Update to Unity 6000.0 (#6207)

* Upgrade projects to Unity 6000.0

* Upgrade obsolete Unity API

* Use stable version of upm-ci-utils

* Upgrade Wrench configuration to Unity 6000.0

* Use ubuntu-ci v1.0.0 for Yamato tests

* Use b1.medium VM for the Pack test

* Rely solely on IsEqualUsingDot quaternion comparison in the Pose inverse test due to float inaccuracy

* Re-enable Unity trunk ml-agents tests

* Use ubuntu-24.04 for pre-commit

* Use ubuntu-22.04 for colab

* Add missing PR references to the changelog

Author: alexander-suvorov

.github/ISSUE_TEMPLATE/bug_report.md

@@ -24,7 +24,7 @@ Please wrap in triple backticks (```) to make it easier to read.
 If applicable, add screenshots to help explain your problem.
 
 **Environment (please complete the following information):**
-- Unity Version: [e.g. Unity 2023.2.12f1]
+- Unity Version: [e.g. Unity 6000.0.40f1]
 - 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)

.github/workflows/colab.yml

@@ -16,7 +16,7 @@ on:
 
 jobs:
   colab:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     env:
         COLAB_ALWAYS_INSTALL_XVFB: 1
         QLEARNING_NUM_TRAINING_STEPS: 5

.github/workflows/pre-commit.yml

@@ -11,15 +11,15 @@ on:
 
 jobs:
   pre-commit:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
       with:
         python-version: 3.10.x
     - uses: ruby/setup-ruby@v1
       env:
-        ImageOS: ubuntu20
+        ImageOS: ubuntu24
       with:
         ruby-version: '2.7'
         bundler-cache: true # runs 'bundle install' and caches installed gems automatically

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

@@ -12,7 +12,7 @@ test_coverage_{{ package.name }}_{{ platform.name }}_{{ editor.version }}_{{ edi
         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
+        - npm install upm-ci-utils@stable -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 python3.10

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

@@ -2,14 +2,14 @@ pack:
   name: Pack
   agent:
     type: Unity::VM
-    image: ml-agents/ml-agents-ubuntu-18.04:latest
-    flavor: b1.small
+    image: ml-agents/ubuntu-ci:v1.0.0
+    flavor: b1.medium
   commands:
     - |
       eval "$($HOME/anaconda/bin/conda shell.bash hook)"
       conda activate python3.10
       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 2023.2 -c editor --wait --fast
+      unity-downloader-cli -u 6000.0 -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

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

@@ -1,5 +1,5 @@
 test_editors:
-  - version: 2023.2
+  - version: 6000.0
 test_platforms:
   - name: win
     type: Unity::VM
@@ -18,7 +18,7 @@ promotion_test_{{ platform.name }}_{{ editor.version }}:
   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
+    - npm install upm-ci-utils@stable -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:
@@ -48,7 +48,7 @@ promote:
   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
+    - npm install upm-ci-utils@stable -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:

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

@@ -7,7 +7,7 @@ publish:
   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
+    - npm install upm-ci-utils@stable -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

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

@@ -1,19 +1,15 @@
 {% metadata_file .yamato/coverage_tests.metafile %}
 test_editors:
-    - version: 2023.2
-        # We want some scene tests to run in the DevProject, but packages there only support 2020+
+    - version: 6000.0
       testProject: Project
       enableNoDefaultPackages: !!bool true
-    - version: 2023.2
+    - version: 6000.0
       testProject: DevProject
       enableNoDefaultPackages: !!bool true
 
 trunk_editor:
-   # TODO: re-enable trunk tests after adding support for Unity 6. As of 12 Mar 2024, tests fail
-   # with "Error: '6000.0.0b12' is not a valid Unity version"
-   # - version: trunk
-   #     # Workaround for MLA-1596 - need to make sure we load the right results.
-   #   testProject: DevProject
+    - version: trunk
+      testProject: DevProject
 
 test_platforms:
     - name: win
@@ -26,7 +22,7 @@ test_platforms:
       flavor: b1.large
     - name: linux
       type: Unity::VM
-      image: ml-agents/ml-agents-ubuntu-18.04:latest
+      image: ml-agents/ubuntu-ci:v1.0.0
       flavor: b1.large
 
 packages:
@@ -81,7 +77,7 @@ test_{{ package.name }}_{{ platform.name }}_{{ editor.version }}_{{ editor.testP
         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
+        - npm install upm-ci-utils@stable -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:
@@ -132,7 +128,7 @@ test_{{ package.name }}_{{ platform.name }}_{{ editor.version}}_{{ editor.testPr
 {% 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
+          npm install upm-ci-utils@stable -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:

.yamato/compressed-sensor-test.yml

@@ -5,7 +5,7 @@ test_compressed_obs_{{ editor.version }}_{{ editor.extra_test }}:
   name: Test Compressed Sensor Observation {{ editor.version }} {{ editor.extra_test }}
   agent:
     type: Unity::VM
-    image: ml-agents/ml-agents-ubuntu-18.04:latest
+    image: ml-agents/ubuntu-ci:v1.0.0
     flavor: b1.medium
   variables:
     UNITY_VERSION: {{ editor.version }}

.yamato/coverage_tests.metafile

@@ -1,11 +1,11 @@
 coverage_test_editors:
-    - version: 2023.2
+    - version: 6000.0
       testProject: DevProject
 
 coverage_test_platforms:
     - name: linux
       type: Unity::VM
-      image: ml-agents/ml-agents-ubuntu-18.04:latest
+      image: ml-agents/ubuntu-ci:v1.0.0
       flavor: b1.medium
 
 coverage_test_packages: