Precommit fixes.

.pre-commit-config.yaml

@@ -135,4 +135,4 @@ repos:
         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]
+        additional_dependencies: [pyyaml==5.3, pydoc-markdown==3.10.1]

com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsBodySensor.cs

@@ -108,7 +108,7 @@ public void Update()
         }
 
         /// <inheritdoc/>
-        public void Reset() {}
+        public void Reset() { }
 
         /// <inheritdoc/>
         public CompressionSpec GetCompressionSpec()

com.unity.ml-agents.extensions/Runtime/Sensors/PoseExtractor.cs

@@ -387,7 +387,7 @@ internal IList<DisplayNode> GetDisplayNodes()
 
             while (stack.Count != 0)
             {
-                var(current, depth) = stack.Pop();
+                var (current, depth) = stack.Pop();
                 var obj = GetObjectAt(current);
 
                 var node = new DisplayNode

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

@@ -314,7 +314,7 @@ void EnableAutomaticStepping()
                 // This try-catch is because DontDestroyOnLoad cannot be used in Editor Tests
                 GameObject.DontDestroyOnLoad(m_StepperObject);
             }
-            catch {}
+            catch { }
         }
 
         /// <summary>
@@ -501,13 +501,13 @@ out var unityRlInitParameters
 
         void ResetActions()
         {
-            DecideAction = () => {};
-            DestroyAction = () => {};
-            AgentPreStep = i => {};
-            AgentSendState = () => {};
-            AgentAct = () => {};
-            AgentForceReset = () => {};
-            OnEnvironmentReset = () => {};
+            DecideAction = () => { };
+            DestroyAction = () => { };
+            AgentPreStep = i => { };
+            AgentSendState = () => { };
+            AgentAct = () => { };
+            AgentForceReset = () => { };
+            OnEnvironmentReset = () => { };
         }
 
         static void OnQuitCommandReceived()

com.unity.ml-agents/Runtime/Actuators/ActionSegment.cs

@@ -49,7 +49,7 @@ static void CheckParameters(IReadOnlyCollection<T> actionArray, int offset, int
         /// </summary>
         /// <param name="actionArray">The action array to use for the this segment.</param>
         public ActionSegment(T[] actionArray)
-            : this(actionArray ?? System.Array.Empty<T>(), 0, actionArray?.Length ?? 0) {}
+            : this(actionArray ?? System.Array.Empty<T>(), 0, actionArray?.Length ?? 0) { }
 
         /// <summary>
         /// Construct an <see cref="ActionSegment{T}"/> with an underlying array

com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs

@@ -47,7 +47,7 @@ public static ActionBuffers FromDiscreteActions(float[] discreteActions)
         /// <param name="continuousActions">The continuous actions to send to an <see cref="IActionReceiver"/>.</param>
         /// <param name="discreteActions">The discrete actions to send to an <see cref="IActionReceiver"/>.</param>
         public ActionBuffers(float[] continuousActions, int[] discreteActions)
-            : this(new ActionSegment<float>(continuousActions), new ActionSegment<int>(discreteActions)) {}
+            : this(new ActionSegment<float>(continuousActions), new ActionSegment<int>(discreteActions)) { }
 
         /// <summary>
         /// Construct an <see cref="ActionBuffers"/> instance with the continuous and discrete actions that will
@@ -68,7 +68,7 @@ public ActionBuffers(ActionSegment<float> continuousActions, ActionSegment<int>
         public ActionBuffers(ActionSpec actionSpec)
             : this(new ActionSegment<float>(new float[actionSpec.NumContinuousActions]),
             new ActionSegment<int>(new int[actionSpec.NumDiscreteActions]))
-        {}
+        { }
 
         /// <summary>
         /// Create an <see cref="ActionBuffers"/> instance with ActionSpec and all actions stored as a float array.

com.unity.ml-agents/Runtime/Actuators/VectorActuator.cs

@@ -28,7 +28,7 @@ internal ActionBuffers ActionBuffers
         public VectorActuator(IActionReceiver actionReceiver,
                               ActionSpec actionSpec,
                               string name = "VectorActuator")
-            : this(actionReceiver, actionReceiver as IHeuristicProvider, actionSpec, name) {}
+            : this(actionReceiver, actionReceiver as IHeuristicProvider, actionSpec, name) { }
 
         /// <summary>
         /// Create a VectorActuator that forwards to the provided IActionReceiver.

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

@@ -91,7 +91,7 @@ public AgentVectorActuator(IActionReceiver actionReceiver,
                                    ActionSpec actionSpec,
                                    string name = "VectorActuator"
         ) : base(actionReceiver, heuristicProvider, actionSpec, name)
-        {}
+        { }
 
         public override BuiltInActuatorType GetBuiltInActuatorType()
         {
@@ -904,7 +904,7 @@ void ResetData()
         ///
         /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
         /// </remarks>
-        public virtual void Initialize() {}
+        public virtual void Initialize() { }
 
         /// <summary>
         /// Implement <see cref="Heuristic"/> to choose an action for this agent using a custom heuristic.
@@ -1241,7 +1241,7 @@ public ReadOnlyCollection<float> GetStackedObservations()
         /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_20_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <seealso cref="IActionReceiver.OnActionReceived"/>
-        public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask) {}
+        public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask) { }
 
         /// <summary>
         /// Implement `OnActionReceived()` to specify agent behavior at every step, based
@@ -1309,15 +1309,15 @@ public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask) {}
         /// <param name="actions">
         /// Struct containing the buffers of actions to be executed at this step.
         /// </param>
-        public virtual void OnActionReceived(ActionBuffers actions) {}
+        public virtual void OnActionReceived(ActionBuffers actions) { }
 
         /// <summary>
         /// Implement `OnEpisodeBegin()` to set up an Agent instance at the beginning
         /// of an episode.
         /// </summary>
         /// <seealso cref="Initialize"/>
         /// <seealso cref="EndEpisode"/>
-        public virtual void OnEpisodeBegin() {}
+        public virtual void OnEpisodeBegin() { }
 
         /// <summary>
         /// Gets the most recent ActionBuffer for this agent.

com.unity.ml-agents/Runtime/Inference/TensorProxy.cs

@@ -49,21 +49,21 @@ public enum TensorType
 
         public long Height
         {
-            get { return shape.Length >= 4 ? shape[^ 2] : 1; }
+            get { return shape.Length >= 4 ? shape[^2] : 1; }
         }
 
         public long Width
         {
-            get { return shape.Length >= 3 ? shape[^ 1] : 1; }
+            get { return shape.Length >= 3 ? shape[^1] : 1; }
         }
 
         public long Channels
         {
             get
             {
-                return shape.Length >= 4 ? shape[^ 3] :
-                    shape.Length == 3 ? shape[^ 2] :
-                    shape.Length == 2 ? shape[^ 1] : 1;
+                return shape.Length >= 4 ? shape[^3] :
+                    shape.Length == 3 ? shape[^2] :
+                    shape.Length == 2 ? shape[^1] : 1;
             }
         }
 

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

@@ -195,7 +195,7 @@ public override string ToString()
         /// <param name="lhs"></param>
         /// <param name="rhs"></param>
         /// <returns>Whether the arrays are equivalent.</returns>
-        public static bool operator==(InplaceArray<T> lhs, InplaceArray<T> rhs)
+        public static bool operator ==(InplaceArray<T> lhs, InplaceArray<T> rhs)
         {
             return lhs.Equals(rhs);
         }
@@ -206,7 +206,7 @@ public override string ToString()
         /// <param name="lhs"></param>
         /// <param name="rhs"></param>
         /// <returns>Whether the arrays are not equivalent</returns>
-        public static bool operator!=(InplaceArray<T> lhs, InplaceArray<T> rhs) => !lhs.Equals(rhs);
+        public static bool operator !=(InplaceArray<T> lhs, InplaceArray<T> rhs) => !lhs.Equals(rhs);
 
         /// <summary>
         /// Check that the arrays are equivalent.

com.unity.ml-agents/Runtime/Integrations/Match3/AbstractBoard.cs

@@ -38,7 +38,7 @@ public struct BoardSize
         /// <param name="lhs"></param>
         /// <param name="rhs"></param>
         /// <returns>True if all fields are less than or equal.</returns>
-        public static bool operator<=(BoardSize lhs, BoardSize rhs)
+        public static bool operator <=(BoardSize lhs, BoardSize rhs)
         {
             return lhs.Rows <= rhs.Rows && lhs.Columns <= rhs.Columns && lhs.NumCellTypes <= rhs.NumCellTypes &&
                 lhs.NumSpecialTypes <= rhs.NumSpecialTypes;
@@ -50,7 +50,7 @@ public struct BoardSize
         /// <param name="lhs"></param>
         /// <param name="rhs"></param>
         /// <returns>True if all fields are greater than or equal.</returns>
-        public static bool operator>=(BoardSize lhs, BoardSize rhs)
+        public static bool operator >=(BoardSize lhs, BoardSize rhs)
         {
             return lhs.Rows >= rhs.Rows && lhs.Columns >= rhs.Columns && lhs.NumCellTypes >= rhs.NumCellTypes &&
                 lhs.NumSpecialTypes >= rhs.NumSpecialTypes;
@@ -200,7 +200,7 @@ public bool SimpleIsMoveValid(Move move)
             using (TimerStack.Instance.Scoped("SimpleIsMoveValid"))
             {
                 var moveVal = GetCellType(move.Row, move.Column);
-                var(otherRow, otherCol) = move.OtherCell();
+                var (otherRow, otherCol) = move.OtherCell();
                 var oppositeVal = GetCellType(otherRow, otherCol);
 
                 // Simple check - if the values are the same, don't match

com.unity.ml-agents/Runtime/Integrations/Match3/Move.cs

@@ -212,7 +212,7 @@ public static Move FromPositionAndDirection(int row, int col, Direction dir, Boa
         /// <returns></returns>
         public bool InRangeForBoard(BoardSize boardSize)
         {
-            var(otherRow, otherCol) = OtherCell();
+            var (otherRow, otherCol) = OtherCell();
             // Get the maximum row and column this move would affect.
             var maxMoveRow = Mathf.Max(Row, otherRow);
             var maxMoveCol = Mathf.Max(Column, otherCol);

com.unity.ml-agents/Runtime/Policies/BehaviorParameters.cs

@@ -223,7 +223,7 @@ public string FullyQualifiedBehaviorName
 
         void Awake()
         {
-            OnPolicyUpdated += mode => {};
+            OnPolicyUpdated += mode => { };
         }
 
         internal IPolicy GeneratePolicy(ActionSpec actionSpec, ActuatorManager actuatorManager)
@@ -233,17 +233,17 @@ internal IPolicy GeneratePolicy(ActionSpec actionSpec, ActuatorManager actuatorM
                 case BehaviorType.HeuristicOnly:
                     return new HeuristicPolicy(actuatorManager, actionSpec);
                 case BehaviorType.InferenceOnly:
-                {
-                    if (m_Model == null)
                     {
-                        var behaviorType = BehaviorType.InferenceOnly.ToString();
-                        throw new UnityAgentsException(
-                            $"Can't use Behavior Type {behaviorType} without a model. " +
-                            "Either assign a model, or change to a different Behavior Type."
-                        );
+                        if (m_Model == null)
+                        {
+                            var behaviorType = BehaviorType.InferenceOnly.ToString();
+                            throw new UnityAgentsException(
+                                $"Can't use Behavior Type {behaviorType} without a model. " +
+                                "Either assign a model, or change to a different Behavior Type."
+                            );
+                        }
+                        return new SentisPolicy(actionSpec, actuatorManager, m_Model, m_InferenceDevice, m_BehaviorName, m_DeterministicInference);
                     }
-                    return new SentisPolicy(actionSpec, actuatorManager, m_Model, m_InferenceDevice, m_BehaviorName, m_DeterministicInference);
-                }
                 case BehaviorType.Default:
                     if (Academy.Instance.IsCommunicatorOn)
                     {

com.unity.ml-agents/Runtime/Policies/HeuristicPolicy.cs

@@ -113,7 +113,7 @@ public void RemoveAt(int index)
             public float this[int index]
             {
                 get { return 0.0f; }
-                set {}
+                set { }
             }
         }
 

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

@@ -116,7 +116,7 @@ public void Update()
         }
 
         /// <inheritdoc/>
-        public void Reset() {}
+        public void Reset() { }
 
         /// <inheritdoc/>
         public CompressionSpec GetCompressionSpec()

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

@@ -113,7 +113,7 @@ protected string[] DetectableTags
         }
 
         /// <inheritdoc/>
-        public void Reset() {}
+        public void Reset() { }
 
         /// <summary>
         /// Clears the perception buffer before loading in new data.

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

@@ -20,7 +20,7 @@ public class ObservationWriter
 
         TensorShape m_TensorShape;
 
-        public ObservationWriter() {}
+        public ObservationWriter() { }
 
         /// <summary>
         /// Set the writer to write to an IList at the given channelOffset.

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

@@ -113,7 +113,7 @@ public int OutputSize()
             var startPositionWorld = Transform.TransformPoint(startPositionLocal);
             var endPositionWorld = Transform.TransformPoint(endPositionLocal);
 
-            return (StartPositionWorld : startPositionWorld, EndPositionWorld : endPositionWorld);
+            return (StartPositionWorld: startPositionWorld, EndPositionWorld: endPositionWorld);
         }
 
         /// <summary>
@@ -329,7 +329,7 @@ public int Write(ObservationWriter writer)
                 // For each ray, write the information to the observation buffer
                 for (var rayIndex = 0; rayIndex < numRays; rayIndex++)
                 {
-                    m_RayPerceptionOutput.RayOutputs ? [rayIndex].ToFloatArray(numDetectableTags, rayIndex, m_Observations);
+                    m_RayPerceptionOutput.RayOutputs?[rayIndex].ToFloatArray(numDetectableTags, rayIndex, m_Observations);
                 }
 
                 // Finally, add the observations to the ObservationWriter
@@ -364,7 +364,7 @@ public void Update()
         }
 
         /// <inheritdoc/>
-        public void Reset() {}
+        public void Reset() { }
 
         /// <inheritdoc/>
         public ObservationSpec GetObservationSpec()

com.unity.ml-agents/Runtime/Sensors/Reflection/BoolReflectionSensor.cs

@@ -8,7 +8,7 @@ internal class BoolReflectionSensor : ReflectionSensorBase
     {
         public BoolReflectionSensor(ReflectionSensorInfo reflectionSensorInfo)
             : base(reflectionSensorInfo, 1)
-        {}
+        { }
 
         internal override void WriteReflectedField(ObservationWriter writer)
         {

com.unity.ml-agents/Runtime/Sensors/Reflection/FloatReflectionSensor.cs

@@ -8,7 +8,7 @@ internal class FloatReflectionSensor : ReflectionSensorBase
     {
         public FloatReflectionSensor(ReflectionSensorInfo reflectionSensorInfo)
             : base(reflectionSensorInfo, 1)
-        {}
+        { }
 
         internal override void WriteReflectedField(ObservationWriter writer)
         {

com.unity.ml-agents/Runtime/Sensors/Reflection/IntReflectionSensor.cs

@@ -8,7 +8,7 @@ internal class IntReflectionSensor : ReflectionSensorBase
     {
         public IntReflectionSensor(ReflectionSensorInfo reflectionSensorInfo)
             : base(reflectionSensorInfo, 1)
-        {}
+        { }
 
         internal override void WriteReflectedField(ObservationWriter writer)
         {