Develop upgrade Sentis 2.0.0 (#6137)

* Upgraded to Sentis v1.4.0-pre.3

* Disabling sonar qube yamato job. Will add gha sonar scanner at a later date.

* Addressing PR comments.

* Addressing feedback.

* Upgraded to sentis 2.0.0.

* Fixed failing tests.

* Fixed soccertwos policy.

* Fixed pytorch deprecation message during training startup. Updated Installation.md

* Updated installation docs.

* Fixed failing torch utils test.

Author: miguelalonsojr

.yamato/sonar-python-package.yml

@@ -1,21 +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")
+#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")

Project/Assets/ML-Agents/Examples/3DBall/Prefabs/3DBall.prefab

@@ -27,13 +27,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1036225416237908}
+  serializedVersion: 2
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: 0, y: 4.31, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4679453577574622}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &33399516572863624
 MeshFilter:
@@ -51,9 +51,17 @@ SphereCollider:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1036225416237908}
   m_Material: {fileID: 13400000, guid: 56162663048874fd4b10e065f9cf78b7, type: 2}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_LayerOverridePriority: 0
   m_IsTrigger: 0
+  m_ProvidesContacts: 0
   m_Enabled: 1
-  serializedVersion: 2
+  serializedVersion: 3
   m_Radius: 0.5
   m_Center: {x: 0, y: 0, z: 0}
 --- !u!23 &23610325484096200
@@ -73,6 +81,8 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -105,10 +115,21 @@ Rigidbody:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1036225416237908}
-  serializedVersion: 2
+  serializedVersion: 4
   m_Mass: 1
   m_Drag: 0
   m_AngularDrag: 0.01
+  m_CenterOfMass: {x: 0, y: 0, z: 0}
+  m_InertiaTensor: {x: 1, y: 1, z: 1}
+  m_InertiaRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ImplicitCom: 1
+  m_ImplicitTensor: 1
   m_UseGravity: 1
   m_IsKinematic: 0
   m_Interpolate: 0
@@ -139,13 +160,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1218265376493012}
+  serializedVersion: 2
   m_LocalRotation: {x: -0, y: 1, z: -0, w: 0}
   m_LocalPosition: {x: 0.29999995, y: 0.07399994, z: 0.50040054}
   m_LocalScale: {x: 0.29457998, y: 0.29457998, z: 0.29457998}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4294419716796784}
-  m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 180, z: 0}
 --- !u!33 &33986757750372936
 MeshFilter:
@@ -172,6 +193,8 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -220,6 +243,7 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1321468028730240}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 5}
   m_LocalScale: {x: 1, y: 1, z: 1}
@@ -228,7 +252,6 @@ Transform:
   - {fileID: 4259352808153402}
   - {fileID: 4780098186595842}
   m_Father: {fileID: 0}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &1424713891854676
 GameObject:
@@ -258,14 +281,14 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1424713891854676}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 5, y: 5, z: 5}
   m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 4294419716796784}
   m_Father: {fileID: 4679453577574622}
-  m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!65 &65010516625723872
 BoxCollider:
@@ -275,9 +298,17 @@ BoxCollider:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1424713891854676}
   m_Material: {fileID: 0}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_LayerOverridePriority: 0
   m_IsTrigger: 0
+  m_ProvidesContacts: 0
   m_Enabled: 1
-  serializedVersion: 2
+  serializedVersion: 3
   m_Size: {x: 1, y: 1, z: 1}
   m_Center: {x: 0, y: 0, z: 0}
 --- !u!114 &114368073295828880
@@ -342,6 +373,7 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   DecisionPeriod: 5
+  DecisionStep: 0
   TakeActionsBetweenDecisions: 1
 --- !u!114 &1758424554059689351
 MonoBehaviour:
@@ -380,13 +412,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1533320402322554}
+  serializedVersion: 2
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0.15}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4294419716796784}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!20 &20793118999710892
 Camera:
@@ -402,9 +434,17 @@ Camera:
   m_projectionMatrixMode: 1
   m_GateFitMode: 2
   m_FOVAxisMode: 0
+  m_Iso: 200
+  m_ShutterSpeed: 0.005
+  m_Aperture: 16
+  m_FocusDistance: 10
+  m_FocalLength: 50
+  m_BladeCount: 5
+  m_Curvature: {x: 2, y: 11}
+  m_BarrelClipping: 0.25
+  m_Anamorphism: 0
   m_SensorSize: {x: 36, y: 24}
   m_LensShift: {x: 0, y: 0}
-  m_FocalLength: 50
   m_NormalizedViewPortRect:
     serializedVersion: 2
     x: 0
@@ -456,13 +496,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1619100162539582}
+  serializedVersion: 2
   m_LocalRotation: {x: -0, y: 1, z: -0, w: 0}
   m_LocalPosition: {x: 0, y: -0.18299997, z: 0.50040054}
   m_LocalScale: {x: 0.27602, y: 0.042489994, z: 0.13891}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4294419716796784}
-  m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 0, y: 180, z: 0}
 --- !u!33 &33259119028337980
 MeshFilter:
@@ -489,6 +529,8 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -539,13 +581,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1854695166504686}
+  serializedVersion: 2
   m_LocalRotation: {x: -0, y: -0, z: 0.016506119, w: 0.9998638}
   m_LocalPosition: {x: 0, y: 0.341, z: 0}
   m_LocalScale: {x: 1.0441425, y: 0.19278127, z: 1.0441422}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4294419716796784}
-  m_RootOrder: 4
   m_LocalEulerAnglesHint: {x: 0, y: -179.99998, z: 1.8920001}
 --- !u!33 &33165976320323760
 MeshFilter:
@@ -572,6 +614,8 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -622,6 +666,7 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1859240399150782}
+  serializedVersion: 2
   m_LocalRotation: {x: 0, y: 1, z: 0, w: 0}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
@@ -633,7 +678,6 @@ Transform:
   - {fileID: 4425897039098228}
   - {fileID: 4300192163442926}
   m_Father: {fileID: 4780098186595842}
-  m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 180, z: 0}
 --- !u!33 &33973749152356522
 MeshFilter:
@@ -660,6 +704,8 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -710,13 +756,13 @@ Transform:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1999020414315134}
+  serializedVersion: 2
   m_LocalRotation: {x: -0, y: 1, z: -0, w: 0}
   m_LocalPosition: {x: -0.29999995, y: 0.07399994, z: 0.50040054}
   m_LocalScale: {x: 0.29457998, y: 0.29457998, z: 0.29457998}
   m_ConstrainProportionsScale: 0
   m_Children: []
   m_Father: {fileID: 4294419716796784}
-  m_RootOrder: 2
   m_LocalEulerAnglesHint: {x: 0, y: 180, z: 0}
 --- !u!33 &33069174244444078
 MeshFilter:
@@ -743,6 +789,8 @@ MeshRenderer:
   m_ReflectionProbeUsage: 1
   m_RayTracingMode: 2
   m_RayTraceProcedural: 0
+  m_RayTracingAccelStructBuildFlagsOverride: 0
+  m_RayTracingAccelStructBuildFlags: 1
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials: