Develop side channels: migrate reset parameters (#2990)

* [WIP] Side Channel initial layout

* Working prototype for raw bytes

* fixing format mistake

* Added some errors and some unit tests in C#

* Added the side channel for the Engine Configuration. (#2958)

* Added the side channel for the Engine Configuration.

Note that this change does not require modifying a lot of files :
 - Adding a sender in Python
 - Adding a receiver in C#
 - subscribe the receiver to the communicator (here is a one liner in the Academy)
 - Add the side channel to the Python UnityEnvironment (not represented here)

Adding the side channel to the environment would look like such :

```python
from mlagents.envs.environment import UnityEnvironment
from mlagents.envs.side_channel.raw_bytes_channel import RawBytesChannel
from mlagents.envs.side_channel.engine_configuration_channel import EngineConfigurationChannel

channel0 = RawBytesChannel()
channel1 = EngineConfigurationChannel()

env = UnityEnvironment(base_port = 5004, side_channels = [channel0, channel1])
```

* renamings

* addressing comments

* Logging a message when an unknown side channel number has been received by Unity

* Addressing comments

* renamings

* renamings

* Adding FloatProperties to the side channels (#2968)

* renaming m_SideChannelsDict to m_SideChannel

* renaming and some comments

* renaming and adding a GetAndClearReceivedMessages() in the RawBytesSideChannel

* micro-optimization

* more errors and some nit

* addressing comments

* Using little-endian format in Python

* adding some comments

* Code comments

* some changes and added the unit tests on both Python and C#

* removing default default in get default

* Update UnitySDK/Assets/ML-Agents/Scripts/SideChannel/SideChannel.cs

Co-Authored-By: Chris Elion <chris.elion@unity3d.com>

* Update ml-agents-envs/mlagents/envs/side_channel/raw_bytes_channel.py

Co-Authored-By: Chris Elion <chris.elion@unity3d.com>

* addressing comments

* fixing tests

* removing the arguments to reset and the property reset_parameters on the UnityEnvironment

* curriculum works but removed the check for reset parameters in the scene

* processing side channels before the reset command

* Removing engine configuration from C#

* Engine configuration removed

* fixing the tests

* Update ml-agents-envs/mlagents/envs/subprocess_env_manager.py

Co-Authored-By: Chris Elion <chris.elion@unity3d.com>

* Removing register callbacks with empty calls in FloarProperties

* Clamp instead of min max

* removing the brain names from the environment.py print

* renaming reset_parameters to get
properties

* made a default engine config

* bug fix

* Empty commit

* Docs changes for the Side Channels feature (#3011)

* Docs changes for the Side Channels feature

* replace deprecated with removed on the CustomResetPratmeters`

* Update docs/Python-API.md

Co-Authored-By: Chris Elion <chris.elion@unity3d.com>

* Update docs/Training-Generalized-Reinforcement-Learning-Agents.md

Co-Authored-By: Chris Elion <chris.elion@unity3d.com>

* Removing the console outputs in the docs

* Update docs/Training-ML-Agents.md

Co-Authored-By: Chris Elion <chris.elion@unity3d.com>

* replace does not work with ignored

* adding a note on side channels

* adding some steps to migrate

* addressing comments

* adding more docs to the LL-API

* added a blob on how to access the properties in C#

* adding space between ResetParameters

* fix typo

* bug fixes

* addressing comments

Author: vincentpierre

UnitySDK/Assets/ML-Agents/Editor/ResetParameterDrawer.cs

@@ -93,7 +93,6 @@ public void TestAgentWrite()
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
             var academyInitializeMethod = typeof(Academy).GetMethod("InitializeEnvironment",
                 BindingFlags.Instance | BindingFlags.NonPublic);

UnitySDK/Assets/ML-Agents/Editor/ResetParameterDrawer.cs.meta

@@ -15,7 +15,6 @@ static IEnumerable<Agent> GetFakeAgents()
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
             var goA = new GameObject("goA");
             var bpA = goA.AddComponent<BehaviorParameters>();

UnitySDK/Assets/ML-Agents/Editor/Tests/DemonstrationTests.cs

@@ -143,7 +143,6 @@ public void TestAcademy()
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
             Assert.AreEqual(0, aca.initializeAcademyCalls);
             Assert.AreEqual(0, aca.GetStepCount());
             Assert.AreEqual(0, aca.GetEpisodeCount());
@@ -169,7 +168,6 @@ public void TestAgent()
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
             Assert.AreEqual(false, agent1.IsDone());
             Assert.AreEqual(false, agent2.IsDone());
@@ -215,7 +213,6 @@ public void TestAcademy()
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
             var academyInitializeMethod = typeof(Academy).GetMethod("InitializeEnvironment",
                 BindingFlags.Instance | BindingFlags.NonPublic);
             academyInitializeMethod?.Invoke(aca, new object[] { });
@@ -252,7 +249,6 @@ public void TestAgent()
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
 
             var agentEnableMethod = typeof(Agent).GetMethod(
@@ -330,7 +326,6 @@ public void TestAcademy()
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
             var academyInitializeMethod = typeof(Academy).GetMethod(
                 "InitializeEnvironment", BindingFlags.Instance | BindingFlags.NonPublic);
             academyInitializeMethod?.Invoke(aca, new object[] { });
@@ -369,7 +364,6 @@ public void TestAgent()
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
 
             var agentEnableMethod = typeof(Agent).GetMethod(
@@ -475,7 +469,6 @@ public void TestResetOnDone()
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
 
             var agentEnableMethod = typeof(Agent).GetMethod(
@@ -552,7 +545,6 @@ public void TestCumulativeReward()
             var acaGo = new GameObject("TestAcademy");
             acaGo.AddComponent<TestAcademy>();
             var aca = acaGo.GetComponent<TestAcademy>();
-            aca.resetParameters = new ResetParameters();
 
 
             var agentEnableMethod = typeof(Agent).GetMethod(

UnitySDK/Assets/ML-Agents/Editor/Tests/EditModeTestInternalBrainTensorGenerator.cs

@@ -3,12 +3,9 @@
 
 public class Ball3DAcademy : Academy
 {
-    public override void AcademyReset()
+    public override void InitializeAcademy()
     {
-        Physics.gravity = new Vector3(0, -resetParameters["gravity"], 0);
+        FloatProperties.RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
     }
 
-    public override void AcademyStep()
-    {
-    }
 }

UnitySDK/Assets/ML-Agents/Editor/Tests/MLAgentsEditModeTest.cs

@@ -6,13 +6,13 @@ public class Ball3DAgent : Agent
     [Header("Specific to Ball3D")]
     public GameObject ball;
     Rigidbody m_BallRb;
-    ResetParameters m_ResetParams;
+    IFloatProperties m_ResetParams;
 
     public override void InitializeAgent()
     {
         m_BallRb = ball.GetComponent<Rigidbody>();
         var academy = FindObjectOfType<Academy>();
-        m_ResetParams = academy.resetParameters;
+        m_ResetParams = academy.FloatProperties;
         SetResetParameters();
     }
 
@@ -77,8 +77,8 @@ public override float[] Heuristic()
     public void SetBall()
     {
         //Set the attributes of the ball by fetching the information from the academy
-        m_BallRb.mass = m_ResetParams["mass"];
-        var scale = m_ResetParams["scale"];
+        m_BallRb.mass = m_ResetParams.GetPropertyWithDefault("mass", 1.0f);
+        var scale = m_ResetParams.GetPropertyWithDefault("scale", 1.0f);
         ball.transform.localScale = new Vector3(scale, scale, scale);
     }
 

UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAcademy.cs

@@ -6,13 +6,13 @@ public class Ball3DHardAgent : Agent
     [Header("Specific to Ball3DHard")]
     public GameObject ball;
     Rigidbody m_BallRb;
-    ResetParameters m_ResetParams;
+    IFloatProperties m_ResetParams;
 
     public override void InitializeAgent()
     {
         m_BallRb = ball.GetComponent<Rigidbody>();
         var academy = FindObjectOfType<Academy>();
-        m_ResetParams = academy.resetParameters;
+        m_ResetParams = academy.FloatProperties;
         SetResetParameters();
     }
 
@@ -65,8 +65,8 @@ public override void AgentReset()
     public void SetBall()
     {
         //Set the attributes of the ball by fetching the information from the academy
-        m_BallRb.mass = m_ResetParams["mass"];
-        var scale = m_ResetParams["scale"];
+        m_BallRb.mass = m_ResetParams.GetPropertyWithDefault("mass", 1.0f);
+        var scale = m_ResetParams.GetPropertyWithDefault("scale", 1.0f);
         ball.transform.localScale = new Vector3(scale, scale, scale);
     }
 

UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DAgent.cs

@@ -97,7 +97,7 @@ public void FixedUpdate()
 
     void WaitTimeInference()
     {
-        if (!m_Academy.GetIsInference())
+        if (!m_Academy.IsCommunicatorOn)
         {
             RequestDecision();
         }

UnitySDK/Assets/ML-Agents/Examples/3DBall/Scripts/Ball3DHardAgent.cs

@@ -13,15 +13,15 @@ public class BouncerAgent : Agent
     int m_NumberJumps = 20;
     int m_JumpLeft = 20;
 
-    ResetParameters m_ResetParams;
+    IFloatProperties m_ResetParams;
 
     public override void InitializeAgent()
     {
         m_Rb = gameObject.GetComponent<Rigidbody>();
         m_LookDir = Vector3.zero;
 
         var academy = FindObjectOfType<Academy>();
-        m_ResetParams = academy.resetParameters;
+        m_ResetParams = academy.FloatProperties;
 
         SetResetParameters();
     }
@@ -126,7 +126,7 @@ void Update()
 
     public void SetTargetScale()
     {
-        var targetScale = m_ResetParams["target_scale"];
+        var targetScale = m_ResetParams.GetPropertyWithDefault("target_scale", 1.0f);
         target.transform.localScale = new Vector3(targetScale, targetScale, targetScale);
     }
 

UnitySDK/Assets/ML-Agents/Examples/Basic/Scripts/BasicAgent.cs

@@ -277,13 +277,12 @@ public override void AgentOnDone()
 
     public void SetLaserLengths()
     {
-        m_LaserLength = m_MyAcademy.resetParameters.TryGetValue("laser_length", out m_LaserLength) ? m_LaserLength : 1.0f;
+        m_LaserLength = m_MyAcademy.FloatProperties.GetPropertyWithDefault("laser_length", 1.0f);
     }
 
     public void SetAgentScale()
     {
-        float agentScale;
-        agentScale = m_MyAcademy.resetParameters.TryGetValue("agent_scale", out agentScale) ? agentScale : 1.0f;
+        float agentScale = m_MyAcademy.FloatProperties.GetPropertyWithDefault("agent_scale", 1.0f);
         gameObject.transform.localScale = new Vector3(agentScale, agentScale, agentScale);
     }