Move physics/sensor tests that fail in edit mode depending on what's in the scene to playmode tests.

com.unity.ml-agents.extensions/Runtime/AssemblyInfo.cs

@@ -2,3 +2,4 @@
 
 [assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions.EditorTests")]
 [assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions.Editor")]
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions.Tests")]

com.unity.ml-agents.extensions/Tests/Editor/Unity.ML-Agents.Extensions.EditorTests.asmdef

@@ -3,6 +3,7 @@
     "references": [
         "Unity.ML-Agents.Extensions.Editor",
         "Unity.ML-Agents.Extensions.TestUtils",
+        "Unity.ML-Agents.Extensions.Tests",
         "Unity.ML-Agents.Extensions",
         "Unity.ML-Agents"
     ],

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

@@ -0,0 +1,3 @@
+using System.Runtime.CompilerServices;
+
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions.EditorTests")]

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

@@ -1,9 +1,9 @@
+using System.Runtime.CompilerServices;
 using UnityEngine;
 using NUnit.Framework;
 using Unity.MLAgents.Sensors;
 using Unity.MLAgents.Extensions.Sensors;
 
-
 namespace Unity.MLAgents.Extensions.Tests.Sensors
 {
 

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

@@ -1,7 +1,8 @@
 {
     "name": "Unity.ML-Agents.Extensions.Tests",
     "references": [
-        "Unity.ML-Agents.Extensions"
+        "Unity.ML-Agents.Extensions",
+        "Unity.ML-Agents"
     ],
     "optionalUnityReferences": [
         "TestAssemblies"

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

@@ -1,6 +1,11 @@
 using System.Runtime.CompilerServices;
 
 [assembly: InternalsVisibleTo("Unity.ML-Agents.Editor.Tests")]
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Runtime.Sensor.Tests")]
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Runtime.Utils.Tests")]
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Runtime.Tests")]
 [assembly: InternalsVisibleTo("Unity.ML-Agents.Editor")]
 [assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions")]
 [assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions.Input")]
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Extensions.Tests")]
+

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

@@ -14,6 +14,7 @@
 
 [assembly: InternalsVisibleTo("Unity.ML-Agents.Editor")]
 [assembly: InternalsVisibleTo("Unity.ML-Agents.Editor.Tests")]
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Runtime.Utils.Tests")]
 
 namespace Unity.MLAgents
 {

com.unity.ml-agents/Runtime/Grpc/AssemblyInfo.cs

@@ -3,3 +3,5 @@
 [assembly: InternalsVisibleTo("Unity.ML-Agents")]
 [assembly: InternalsVisibleTo("Unity.ML-Agents.Editor")]
 [assembly: InternalsVisibleTo("Unity.ML-Agents.Editor.Tests")]
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Runtime.Sensor.Tests")]
+[assembly: InternalsVisibleTo("Unity.ML-Agents.Runtime.Utils.Tests")]

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

@@ -4,9 +4,6 @@
 using UnityEngine;
 using Unity.Barracuda;
 
-
-[assembly: InternalsVisibleTo("Unity.ML-Agents.Editor.Tests")]
-
 namespace Unity.MLAgents.Sensors
 {
     /// <summary>

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

@@ -7,6 +7,7 @@
 using Unity.MLAgents.Sensors;
 using Unity.MLAgents.Demonstrations;
 using Unity.MLAgents.Policies;
+using Unity.MLAgents.Utils.Tests;
 
 namespace Unity.MLAgents.Tests
 {

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

@@ -6,6 +6,7 @@
 using Unity.MLAgents.Inference;
 using Unity.MLAgents.Policies;
 using Unity.MLAgents.Sensors.Reflection;
+using Unity.MLAgents.Utils.Tests;
 
 namespace Unity.MLAgents.Tests
 {

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

@@ -2,164 +2,15 @@
 using UnityEngine;
 using NUnit.Framework;
 using System.Reflection;
-using System.Collections.Generic;
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Sensors;
 using Unity.MLAgents.Sensors.Reflection;
 using Unity.MLAgents.Policies;
 using Unity.MLAgents.SideChannels;
+using Unity.MLAgents.Utils.Tests;
 
 namespace Unity.MLAgents.Tests
 {
-    internal class TestPolicy : IPolicy
-    {
-        public Action OnRequestDecision;
-        ObservationWriter m_ObsWriter = new ObservationWriter();
-        static ActionSpec s_ActionSpec = ActionSpec.MakeContinuous(1);
-        static ActionBuffers s_EmptyActionBuffers = new ActionBuffers(new float[1], Array.Empty<int>());
-        public void RequestDecision(AgentInfo info, List<ISensor> sensors)
-        {
-            foreach (var sensor in sensors)
-            {
-                sensor.GetObservationProto(m_ObsWriter);
-            }
-            OnRequestDecision?.Invoke();
-        }
-
-        public ref readonly ActionBuffers DecideAction() { return ref s_EmptyActionBuffers; }
-
-        public void Dispose() { }
-    }
-
-    public class TestAgent : Agent
-    {
-        internal AgentInfo _Info
-        {
-            get
-            {
-                return (AgentInfo)typeof(Agent).GetField("m_Info", BindingFlags.Instance | BindingFlags.NonPublic).GetValue(this);
-            }
-            set
-            {
-                typeof(Agent).GetField("m_Info", BindingFlags.Instance | BindingFlags.NonPublic).SetValue(this, value);
-            }
-        }
-
-        internal void SetPolicy(IPolicy policy)
-        {
-            typeof(Agent).GetField("m_Brain", BindingFlags.Instance | BindingFlags.NonPublic).SetValue(this, policy);
-        }
-
-        internal IPolicy GetPolicy()
-        {
-            return (IPolicy)typeof(Agent).GetField("m_Brain", BindingFlags.Instance | BindingFlags.NonPublic).GetValue(this);
-        }
-
-        public int initializeAgentCalls;
-        public int collectObservationsCalls;
-        public int collectObservationsCallsForEpisode;
-        public int agentActionCalls;
-        public int agentActionCallsForEpisode;
-        public int agentOnEpisodeBeginCalls;
-        public int heuristicCalls;
-        public TestSensor sensor1;
-        public TestSensor sensor2;
-
-        [Observable("observableFloat")]
-        public float observableFloat;
-
-        public override void Initialize()
-        {
-            initializeAgentCalls += 1;
-
-            // Add in some custom Sensors so we can confirm they get sorted as expected.
-            sensor1 = new TestSensor("testsensor1");
-            sensor2 = new TestSensor("testsensor2");
-            sensor2.compressionType = SensorCompressionType.PNG;
-
-            sensors.Add(sensor2);
-            sensors.Add(sensor1);
-        }
-
-        public override void CollectObservations(VectorSensor sensor)
-        {
-            collectObservationsCalls += 1;
-            collectObservationsCallsForEpisode += 1;
-            sensor.AddObservation(collectObservationsCallsForEpisode);
-        }
-
-        public override void OnActionReceived(ActionBuffers buffers)
-        {
-            agentActionCalls += 1;
-            agentActionCallsForEpisode += 1;
-            AddReward(0.1f);
-        }
-
-        public override void OnEpisodeBegin()
-        {
-            agentOnEpisodeBeginCalls += 1;
-            collectObservationsCallsForEpisode = 0;
-            agentActionCallsForEpisode = 0;
-        }
-
-        public override void Heuristic(in ActionBuffers actionsOut)
-        {
-            var obs = GetObservations();
-            var continuousActions = actionsOut.ContinuousActions;
-            continuousActions[0] = (int)obs[0];
-            heuristicCalls++;
-        }
-    }
-
-    public class TestSensor : ISensor
-    {
-        public string sensorName;
-        public int numWriteCalls;
-        public int numCompressedCalls;
-        public int numResetCalls;
-        public SensorCompressionType compressionType = SensorCompressionType.None;
-
-        public TestSensor(string n)
-        {
-            sensorName = n;
-        }
-
-        public ObservationSpec GetObservationSpec()
-        {
-            return ObservationSpec.Vector(0);
-        }
-
-        public int Write(ObservationWriter writer)
-        {
-            numWriteCalls++;
-            // No-op
-            return 0;
-        }
-
-        public byte[] GetCompressedObservation()
-        {
-            numCompressedCalls++;
-            return new byte[] { 0 };
-        }
-
-        public SensorCompressionType GetCompressionType()
-        {
-            return compressionType;
-        }
-
-        public string GetName()
-        {
-            return sensorName;
-        }
-
-        public void Update() { }
-
-        public void Reset()
-        {
-            numResetCalls++;
-        }
-    }
-
     [TestFixture]
     public class EditModeTestGeneration
     {
@@ -434,6 +285,7 @@ public void TestAcademy()
                 Assert.AreEqual(stepsSinceReset, aca.StepCount);
                 Assert.AreEqual(numberReset, aca.EpisodeCount);
                 Assert.AreEqual(i, aca.TotalStepCount);
+
                 // Academy resets at the first step
                 if (i == 0)
                 {
@@ -487,6 +339,7 @@ public void TestAgent()
                     numberAcaReset += 1;
                     numberAgent2Episodes += 1;
                 }
+
                 //Agent 1 is only initialized at step 2
                 if (i == 2)
                 {
@@ -495,6 +348,7 @@ public void TestAgent()
                     numberAgent1Episodes += 1;
                     Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls);
                 }
+
                 // Set agent 1 to done every 11 steps to test behavior
                 if (i % 11 == 5)
                 {
@@ -503,6 +357,7 @@ public void TestAgent()
                     numberAgent1Episodes += 1;
                     Assert.AreEqual(numberAgent1Episodes, agent1.agentOnEpisodeBeginCalls);
                 }
+
                 // Ending the episode for agent 2 regularly
                 if (i % 13 == 3)
                 {
@@ -512,6 +367,7 @@ public void TestAgent()
                     agent2StepForEpisode = 0;
                     Assert.AreEqual(numberAgent2Episodes, agent2.agentOnEpisodeBeginCalls);
                 }
+
                 // Request a decision for agent 2 regularly
                 if (i % 3 == 2)
                 {
@@ -528,42 +384,6 @@ public void TestAgent()
                 aca.EnvironmentStep();
             }
         }
-
-        [Test]
-        public void AssertStackingReset()
-        {
-            var agentGo1 = new GameObject("TestAgent");
-            var bp1 = agentGo1.AddComponent<BehaviorParameters>();
-            bp1.BrainParameters.ActionSpec = ActionSpec.MakeContinuous(1);
-            var agent1 = agentGo1.AddComponent<TestAgent>();
-            var behaviorParameters = agentGo1.GetComponent<BehaviorParameters>();
-            behaviorParameters.BrainParameters.NumStackedVectorObservations = 3;
-            var aca = Academy.Instance;
-            agent1.LazyInitialize();
-            var policy = new TestPolicy();
-            agent1.SetPolicy(policy);
-
-            StackingSensor sensor = null;
-            foreach (ISensor s in agent1.sensors)
-            {
-                if (s is StackingSensor)
-                {
-                    sensor = s as StackingSensor;
-                }
-            }
-
-            Assert.NotNull(sensor);
-
-            for (int i = 0; i < 20; i++)
-            {
-                agent1.RequestDecision();
-                aca.EnvironmentStep();
-            }
-
-            policy.OnRequestDecision = () => SensorTestHelper.CompareObservation(sensor, new[] { 18f, 19f, 21f });
-            agent1.EndEpisode();
-            SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f });
-        }
     }
 
     [TestFixture]

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

@@ -4,7 +4,8 @@
         "Unity.ML-Agents.Editor",
         "Unity.ML-Agents",
         "Unity.Barracuda",
-        "Unity.ML-Agents.CommunicatorObjects"
+        "Unity.ML-Agents.CommunicatorObjects",
+        "Unity.ML-Agents.Runtime.Utils.Tests"
     ],
     "optionalUnityReferences": [
         "TestAssemblies"