 @@
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+guid: 45f48c01abd5d47048bc3edcc6db1dd0
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
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DevProject/Assets/ML-Agents/Scripts/Tests.meta

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+guid: eb96b88fc6ae14a41949d1bd75e68d38
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

DevProject/Assets/ML-Agents/Scripts/Tests/Editor.meta

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+guid: dc5370caac53244599df51d5c6d39876
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

DevProject/Assets/ML-Agents/Scripts/Tests/Editor/Editor.asmdef

@@ -0,0 +1,28 @@
+{
+    "name": "Unity.ML-Agents.DevTests.Editor",
+    "references": [
+        "Unity.ML-Agents.Editor",
+        "Unity.ML-Agents",
+        "Unity.Barracuda",
+        "Unity.ML-Agents.CommunicatorObjects",
+        "Unity.PerformanceTesting"
+    ],
+    "optionalUnityReferences": [
+        "TestAssemblies"
+    ],
+    "includePlatforms": [
+        "Editor"
+    ],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": true,
+    "precompiledReferences": [
+        "System.IO.Abstractions.dll",
+        "System.IO.Abstractions.TestingHelpers.dll",
+        "Google.Protobuf.dll"
+    ],
+    "autoReferenced": false,
+    "defineConstraints": [
+        "UNITY_INCLUDE_TESTS"
+    ]
+}

DevProject/Assets/ML-Agents/Scripts/Tests/Editor/Editor.asmdef.meta

@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 5b142e67c2d6b4b1e928e4d54f01a596
+AssemblyDefinitionImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

DevProject/Assets/ML-Agents/Scripts/Tests/Editor/MLAgentsSettings.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 1fc80f44976bc4177a9afaa0a38abab3
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
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DevProject/Assets/ML-Agents/Scripts/Tests/Editor/MLAgentsSettings/MLAgentsSettingsTests.cs

@@ -0,0 +1,171 @@
+using System;
+using System.IO;
+using System.Linq;
+using System.Reflection;
+using NUnit.Framework;
+using UnityEditor;
+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Editor;
+
+
+namespace MLAgentsExamples.Tests.Settings
+{
+    [TestFixture]
+    public class MLAgentsSettingsTests
+    {
+        string EditorBuildSettingsConfigKey = MLAgentsSettingsManager.EditorBuildSettingsConfigKey;
+        string tempSettingsRootPath = "Assets/ML-Agents/Scripts/Tests/Editor/MLAgentsSettings";
+        MLAgentsSettings storedConfigObject;
+        [SetUp]
+        public void SetUp()
+        {
+            if (EditorBuildSettings.TryGetConfigObject(EditorBuildSettingsConfigKey,
+                out MLAgentsSettings settingsAsset))
+            {
+                if (settingsAsset != null)
+                {
+                    storedConfigObject = settingsAsset;
+                    EditorBuildSettings.RemoveConfigObject(EditorBuildSettingsConfigKey);
+                }
+            }
+            MLAgentsSettingsManager.Destroy();
+            ClearSettingsAssets();
+        }
+
+        [TearDown]
+        public void TearDown()
+        {
+            if (storedConfigObject != null)
+            {
+                EditorBuildSettings.AddConfigObject(EditorBuildSettingsConfigKey, storedConfigObject, true);
+                storedConfigObject = null;
+            }
+            MLAgentsSettingsManager.Destroy();
+            ClearSettingsAssets();
+        }
+
+        internal void ClearSettingsAssets()
+        {
+            var assetsGuids = AssetDatabase.FindAssets("t:MLAgentsSettings", new string[] { tempSettingsRootPath });
+            foreach (var guid in assetsGuids)
+            {
+                var path = AssetDatabase.GUIDToAssetPath(guid);
+                AssetDatabase.DeleteAsset(path);
+            }
+        }
+
+        [Test]
+        public void TestMLAgentsSettingsManager()
+        {
+            Assert.AreNotEqual(null, MLAgentsSettingsManager.Settings);
+            Assert.AreEqual(5004, MLAgentsSettingsManager.Settings.EditorPort); // default port
+            MLAgentsSettingsManager.Settings.EditorPort = 6000;
+            Assert.AreEqual(6000, MLAgentsSettingsManager.Settings.EditorPort);
+
+            var settingsObject = ScriptableObject.CreateInstance<MLAgentsSettings>();
+            settingsObject.EditorPort = 7000;
+            var tempSettingsAssetPath = tempSettingsRootPath + "/test.mlagents.settings.asset";
+            AssetDatabase.CreateAsset(settingsObject, tempSettingsAssetPath);
+            EditorBuildSettings.AddConfigObject(EditorBuildSettingsConfigKey, settingsObject, true);
+            // destroy manager instantiated as a side effect by accessing MLAgentsSettings directly without manager
+            MLAgentsSettingsManager.Destroy();
+            Assert.AreEqual(7000, MLAgentsSettingsManager.Settings.EditorPort);
+        }
+
+        // A mock class that can invoke private methods/fields in MLAgentsSettingsProvider
+        internal class MockSettingsProvider
+        {
+            public MLAgentsSettingsProvider Instance
+            {
+                get
+                {
+                    return (MLAgentsSettingsProvider)typeof(MLAgentsSettingsProvider).GetField("s_Instance",
+                        BindingFlags.Static | BindingFlags.NonPublic).GetValue(null);
+                }
+            }
+
+            public MLAgentsSettings Settings
+            {
+                get
+                {
+                    return (MLAgentsSettings)typeof(MLAgentsSettingsProvider).GetField("m_Settings",
+                        BindingFlags.Instance | BindingFlags.NonPublic).GetValue(Instance);
+                }
+            }
+
+            public void CreateMLAgentsSettingsProvider()
+            {
+                MLAgentsSettingsProvider.CreateMLAgentsSettingsProvider();
+            }
+
+            public void Reinitialize()
+            {
+                var method = typeof(MLAgentsSettingsProvider).GetMethod("Reinitialize",
+                    BindingFlags.Instance | BindingFlags.NonPublic);
+                method.Invoke(Instance, null);
+            }
+
+            public string[] FindSettingsInProject()
+            {
+                var method = typeof(MLAgentsSettingsProvider).GetMethod("FindSettingsInProject",
+                    BindingFlags.Static | BindingFlags.NonPublic);
+                return (string[])method.Invoke(null, null);
+            }
+
+            public void CreateNewSettingsAsset(string relativePath)
+            {
+                var method = typeof(MLAgentsSettingsProvider).GetMethod("CreateNewSettingsAsset",
+                    BindingFlags.Static | BindingFlags.NonPublic);
+                method.Invoke(null, new object[] { relativePath });
+            }
+        }
+
+        [Test]
+        public void TestMLAgentsSettingsProviderCreateAsset()
+        {
+            var mockProvider = new MockSettingsProvider();
+            mockProvider.CreateMLAgentsSettingsProvider();
+            Assert.AreNotEqual(null, mockProvider.Instance);
+
+            // mimic MLAgentsSettingsProvider.OnActivate()
+            MLAgentsSettingsManager.OnSettingsChange += mockProvider.Reinitialize;
+
+            mockProvider.Instance.InitializeWithCurrentSettings();
+            Assert.AreEqual(0, mockProvider.FindSettingsInProject().Length);
+
+            var tempSettingsAssetPath1 = tempSettingsRootPath + "/test.mlagents.settings.asset";
+            mockProvider.CreateNewSettingsAsset(tempSettingsAssetPath1);
+            Assert.AreEqual(1, mockProvider.FindSettingsInProject().Length);
+            Assert.AreEqual(5004, mockProvider.Settings.EditorPort);
+            MLAgentsSettingsManager.Settings.EditorPort = 6000; // change to something not default
+            // callback should update the field in provider
+            Assert.AreEqual(6000, mockProvider.Settings.EditorPort);
+
+            var tempSettingsAssetPath2 = tempSettingsRootPath + "/test2.mlagents.settings.asset";
+            mockProvider.CreateNewSettingsAsset(tempSettingsAssetPath2);
+            Assert.AreEqual(2, mockProvider.FindSettingsInProject().Length);
+            // manager should set to the new (default) one, not the previous modified one
+            Assert.AreEqual(5004, MLAgentsSettingsManager.Settings.EditorPort);
+
+            // mimic MLAgentsSettingsProvider.OnDeactivate()
+            MLAgentsSettingsManager.OnSettingsChange -= mockProvider.Reinitialize;
+            mockProvider.Instance.Dispose();
+        }
+
+        [Test]
+        public void TestMLAgentsSettingsProviderLoadAsset()
+        {
+            var mockProvider = new MockSettingsProvider();
+            var tempSettingsAssetPath1 = tempSettingsRootPath + "/test.mlagents.settings.asset";
+            mockProvider.CreateNewSettingsAsset(tempSettingsAssetPath1);
+            MLAgentsSettingsManager.Settings.EditorPort = 8000; // change to something not default
+
+            mockProvider.Instance?.Dispose();
+            MLAgentsSettingsManager.Destroy();
+
+            mockProvider.CreateMLAgentsSettingsProvider();
+            Assert.AreEqual(8000, MLAgentsSettingsManager.Settings.EditorPort);
+        }
+    }
+}

DevProject/Assets/ML-Agents/Scripts/Tests/Editor/MLAgentsSettings/MLAgentsSettingsTests.cs.meta

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DevProject/Assets/ML-Agents/Scripts/Tests/Editor/Performance.meta

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DevProject/Assets/ML-Agents/Scripts/Tests/Editor/Performance/SensorPerformanceTests.cs

@@ -0,0 +1,195 @@
+using NUnit.Framework;
+using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
+using Unity.MLAgents.Policies;
+using Unity.MLAgents.Sensors;
+using Unity.MLAgents.Sensors.Reflection;
+using Unity.PerformanceTesting;
+using UnityEngine;
+
+namespace MLAgentsExamples.Tests.Performance
+{
+    [TestFixture]
+    public class SensorPerformanceTests
+    {
+        string[] s_Markers =
+        {
+            "root.InitializeSensors",
+            "root.AgentSendState.CollectObservations",
+            "root.AgentSendState.RequestDecision"
+        };
+        const int k_NumAgentSteps = 10;
+        const int k_MeasurementCount = 25;
+        const int k_MarkerTestSteps = 10;
+
+        [SetUp]
+        public void SetUp()
+        {
+            // Step a dummy agent here, so that we don't time the Academy initialization connection attempt and
+            // any other static setup costs.
+            RunAgent<DummyAgent>(1, 0, ObservableAttributeOptions.ExamineAll);
+        }
+
+        /// <summary>
+        /// Simple Agent just used for "burning in" the Academy for testing.
+        /// </summary>
+        class DummyAgent : Agent
+        {
+            public override void CollectObservations(VectorSensor sensor)
+            {
+            }
+
+            public override void Heuristic(in ActionBuffers actionsOut)
+            {
+            }
+        }
+
+        /// <summary>
+        /// Agent used for performance testing that uses the CollectObservations interface.
+        /// </summary>
+        class CollectObservationsAgent : Agent
+        {
+            public override void CollectObservations(VectorSensor sensor)
+            {
+                sensor.AddObservation(new Vector3(1, 2, 3));
+                sensor.AddObservation(new Quaternion(1, 2, 3, 4));
+            }
+
+            public override void Heuristic(in ActionBuffers actionsOut)
+            {
+            }
+        }
+
+        /// <summary>
+        /// Agent used for performance testing that uses the ObservableAttributes on fields.
+        /// </summary>
+        class ObservableFieldAgent : Agent
+        {
+            [Observable]
+            public Vector3 Vector3Field = new Vector3(1, 2, 3);
+
+            [Observable]
+            public Quaternion QuaternionField = new Quaternion(1, 2, 3, 4);
+
+            public override void Heuristic(in ActionBuffers actionsOut)
+            {
+            }
+        }
+
+        /// <summary>
+        /// Agent used for performance testing that uses the ObservableAttributes on properties.
+        /// </summary>
+        class ObservablePropertyAgent : Agent
+        {
+            Vector3 m_Vector3Field = new Vector3(1, 2, 3);
+
+            [Observable]
+            Vector3 Vector3Property
+            {
+                get { return m_Vector3Field; }
+            }
+
+            Quaternion m_QuaternionField = new Quaternion(1, 2, 3, 4);
+
+            [Observable]
+            Quaternion QuaternionProperty
+            {
+                get { return m_QuaternionField; }
+            }
+
+            public override void Heuristic(in ActionBuffers actionsOut)
+            {
+            }
+        }
+
+        void RunAgent<T>(int numSteps, int obsSize, ObservableAttributeOptions obsOptions) where T : Agent
+        {
+            var agentGameObj = new GameObject();
+            var agent = agentGameObj.AddComponent<T>();
+
+            var behaviorParams = agent.GetComponent<BehaviorParameters>();
+            behaviorParams.BrainParameters.VectorObservationSize = obsSize;
+            behaviorParams.ObservableAttributeHandling = obsOptions;
+            agent.Awake();
+            agent.LazyInitialize();
+            for (var i = 0; i < numSteps; i++)
+            {
+                agent.RequestDecision();
+                Academy.Instance.EnvironmentStep();
+            }
+            Object.DestroyImmediate(agentGameObj);
+        }
+
+        [Test, Performance]
+        public void TestCollectObservationsAgent()
+        {
+            Measure.Method(() =>
+            {
+                RunAgent<CollectObservationsAgent>(k_NumAgentSteps, 7, ObservableAttributeOptions.Ignore);
+            })
+                .MeasurementCount(k_MeasurementCount)
+                .GC()
+                .Run();
+        }
+
+        [Test, Performance]
+        public void TestObservableFieldAgent()
+        {
+            Measure.Method(() =>
+            {
+                RunAgent<ObservableFieldAgent>(k_NumAgentSteps, 0, ObservableAttributeOptions.ExcludeInherited);
+            })
+                .MeasurementCount(k_MeasurementCount)
+                .GC()
+                .Run();
+        }
+
+        [Test, Performance]
+        public void TestObservablePropertyAgent()
+        {
+            Measure.Method(() =>
+            {
+                RunAgent<ObservablePropertyAgent>(k_NumAgentSteps, 0, ObservableAttributeOptions.ExcludeInherited);
+            })
+                .MeasurementCount(k_MeasurementCount)
+                .GC()
+                .Run();
+        }
+
+        [Test, Performance]
+        public void TestCollectObservationsAgentMarkers()
+        {
+            using (Measure.ProfilerMarkers(s_Markers))
+            {
+                for (var i = 0; i < k_MarkerTestSteps; i++)
+                {
+                    RunAgent<CollectObservationsAgent>(k_NumAgentSteps, 7, ObservableAttributeOptions.Ignore);
+                }
+            }
+        }
+
+        [Test, Performance]
+        public void TestObservableFieldAgentMarkers()
+        {
+            using (Measure.ProfilerMarkers(s_Markers))
+            {
+                for (var i = 0; i < k_MarkerTestSteps; i++)
+                {
+                    RunAgent<ObservableFieldAgent>(k_NumAgentSteps, 0, ObservableAttributeOptions.ExcludeInherited);
+                }
+            }
+        }
+
+        [Test, Performance]
+        public void TestObservablePropertyAgentMarkers()
+        {
+            using (Measure.ProfilerMarkers(s_Markers))
+            {
+                for (var i = 0; i < k_MarkerTestSteps; i++)
+                {
+                    RunAgent<ObservableFieldAgent>(k_NumAgentSteps, 0, ObservableAttributeOptions.ExcludeInherited);
+                }
+            }
+        }
+    }
+}