API for sending custom protobuf messages to and from Unity. (#1595)

* API for sending custom protobuf messages to and from Unity.

* Rename custom_output to custom_outputs.

* Move custom protos to their own files.

* Add SetCustomOutput method.

* Add docstrings.

* Various adjustments.

* Rename CustomParameters -> CustomResetParameters
* Rename CustomOutput -> CUstomObservation
* Add CustomAction
* Add CustomActionResult

* Remove custom action result.

* Remove custom action result from Python API

* Start new documentation.

* Add some docstrings

* Expand documentation.

* Typos

* Tweak doc.

Also eliminate GetCustomObservation.

* Fix typo.

* Clarify docs.

* Remove trailing whitspace

UnitySDK/Assets/ML-Agents/Scripts/Academy.cs

         [Tooltip("List of custom parameters that can be changed in the " +
                  "environment when it resets.")]
         public ResetParameters resetParameters;
+        public CommunicatorObjects.CustomResetParameters customResetParameters;
 
         // Fields not provided in the Inspector.
 
                 {
                     resetParameters[kv.Key] = kv.Value;
                 }
+                customResetParameters = newResetParameters.CustomResetParameters;
             }
         }
 
             DestroyAction();
         }
     }
-}
+}

UnitySDK/Assets/ML-Agents/Scripts/Agent.cs

         public int id;
 
         /// <summary>
+        /// User-customizable object for sending structured output from Unity to Python in response
+        /// to an action in addition to a scalar reward.
+        /// </summary>
+        public CustomObservation customObservation;
+
+        /// <summary>
         /// Converts a AgentInfo to a protobuffer generated AgentInfoProto
         /// </summary>
         /// <returns>The protobuf verison of the AgentInfo.</returns>
                 MaxStepReached = maxStepReached,
                 Done = done,
                 Id = id,
+                CustomObservation = customObservation
             };
             if (memories != null)
             {
         public string textActions;
         public List<float> memories;
         public float value;
+        public CommunicatorObjects.CustomAction customAction;
     }
 
     /// <summary>
                           * param.numStackedVectorObservations]);
 
             info.visualObservations = new List<Texture2D>();
+            info.customObservation = null;
         }
 
         /// <summary>
         /// <param name="actionIndex">The index of the masked action on branch 0</param>
         protected void SetActionMask(int actionIndex)
         {
-            actionMasker.SetActionMask(0, new int[1] {actionIndex});
+            actionMasker.SetActionMask(0, new int[1] { actionIndex });
         }
 
         /// <summary>
         /// <param name="actionIndex">The index of the masked action</param>
         protected void SetActionMask(int branch, int actionIndex)
         {
-            actionMasker.SetActionMask(branch, new int[1] {actionIndex});
+            actionMasker.SetActionMask(branch, new int[1] { actionIndex });
         }
 
         /// <summary>
         }
 
         /// <summary>
+        /// Specifies the agent behavior at every step based on the provided
+        /// action.
+        /// </summary>
+        /// <param name="vectorAction">
+        /// Vector action. Note that for discrete actions, the provided array
+        /// will be of length 1.
+        /// </param>
+        /// <param name="textAction">Text action.</param>
+        /// <param name="customAction">
+        /// A custom action, defined by the user as custom protobuffer message. Useful if the action is hard to encode
+        /// as either a flat vector or a single string.
+        /// </param>
+        public virtual void AgentAction(float[] vectorAction, string textAction, CommunicatorObjects.CustomAction customAction)
+        {
+            // We fall back to not using the custom action if the subclassed Agent doesn't override this method.
+            AgentAction(vectorAction, textAction);
+        }
+
+        /// <summary>
         /// Specifies the agent behavior when done and 
         /// <see cref="AgentParameters.resetOnDone"/> is false. This method can be
         /// used to remove the agent from the scene.
         public void UpdateTextAction(string textActions)
         {
             action.textActions = textActions;
+        }
+
+        /// <summary>
+        /// Updates the custom action.
+        /// </summary>
+        /// <param name="customAction">Custom action.</param>
+        public void UpdateCustomAction(CommunicatorObjects.CustomAction customAction)
+        {
+            action.customAction = customAction;
         }
 
         /// <summary>
             if ((requestAction) && (brain != null))
             {
                 requestAction = false;
-                AgentAction(action.vectorActions, action.textActions);
+                AgentAction(action.vectorActions, action.textActions, action.customAction);
             }
 
             if ((stepCount >= agentParameters.maxStep)
             RenderTexture.active = prevActiveRT;
             RenderTexture.ReleaseTemporary(tempRT);
         }
-    }
+
+        /// <summary>
+        /// Sets the custom observation for the agent for this episode.
+        /// </summary>
+        /// <param name="customObservation">New value of the agent's custom observation.</param>
+        public void SetCustomObservation(CustomObservation customObservation)
+        {
+            info.customObservation = customObservation;
+        }
+    }    
 }

UnitySDK/Assets/ML-Agents/Scripts/Batcher.cs

                     agent.UpdateMemoriesAction(action.Memories.ToList());
                     agent.UpdateTextAction(action.TextActions);
                     agent.UpdateValueAction(action.Value);
+                    agent.UpdateCustomAction(action.CustomAction);
                 }
             }
         }

UnitySDK/Assets/ML-Agents/Scripts/CommunicatorObjects/AgentActionProto.cs

       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
             "CjttbGFnZW50cy9lbnZzL2NvbW11bmljYXRvcl9vYmplY3RzL2FnZW50X2Fj",
-            "dGlvbl9wcm90by5wcm90bxIUY29tbXVuaWNhdG9yX29iamVjdHMiYQoQQWdl",
-            "bnRBY3Rpb25Qcm90bxIWCg52ZWN0b3JfYWN0aW9ucxgBIAMoAhIUCgx0ZXh0",
-            "X2FjdGlvbnMYAiABKAkSEAoIbWVtb3JpZXMYAyADKAISDQoFdmFsdWUYBCAB",
-            "KAJCH6oCHE1MQWdlbnRzLkNvbW11bmljYXRvck9iamVjdHNiBnByb3RvMw=="));
+            "dGlvbl9wcm90by5wcm90bxIUY29tbXVuaWNhdG9yX29iamVjdHMaNm1sYWdl",
+            "bnRzL2VudnMvY29tbXVuaWNhdG9yX29iamVjdHMvY3VzdG9tX2FjdGlvbi5w",
+            "cm90byKcAQoQQWdlbnRBY3Rpb25Qcm90bxIWCg52ZWN0b3JfYWN0aW9ucxgB",
+            "IAMoAhIUCgx0ZXh0X2FjdGlvbnMYAiABKAkSEAoIbWVtb3JpZXMYAyADKAIS",
+            "DQoFdmFsdWUYBCABKAISOQoNY3VzdG9tX2FjdGlvbhgFIAEoCzIiLmNvbW11",
+            "bmljYXRvcl9vYmplY3RzLkN1c3RvbUFjdGlvbkIfqgIcTUxBZ2VudHMuQ29t",
+            "bXVuaWNhdG9yT2JqZWN0c2IGcHJvdG8z"));
-          new pbr::FileDescriptor[] { },
+          new pbr::FileDescriptor[] { global::MLAgents.CommunicatorObjects.CustomActionReflection.Descriptor, },
-            new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.AgentActionProto), global::MLAgents.CommunicatorObjects.AgentActionProto.Parser, new[]{ "VectorActions", "TextActions", "Memories", "Value" }, null, null, null)
+            new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.AgentActionProto), global::MLAgents.CommunicatorObjects.AgentActionProto.Parser, new[]{ "VectorActions", "TextActions", "Memories", "Value", "CustomAction" }, null, null, null)
           }));
     }
     #endregion
       textActions_ = other.textActions_;
       memories_ = other.memories_.Clone();
       value_ = other.value_;
+      customAction_ = other.customAction_ != null ? other.customAction_.Clone() : null;
       _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
     }
 
       }
     }
 
+    /// <summary>Field number for the "custom_action" field.</summary>
+    public const int CustomActionFieldNumber = 5;
+    private global::MLAgents.CommunicatorObjects.CustomAction customAction_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public global::MLAgents.CommunicatorObjects.CustomAction CustomAction {
+      get { return customAction_; }
+      set {
+        customAction_ = value;
+      }
+    }
+
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as AgentActionProto);
       if (TextActions != other.TextActions) return false;
       if(!memories_.Equals(other.memories_)) return false;
       if (!pbc::ProtobufEqualityComparers.BitwiseSingleEqualityComparer.Equals(Value, other.Value)) return false;
+      if (!object.Equals(CustomAction, other.CustomAction)) return false;
       return Equals(_unknownFields, other._unknownFields);
     }
 
       if (TextActions.Length != 0) hash ^= TextActions.GetHashCode();
       hash ^= memories_.GetHashCode();
       if (Value != 0F) hash ^= pbc::ProtobufEqualityComparers.BitwiseSingleEqualityComparer.GetHashCode(Value);
+      if (customAction_ != null) hash ^= CustomAction.GetHashCode();
       if (_unknownFields != null) {
         hash ^= _unknownFields.GetHashCode();
       }
         output.WriteRawTag(37);
         output.WriteFloat(Value);
       }
+      if (customAction_ != null) {
+        output.WriteRawTag(42);
+        output.WriteMessage(CustomAction);
+      }
       if (_unknownFields != null) {
         _unknownFields.WriteTo(output);
       }
       if (Value != 0F) {
         size += 1 + 4;
       }
+      if (customAction_ != null) {
+        size += 1 + pb::CodedOutputStream.ComputeMessageSize(CustomAction);
+      }
       if (_unknownFields != null) {
         size += _unknownFields.CalculateSize();
       }
       if (other.Value != 0F) {
         Value = other.Value;
       }
+      if (other.customAction_ != null) {
+        if (customAction_ == null) {
+          customAction_ = new global::MLAgents.CommunicatorObjects.CustomAction();
+        }
+        CustomAction.MergeFrom(other.CustomAction);
+      }
       _unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields);
     }
 
           }
           case 37: {
             Value = input.ReadFloat();
+            break;
+          }
+          case 42: {
+            if (customAction_ == null) {
+              customAction_ = new global::MLAgents.CommunicatorObjects.CustomAction();
+            }
+            input.ReadMessage(customAction_);
             break;
           }
         }

UnitySDK/Assets/ML-Agents/Scripts/CommunicatorObjects/AgentInfoProto.cs

       byte[] descriptorData = global::System.Convert.FromBase64String(
           string.Concat(
             "CjltbGFnZW50cy9lbnZzL2NvbW11bmljYXRvcl9vYmplY3RzL2FnZW50X2lu",
-            "Zm9fcHJvdG8ucHJvdG8SFGNvbW11bmljYXRvcl9vYmplY3RzIpICCg5BZ2Vu",
-            "dEluZm9Qcm90bxIiChpzdGFja2VkX3ZlY3Rvcl9vYnNlcnZhdGlvbhgBIAMo",
-            "AhIbChN2aXN1YWxfb2JzZXJ2YXRpb25zGAIgAygMEhgKEHRleHRfb2JzZXJ2",
-            "YXRpb24YAyABKAkSHQoVc3RvcmVkX3ZlY3Rvcl9hY3Rpb25zGAQgAygCEhsK",
-            "E3N0b3JlZF90ZXh0X2FjdGlvbnMYBSABKAkSEAoIbWVtb3JpZXMYBiADKAIS",
-            "DgoGcmV3YXJkGAcgASgCEgwKBGRvbmUYCCABKAgSGAoQbWF4X3N0ZXBfcmVh",
-            "Y2hlZBgJIAEoCBIKCgJpZBgKIAEoBRITCgthY3Rpb25fbWFzaxgLIAMoCEIf",
-            "qgIcTUxBZ2VudHMuQ29tbXVuaWNhdG9yT2JqZWN0c2IGcHJvdG8z"));
+            "Zm9fcHJvdG8ucHJvdG8SFGNvbW11bmljYXRvcl9vYmplY3RzGjttbGFnZW50",
+            "cy9lbnZzL2NvbW11bmljYXRvcl9vYmplY3RzL2N1c3RvbV9vYnNlcnZhdGlv",
+            "bi5wcm90byLXAgoOQWdlbnRJbmZvUHJvdG8SIgoac3RhY2tlZF92ZWN0b3Jf",
+            "b2JzZXJ2YXRpb24YASADKAISGwoTdmlzdWFsX29ic2VydmF0aW9ucxgCIAMo",
+            "DBIYChB0ZXh0X29ic2VydmF0aW9uGAMgASgJEh0KFXN0b3JlZF92ZWN0b3Jf",
+            "YWN0aW9ucxgEIAMoAhIbChNzdG9yZWRfdGV4dF9hY3Rpb25zGAUgASgJEhAK",
+            "CG1lbW9yaWVzGAYgAygCEg4KBnJld2FyZBgHIAEoAhIMCgRkb25lGAggASgI",
+            "EhgKEG1heF9zdGVwX3JlYWNoZWQYCSABKAgSCgoCaWQYCiABKAUSEwoLYWN0",
+            "aW9uX21hc2sYCyADKAgSQwoSY3VzdG9tX29ic2VydmF0aW9uGAwgASgLMicu",
+            "Y29tbXVuaWNhdG9yX29iamVjdHMuQ3VzdG9tT2JzZXJ2YXRpb25CH6oCHE1M",
+            "QWdlbnRzLkNvbW11bmljYXRvck9iamVjdHNiBnByb3RvMw=="));
-          new pbr::FileDescriptor[] { },
+          new pbr::FileDescriptor[] { global::MLAgents.CommunicatorObjects.CustomObservationReflection.Descriptor, },
-            new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.AgentInfoProto), global::MLAgents.CommunicatorObjects.AgentInfoProto.Parser, new[]{ "StackedVectorObservation", "VisualObservations", "TextObservation", "StoredVectorActions", "StoredTextActions", "Memories", "Reward", "Done", "MaxStepReached", "Id", "ActionMask" }, null, null, null)
+            new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.AgentInfoProto), global::MLAgents.CommunicatorObjects.AgentInfoProto.Parser, new[]{ "StackedVectorObservation", "VisualObservations", "TextObservation", "StoredVectorActions", "StoredTextActions", "Memories", "Reward", "Done", "MaxStepReached", "Id", "ActionMask", "CustomObservation" }, null, null, null)
           }));
     }
     #endregion
       maxStepReached_ = other.maxStepReached_;
       id_ = other.id_;
       actionMask_ = other.actionMask_.Clone();
+      customObservation_ = other.customObservation_ != null ? other.customObservation_.Clone() : null;
       _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
     }
 
       get { return actionMask_; }
     }
 
+    /// <summary>Field number for the "custom_observation" field.</summary>
+    public const int CustomObservationFieldNumber = 12;
+    private global::MLAgents.CommunicatorObjects.CustomObservation customObservation_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public global::MLAgents.CommunicatorObjects.CustomObservation CustomObservation {
+      get { return customObservation_; }
+      set {
+        customObservation_ = value;
+      }
+    }
+
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as AgentInfoProto);
       if (MaxStepReached != other.MaxStepReached) return false;
       if (Id != other.Id) return false;
       if(!actionMask_.Equals(other.actionMask_)) return false;
+      if (!object.Equals(CustomObservation, other.CustomObservation)) return false;
       return Equals(_unknownFields, other._unknownFields);
     }
 
       if (MaxStepReached != false) hash ^= MaxStepReached.GetHashCode();
       if (Id != 0) hash ^= Id.GetHashCode();
       hash ^= actionMask_.GetHashCode();
+      if (customObservation_ != null) hash ^= CustomObservation.GetHashCode();
       if (_unknownFields != null) {
         hash ^= _unknownFields.GetHashCode();
       }
         output.WriteInt32(Id);
       }
       actionMask_.WriteTo(output, _repeated_actionMask_codec);
+      if (customObservation_ != null) {
+        output.WriteRawTag(98);
+        output.WriteMessage(CustomObservation);
+      }
       if (_unknownFields != null) {
         _unknownFields.WriteTo(output);
       }
         size += 1 + pb::CodedOutputStream.ComputeInt32Size(Id);
       }
       size += actionMask_.CalculateSize(_repeated_actionMask_codec);
+      if (customObservation_ != null) {
+        size += 1 + pb::CodedOutputStream.ComputeMessageSize(CustomObservation);
+      }
       if (_unknownFields != null) {
         size += _unknownFields.CalculateSize();
       }
         Id = other.Id;
       }
       actionMask_.Add(other.actionMask_);
+      if (other.customObservation_ != null) {
+        if (customObservation_ == null) {
+          customObservation_ = new global::MLAgents.CommunicatorObjects.CustomObservation();
+        }
+        CustomObservation.MergeFrom(other.CustomObservation);
+      }
       _unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields);
     }
 
           case 90:
           case 88: {
             actionMask_.AddEntriesFrom(input, _repeated_actionMask_codec);
+            break;
+          }
+          case 98: {
+            if (customObservation_ == null) {
+              customObservation_ = new global::MLAgents.CommunicatorObjects.CustomObservation();
+            }
+            input.ReadMessage(customObservation_);
             break;
           }
         }

UnitySDK/Assets/ML-Agents/Scripts/CommunicatorObjects/EnvironmentParametersProto.cs

           string.Concat(
             "CkVtbGFnZW50cy9lbnZzL2NvbW11bmljYXRvcl9vYmplY3RzL2Vudmlyb25t",
             "ZW50X3BhcmFtZXRlcnNfcHJvdG8ucHJvdG8SFGNvbW11bmljYXRvcl9vYmpl",
-            "Y3RzIrUBChpFbnZpcm9ubWVudFBhcmFtZXRlcnNQcm90bxJfChBmbG9hdF9w",
-            "YXJhbWV0ZXJzGAEgAygLMkUuY29tbXVuaWNhdG9yX29iamVjdHMuRW52aXJv",
-            "bm1lbnRQYXJhbWV0ZXJzUHJvdG8uRmxvYXRQYXJhbWV0ZXJzRW50cnkaNgoU",
-            "RmxvYXRQYXJhbWV0ZXJzRW50cnkSCwoDa2V5GAEgASgJEg0KBXZhbHVlGAIg",
-            "ASgCOgI4AUIfqgIcTUxBZ2VudHMuQ29tbXVuaWNhdG9yT2JqZWN0c2IGcHJv",
-            "dG8z"));
+            "Y3RzGkBtbGFnZW50cy9lbnZzL2NvbW11bmljYXRvcl9vYmplY3RzL2N1c3Rv",
+            "bV9yZXNldF9wYXJhbWV0ZXJzLnByb3RvIoMCChpFbnZpcm9ubWVudFBhcmFt",
+            "ZXRlcnNQcm90bxJfChBmbG9hdF9wYXJhbWV0ZXJzGAEgAygLMkUuY29tbXVu",
+            "aWNhdG9yX29iamVjdHMuRW52aXJvbm1lbnRQYXJhbWV0ZXJzUHJvdG8uRmxv",
+            "YXRQYXJhbWV0ZXJzRW50cnkSTAoXY3VzdG9tX3Jlc2V0X3BhcmFtZXRlcnMY",
+            "AiABKAsyKy5jb21tdW5pY2F0b3Jfb2JqZWN0cy5DdXN0b21SZXNldFBhcmFt",
+            "ZXRlcnMaNgoURmxvYXRQYXJhbWV0ZXJzRW50cnkSCwoDa2V5GAEgASgJEg0K",
+            "BXZhbHVlGAIgASgCOgI4AUIfqgIcTUxBZ2VudHMuQ29tbXVuaWNhdG9yT2Jq",
+            "ZWN0c2IGcHJvdG8z"));
-          new pbr::FileDescriptor[] { },
+          new pbr::FileDescriptor[] { global::MLAgents.CommunicatorObjects.CustomResetParametersReflection.Descriptor, },
-            new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.EnvironmentParametersProto), global::MLAgents.CommunicatorObjects.EnvironmentParametersProto.Parser, new[]{ "FloatParameters" }, null, null, new pbr::GeneratedClrTypeInfo[] { null, })
+            new pbr::GeneratedClrTypeInfo(typeof(global::MLAgents.CommunicatorObjects.EnvironmentParametersProto), global::MLAgents.CommunicatorObjects.EnvironmentParametersProto.Parser, new[]{ "FloatParameters", "CustomResetParameters" }, null, null, new pbr::GeneratedClrTypeInfo[] { null, })
           }));
     }
     #endregion
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public EnvironmentParametersProto(EnvironmentParametersProto other) : this() {
       floatParameters_ = other.floatParameters_.Clone();
+      customResetParameters_ = other.customResetParameters_ != null ? other.customResetParameters_.Clone() : null;
       _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
     }
 
       get { return floatParameters_; }
     }
 
+    /// <summary>Field number for the "custom_reset_parameters" field.</summary>
+    public const int CustomResetParametersFieldNumber = 2;
+    private global::MLAgents.CommunicatorObjects.CustomResetParameters customResetParameters_;
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
+    public global::MLAgents.CommunicatorObjects.CustomResetParameters CustomResetParameters {
+      get { return customResetParameters_; }
+      set {
+        customResetParameters_ = value;
+      }
+    }
+
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public override bool Equals(object other) {
       return Equals(other as EnvironmentParametersProto);
         return true;
       }
       if (!FloatParameters.Equals(other.FloatParameters)) return false;
+      if (!object.Equals(CustomResetParameters, other.CustomResetParameters)) return false;
       return Equals(_unknownFields, other._unknownFields);
     }
 
       hash ^= FloatParameters.GetHashCode();
+      if (customResetParameters_ != null) hash ^= CustomResetParameters.GetHashCode();
       if (_unknownFields != null) {
         hash ^= _unknownFields.GetHashCode();
       }
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public void WriteTo(pb::CodedOutputStream output) {
       floatParameters_.WriteTo(output, _map_floatParameters_codec);
+      if (customResetParameters_ != null) {
+        output.WriteRawTag(18);
+        output.WriteMessage(CustomResetParameters);
+      }
       if (_unknownFields != null) {
         _unknownFields.WriteTo(output);
       }
     public int CalculateSize() {
       int size = 0;
       size += floatParameters_.CalculateSize(_map_floatParameters_codec);
+      if (customResetParameters_ != null) {
+        size += 1 + pb::CodedOutputStream.ComputeMessageSize(CustomResetParameters);
+      }
       if (_unknownFields != null) {
         size += _unknownFields.CalculateSize();
       }
         return;
       }
       floatParameters_.Add(other.floatParameters_);
+      if (other.customResetParameters_ != null) {
+        if (customResetParameters_ == null) {
+          customResetParameters_ = new global::MLAgents.CommunicatorObjects.CustomResetParameters();
+        }
+        CustomResetParameters.MergeFrom(other.CustomResetParameters);
+      }
       _unknownFields = pb::UnknownFieldSet.MergeFrom(_unknownFields, other._unknownFields);
     }
 
             break;
           case 10: {
             floatParameters_.AddEntriesFrom(input, _map_floatParameters_codec);
+            break;
+          }
+          case 18: {
+            if (customResetParameters_ == null) {
+              customResetParameters_ = new global::MLAgents.CommunicatorObjects.CustomResetParameters();
+            }
+            input.ReadMessage(customResetParameters_);
             break;
           }
         }

UnitySDK/Assets/ML-Agents/Scripts/CommunicatorObjects/UnityInput.cs

 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public UnityInput(UnityInput other) : this() {
-      RlInput = other.rlInput_ != null ? other.RlInput.Clone() : null;
-      RlInitializationInput = other.rlInitializationInput_ != null ? other.RlInitializationInput.Clone() : null;
+      rlInput_ = other.rlInput_ != null ? other.rlInput_.Clone() : null;
+      rlInitializationInput_ = other.rlInitializationInput_ != null ? other.rlInitializationInput_.Clone() : null;
       _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
     }
 

UnitySDK/Assets/ML-Agents/Scripts/CommunicatorObjects/UnityMessage.cs

 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public UnityMessage(UnityMessage other) : this() {
-      Header = other.header_ != null ? other.Header.Clone() : null;
-      UnityOutput = other.unityOutput_ != null ? other.UnityOutput.Clone() : null;
-      UnityInput = other.unityInput_ != null ? other.UnityInput.Clone() : null;
+      header_ = other.header_ != null ? other.header_.Clone() : null;
+      unityOutput_ = other.unityOutput_ != null ? other.unityOutput_.Clone() : null;
+      unityInput_ = other.unityInput_ != null ? other.unityInput_.Clone() : null;
       _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
     }
 

UnitySDK/Assets/ML-Agents/Scripts/CommunicatorObjects/UnityOutput.cs

 
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public UnityOutput(UnityOutput other) : this() {
-      RlOutput = other.rlOutput_ != null ? other.RlOutput.Clone() : null;
-      RlInitializationOutput = other.rlInitializationOutput_ != null ? other.RlInitializationOutput.Clone() : null;
+      rlOutput_ = other.rlOutput_ != null ? other.rlOutput_.Clone() : null;
+      rlInitializationOutput_ = other.rlInitializationOutput_ != null ? other.rlInitializationOutput_.Clone() : null;
       _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
     }
 

UnitySDK/Assets/ML-Agents/Scripts/CommunicatorObjects/UnityRlInitializationOutput.cs

       version_ = other.version_;
       logPath_ = other.logPath_;
       brainParameters_ = other.brainParameters_.Clone();
-      EnvironmentParameters = other.environmentParameters_ != null ? other.EnvironmentParameters.Clone() : null;
+      environmentParameters_ = other.environmentParameters_ != null ? other.environmentParameters_.Clone() : null;
       _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);
     }
 

UnitySDK/Assets/ML-Agents/Scripts/CommunicatorObjects/UnityRlInput.cs

     [global::System.Diagnostics.DebuggerNonUserCodeAttribute]
     public UnityRLInput(UnityRLInput other) : this() {
       agentActions_ = other.agentActions_.Clone();
-      EnvironmentParameters = other.environmentParameters_ != null ? other.EnvironmentParameters.Clone() : null;
+      environmentParameters_ = other.environmentParameters_ != null ? other.environmentParameters_.Clone() : null;
       isTraining_ = other.isTraining_;
       command_ = other.command_;
       _unknownFields = pb::UnknownFieldSet.Clone(other._unknownFields);

UnitySDK/Assets/ML-Agents/Scripts/CommunicatorObjects/UnityToExternalGrpc.cs

   {
     static readonly string __ServiceName = "communicator_objects.UnityToExternal";
 
-    static readonly grpc::Marshaller<global::MLAgents.CommunicatorObjects.UnityMessage> __Marshaller_UnityMessage = grpc::Marshallers.Create((arg) => global::Google.Protobuf.MessageExtensions.ToByteArray(arg), global::MLAgents.CommunicatorObjects.UnityMessage.Parser.ParseFrom);
+    static readonly grpc::Marshaller<global::MLAgents.CommunicatorObjects.UnityMessage> __Marshaller_communicator_objects_UnityMessage = grpc::Marshallers.Create((arg) => global::Google.Protobuf.MessageExtensions.ToByteArray(arg), global::MLAgents.CommunicatorObjects.UnityMessage.Parser.ParseFrom);
-        __Marshaller_UnityMessage,
-        __Marshaller_UnityMessage);
+        __Marshaller_communicator_objects_UnityMessage,
+        __Marshaller_communicator_objects_UnityMessage);
 
     /// <summary>Service descriptor</summary>
     public static global::Google.Protobuf.Reflection.ServiceDescriptor Descriptor

docs/Readme.md

 * [API Reference](API-Reference.md)
 * [How to use the Python API](Python-API.md)
 * [Wrapping Learning Environment as a Gym (+Baselines/Dopamine Integration)](../gym-unity/README.md)
+* [Creating custom protobuf messages](Custom-Protos.md)

ml-agents/mlagents/envs/brain.py

 class BrainInfo:
     def __init__(self, visual_observation, vector_observation, text_observations, memory=None,
                  reward=None, agents=None, local_done=None,
-                 vector_action=None, text_action=None, max_reached=None, action_mask=None):
+                 vector_action=None, text_action=None, max_reached=None, action_mask=None,
+                 custom_observations=None):
         """
         Describes experience at current step of all agents linked to a brain.
         """
         self.previous_vector_actions = vector_action
         self.previous_text_actions = text_action
         self.action_masks = action_mask
+        self.custom_observations = custom_observations
 
     @staticmethod
     def process_pixels(image_bytes, gray_scale):
             vector_action=np.array([x.stored_vector_actions for x in agent_info_list]),
             text_action=[x.stored_text_actions for x in agent_info_list],
             max_reached=[x.max_step_reached for x in agent_info_list],
+            custom_observations=[x.custom_observation for x in agent_info_list],
             action_mask=mask_actions
         )
         return brain_info

ml-agents/mlagents/envs/communicator_objects/__init__.py

 from .agent_info_proto_pb2 import *
 from .brain_parameters_proto_pb2 import *
 from .command_proto_pb2 import *
+from .custom_action_pb2 import *
+from .custom_observation_pb2 import *
+from .custom_reset_parameters_pb2 import *
 from .demonstration_meta_proto_pb2 import *
 from .engine_configuration_proto_pb2 import *
 from .environment_parameters_proto_pb2 import *

ml-agents/mlagents/envs/communicator_objects/agent_action_proto_pb2.py

 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
+from mlagents.envs.communicator_objects import custom_action_pb2 as mlagents_dot_envs_dot_communicator__objects_dot_custom__action__pb2
 
 
 DESCRIPTOR = _descriptor.FileDescriptor(
-  serialized_pb=_b('\n;mlagents/envs/communicator_objects/agent_action_proto.proto\x12\x14\x63ommunicator_objects\"a\n\x10\x41gentActionProto\x12\x16\n\x0evector_actions\x18\x01 \x03(\x02\x12\x14\n\x0ctext_actions\x18\x02 \x01(\t\x12\x10\n\x08memories\x18\x03 \x03(\x02\x12\r\n\x05value\x18\x04 \x01(\x02\x42\x1f\xaa\x02\x1cMLAgents.CommunicatorObjectsb\x06proto3')
-)
+  serialized_options=_b('\252\002\034MLAgents.CommunicatorObjects'),
+  serialized_pb=_b('\n;mlagents/envs/communicator_objects/agent_action_proto.proto\x12\x14\x63ommunicator_objects\x1a\x36mlagents/envs/communicator_objects/custom_action.proto\"\x9c\x01\n\x10\x41gentActionProto\x12\x16\n\x0evector_actions\x18\x01 \x03(\x02\x12\x14\n\x0ctext_actions\x18\x02 \x01(\t\x12\x10\n\x08memories\x18\x03 \x03(\x02\x12\r\n\x05value\x18\x04 \x01(\x02\x12\x39\n\rcustom_action\x18\x05 \x01(\x0b\x32\".communicator_objects.CustomActionB\x1f\xaa\x02\x1cMLAgents.CommunicatorObjectsb\x06proto3')
+  ,
+  dependencies=[mlagents_dot_envs_dot_communicator__objects_dot_custom__action__pb2.DESCRIPTOR,])
 
 
 
       has_default_value=False, default_value=[],
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='text_actions', full_name='communicator_objects.AgentActionProto.text_actions', index=1,
       number=2, type=9, cpp_type=9, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='memories', full_name='communicator_objects.AgentActionProto.memories', index=2,
       number=3, type=2, cpp_type=6, label=3,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='value', full_name='communicator_objects.AgentActionProto.value', index=3,
       number=4, type=2, cpp_type=6, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='custom_action', full_name='communicator_objects.AgentActionProto.custom_action', index=4,
+      number=5, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
-  options=None,
+  serialized_options=None,
-  serialized_start=85,
-  serialized_end=182,
+  serialized_start=142,
+  serialized_end=298,
+_AGENTACTIONPROTO.fields_by_name['custom_action'].message_type = mlagents_dot_envs_dot_communicator__objects_dot_custom__action__pb2._CUSTOMACTION
 DESCRIPTOR.message_types_by_name['AgentActionProto'] = _AGENTACTIONPROTO
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
 _sym_db.RegisterMessage(AgentActionProto)
 
 
-DESCRIPTOR.has_options = True
-DESCRIPTOR._options = _descriptor._ParseOptions(descriptor_pb2.FileOptions(), _b('\252\002\034MLAgents.CommunicatorObjects'))
+DESCRIPTOR._options = None
 # @@protoc_insertion_point(module_scope)

ml-agents/mlagents/envs/communicator_objects/agent_info_proto_pb2.py

 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
+from mlagents.envs.communicator_objects import custom_observation_pb2 as mlagents_dot_envs_dot_communicator__objects_dot_custom__observation__pb2
 
 
 DESCRIPTOR = _descriptor.FileDescriptor(
-  serialized_pb=_b('\n9mlagents/envs/communicator_objects/agent_info_proto.proto\x12\x14\x63ommunicator_objects\"\x92\x02\n\x0e\x41gentInfoProto\x12\"\n\x1astacked_vector_observation\x18\x01 \x03(\x02\x12\x1b\n\x13visual_observations\x18\x02 \x03(\x0c\x12\x18\n\x10text_observation\x18\x03 \x01(\t\x12\x1d\n\x15stored_vector_actions\x18\x04 \x03(\x02\x12\x1b\n\x13stored_text_actions\x18\x05 \x01(\t\x12\x10\n\x08memories\x18\x06 \x03(\x02\x12\x0e\n\x06reward\x18\x07 \x01(\x02\x12\x0c\n\x04\x64one\x18\x08 \x01(\x08\x12\x18\n\x10max_step_reached\x18\t \x01(\x08\x12\n\n\x02id\x18\n \x01(\x05\x12\x13\n\x0b\x61\x63tion_mask\x18\x0b \x03(\x08\x42\x1f\xaa\x02\x1cMLAgents.CommunicatorObjectsb\x06proto3')
-)
+  serialized_options=_b('\252\002\034MLAgents.CommunicatorObjects'),
+  serialized_pb=_b('\n9mlagents/envs/communicator_objects/agent_info_proto.proto\x12\x14\x63ommunicator_objects\x1a;mlagents/envs/communicator_objects/custom_observation.proto\"\xd7\x02\n\x0e\x41gentInfoProto\x12\"\n\x1astacked_vector_observation\x18\x01 \x03(\x02\x12\x1b\n\x13visual_observations\x18\x02 \x03(\x0c\x12\x18\n\x10text_observation\x18\x03 \x01(\t\x12\x1d\n\x15stored_vector_actions\x18\x04 \x03(\x02\x12\x1b\n\x13stored_text_actions\x18\x05 \x01(\t\x12\x10\n\x08memories\x18\x06 \x03(\x02\x12\x0e\n\x06reward\x18\x07 \x01(\x02\x12\x0c\n\x04\x64one\x18\x08 \x01(\x08\x12\x18\n\x10max_step_reached\x18\t \x01(\x08\x12\n\n\x02id\x18\n \x01(\x05\x12\x13\n\x0b\x61\x63tion_mask\x18\x0b \x03(\x08\x12\x43\n\x12\x63ustom_observation\x18\x0c \x01(\x0b\x32\'.communicator_objects.CustomObservationB\x1f\xaa\x02\x1cMLAgents.CommunicatorObjectsb\x06proto3')
+  ,
+  dependencies=[mlagents_dot_envs_dot_communicator__objects_dot_custom__observation__pb2.DESCRIPTOR,])
 
 
 
       has_default_value=False, default_value=[],
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='visual_observations', full_name='communicator_objects.AgentInfoProto.visual_observations', index=1,
       number=2, type=12, cpp_type=9, label=3,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='text_observation', full_name='communicator_objects.AgentInfoProto.text_observation', index=2,
       number=3, type=9, cpp_type=9, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='stored_vector_actions', full_name='communicator_objects.AgentInfoProto.stored_vector_actions', index=3,
       number=4, type=2, cpp_type=6, label=3,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='stored_text_actions', full_name='communicator_objects.AgentInfoProto.stored_text_actions', index=4,
       number=5, type=9, cpp_type=9, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='memories', full_name='communicator_objects.AgentInfoProto.memories', index=5,
       number=6, type=2, cpp_type=6, label=3,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='reward', full_name='communicator_objects.AgentInfoProto.reward', index=6,
       number=7, type=2, cpp_type=6, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='done', full_name='communicator_objects.AgentInfoProto.done', index=7,
       number=8, type=8, cpp_type=7, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='max_step_reached', full_name='communicator_objects.AgentInfoProto.max_step_reached', index=8,
       number=9, type=8, cpp_type=7, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='id', full_name='communicator_objects.AgentInfoProto.id', index=9,
       number=10, type=5, cpp_type=1, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='action_mask', full_name='communicator_objects.AgentInfoProto.action_mask', index=10,
       number=11, type=8, cpp_type=7, label=3,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='custom_observation', full_name='communicator_objects.AgentInfoProto.custom_observation', index=11,
+      number=12, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
-  options=None,
+  serialized_options=None,
-  serialized_start=84,
-  serialized_end=358,
+  serialized_start=145,
+  serialized_end=488,
+_AGENTINFOPROTO.fields_by_name['custom_observation'].message_type = mlagents_dot_envs_dot_communicator__objects_dot_custom__observation__pb2._CUSTOMOBSERVATION
 DESCRIPTOR.message_types_by_name['AgentInfoProto'] = _AGENTINFOPROTO
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
 _sym_db.RegisterMessage(AgentInfoProto)
 
 
-DESCRIPTOR.has_options = True
-DESCRIPTOR._options = _descriptor._ParseOptions(descriptor_pb2.FileOptions(), _b('\252\002\034MLAgents.CommunicatorObjects'))
+DESCRIPTOR._options = None
 # @@protoc_insertion_point(module_scope)

ml-agents/mlagents/envs/communicator_objects/brain_parameters_proto_pb2.py

 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
   name='mlagents/envs/communicator_objects/brain_parameters_proto.proto',
   package='communicator_objects',
   syntax='proto3',
+  serialized_options=_b('\252\002\034MLAgents.CommunicatorObjects'),
   serialized_pb=_b('\n?mlagents/envs/communicator_objects/brain_parameters_proto.proto\x12\x14\x63ommunicator_objects\x1a\x39mlagents/envs/communicator_objects/resolution_proto.proto\x1a\x39mlagents/envs/communicator_objects/space_type_proto.proto\"\xd4\x02\n\x14\x42rainParametersProto\x12\x1f\n\x17vector_observation_size\x18\x01 \x01(\x05\x12\'\n\x1fnum_stacked_vector_observations\x18\x02 \x01(\x05\x12\x1a\n\x12vector_action_size\x18\x03 \x03(\x05\x12\x41\n\x12\x63\x61mera_resolutions\x18\x04 \x03(\x0b\x32%.communicator_objects.ResolutionProto\x12\"\n\x1avector_action_descriptions\x18\x05 \x03(\t\x12\x46\n\x18vector_action_space_type\x18\x06 \x01(\x0e\x32$.communicator_objects.SpaceTypeProto\x12\x12\n\nbrain_name\x18\x07 \x01(\t\x12\x13\n\x0bis_training\x18\x08 \x01(\x08\x42\x1f\xaa\x02\x1cMLAgents.CommunicatorObjectsb\x06proto3')
   ,
   dependencies=[mlagents_dot_envs_dot_communicator__objects_dot_resolution__proto__pb2.DESCRIPTOR,mlagents_dot_envs_dot_communicator__objects_dot_space__type__proto__pb2.DESCRIPTOR,])
       has_default_value=False, default_value=0,
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='num_stacked_vector_observations', full_name='communicator_objects.BrainParametersProto.num_stacked_vector_observations', index=1,
       number=2, type=5, cpp_type=1, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='vector_action_size', full_name='communicator_objects.BrainParametersProto.vector_action_size', index=2,
       number=3, type=5, cpp_type=1, label=3,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='camera_resolutions', full_name='communicator_objects.BrainParametersProto.camera_resolutions', index=3,
       number=4, type=11, cpp_type=10, label=3,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='vector_action_descriptions', full_name='communicator_objects.BrainParametersProto.vector_action_descriptions', index=4,
       number=5, type=9, cpp_type=9, label=3,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='vector_action_space_type', full_name='communicator_objects.BrainParametersProto.vector_action_space_type', index=5,
       number=6, type=14, cpp_type=8, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='brain_name', full_name='communicator_objects.BrainParametersProto.brain_name', index=6,
       number=7, type=9, cpp_type=9, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='is_training', full_name='communicator_objects.BrainParametersProto.is_training', index=7,
       number=8, type=8, cpp_type=7, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
-  options=None,
+  serialized_options=None,
   is_extendable=False,
   syntax='proto3',
   extension_ranges=[],
 _sym_db.RegisterMessage(BrainParametersProto)
 
 
-DESCRIPTOR.has_options = True
-DESCRIPTOR._options = _descriptor._ParseOptions(descriptor_pb2.FileOptions(), _b('\252\002\034MLAgents.CommunicatorObjects'))
+DESCRIPTOR._options = None
 # @@protoc_insertion_point(module_scope)

ml-agents/mlagents/envs/communicator_objects/command_proto_pb2.py

 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
   name='mlagents/envs/communicator_objects/command_proto.proto',
   package='communicator_objects',
   syntax='proto3',
+  serialized_options=_b('\252\002\034MLAgents.CommunicatorObjects'),
   serialized_pb=_b('\n6mlagents/envs/communicator_objects/command_proto.proto\x12\x14\x63ommunicator_objects*-\n\x0c\x43ommandProto\x12\x08\n\x04STEP\x10\x00\x12\t\n\x05RESET\x10\x01\x12\x08\n\x04QUIT\x10\x02\x42\x1f\xaa\x02\x1cMLAgents.CommunicatorObjectsb\x06proto3')
 )
 
   values=[
     _descriptor.EnumValueDescriptor(
       name='STEP', index=0, number=0,
-      options=None,
+      serialized_options=None,
-      options=None,
+      serialized_options=None,
-      options=None,
+      serialized_options=None,
-  options=None,
+  serialized_options=None,
   serialized_start=80,
   serialized_end=125,
 )
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
 
-DESCRIPTOR.has_options = True
-DESCRIPTOR._options = _descriptor._ParseOptions(descriptor_pb2.FileOptions(), _b('\252\002\034MLAgents.CommunicatorObjects'))
+DESCRIPTOR._options = None
 # @@protoc_insertion_point(module_scope)

ml-agents/mlagents/envs/communicator_objects/engine_configuration_proto_pb2.py

 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
   name='mlagents/envs/communicator_objects/engine_configuration_proto.proto',
   package='communicator_objects',
   syntax='proto3',
+  serialized_options=_b('\252\002\034MLAgents.CommunicatorObjects'),
   serialized_pb=_b('\nCmlagents/envs/communicator_objects/engine_configuration_proto.proto\x12\x14\x63ommunicator_objects\"\x95\x01\n\x18\x45ngineConfigurationProto\x12\r\n\x05width\x18\x01 \x01(\x05\x12\x0e\n\x06height\x18\x02 \x01(\x05\x12\x15\n\rquality_level\x18\x03 \x01(\x05\x12\x12\n\ntime_scale\x18\x04 \x01(\x02\x12\x19\n\x11target_frame_rate\x18\x05 \x01(\x05\x12\x14\n\x0cshow_monitor\x18\x06 \x01(\x08\x42\x1f\xaa\x02\x1cMLAgents.CommunicatorObjectsb\x06proto3')
 )
 
       has_default_value=False, default_value=0,
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='height', full_name='communicator_objects.EngineConfigurationProto.height', index=1,
       number=2, type=5, cpp_type=1, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='quality_level', full_name='communicator_objects.EngineConfigurationProto.quality_level', index=2,
       number=3, type=5, cpp_type=1, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='time_scale', full_name='communicator_objects.EngineConfigurationProto.time_scale', index=3,
       number=4, type=2, cpp_type=6, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='target_frame_rate', full_name='communicator_objects.EngineConfigurationProto.target_frame_rate', index=4,
       number=5, type=5, cpp_type=1, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='show_monitor', full_name='communicator_objects.EngineConfigurationProto.show_monitor', index=5,
       number=6, type=8, cpp_type=7, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
-  options=None,
+  serialized_options=None,
   is_extendable=False,
   syntax='proto3',
   extension_ranges=[],
 _sym_db.RegisterMessage(EngineConfigurationProto)
 
 
-DESCRIPTOR.has_options = True
-DESCRIPTOR._options = _descriptor._ParseOptions(descriptor_pb2.FileOptions(), _b('\252\002\034MLAgents.CommunicatorObjects'))
+DESCRIPTOR._options = None
 # @@protoc_insertion_point(module_scope)

ml-agents/mlagents/envs/communicator_objects/environment_parameters_proto_pb2.py

 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
+from mlagents.envs.communicator_objects import custom_reset_parameters_pb2 as mlagents_dot_envs_dot_communicator__objects_dot_custom__reset__parameters__pb2
 
 
 DESCRIPTOR = _descriptor.FileDescriptor(
-  serialized_pb=_b('\nEmlagents/envs/communicator_objects/environment_parameters_proto.proto\x12\x14\x63ommunicator_objects\"\xb5\x01\n\x1a\x45nvironmentParametersProto\x12_\n\x10\x66loat_parameters\x18\x01 \x03(\x0b\x32\x45.communicator_objects.EnvironmentParametersProto.FloatParametersEntry\x1a\x36\n\x14\x46loatParametersEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\r\n\x05value\x18\x02 \x01(\x02:\x02\x38\x01\x42\x1f\xaa\x02\x1cMLAgents.CommunicatorObjectsb\x06proto3')
-)
+  serialized_options=_b('\252\002\034MLAgents.CommunicatorObjects'),
+  serialized_pb=_b('\nEmlagents/envs/communicator_objects/environment_parameters_proto.proto\x12\x14\x63ommunicator_objects\x1a@mlagents/envs/communicator_objects/custom_reset_parameters.proto\"\x83\x02\n\x1a\x45nvironmentParametersProto\x12_\n\x10\x66loat_parameters\x18\x01 \x03(\x0b\x32\x45.communicator_objects.EnvironmentParametersProto.FloatParametersEntry\x12L\n\x17\x63ustom_reset_parameters\x18\x02 \x01(\x0b\x32+.communicator_objects.CustomResetParameters\x1a\x36\n\x14\x46loatParametersEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\r\n\x05value\x18\x02 \x01(\x02:\x02\x38\x01\x42\x1f\xaa\x02\x1cMLAgents.CommunicatorObjectsb\x06proto3')
+  ,
+  dependencies=[mlagents_dot_envs_dot_communicator__objects_dot_custom__reset__parameters__pb2.DESCRIPTOR,])
 
 
 
       has_default_value=False, default_value=_b("").decode('utf-8'),
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='value', full_name='communicator_objects.EnvironmentParametersProto.FloatParametersEntry.value', index=1,
       number=2, type=2, cpp_type=6, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
-  options=_descriptor._ParseOptions(descriptor_pb2.MessageOptions(), _b('8\001')),
+  serialized_options=_b('8\001'),
-  serialized_start=223,
-  serialized_end=277,
+  serialized_start=367,
+  serialized_end=421,
 )
 
 _ENVIRONMENTPARAMETERSPROTO = _descriptor.Descriptor(
       has_default_value=False, default_value=[],
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='custom_reset_parameters', full_name='communicator_objects.EnvironmentParametersProto.custom_reset_parameters', index=1,
+      number=2, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
-  options=None,
+  serialized_options=None,
-  serialized_start=96,
-  serialized_end=277,
+  serialized_start=162,
+  serialized_end=421,
+_ENVIRONMENTPARAMETERSPROTO.fields_by_name['custom_reset_parameters'].message_type = mlagents_dot_envs_dot_communicator__objects_dot_custom__reset__parameters__pb2._CUSTOMRESETPARAMETERS
 DESCRIPTOR.message_types_by_name['EnvironmentParametersProto'] = _ENVIRONMENTPARAMETERSPROTO
 _sym_db.RegisterFileDescriptor(DESCRIPTOR)
 
 _sym_db.RegisterMessage(EnvironmentParametersProto.FloatParametersEntry)
 
 
-DESCRIPTOR.has_options = True
-DESCRIPTOR._options = _descriptor._ParseOptions(descriptor_pb2.FileOptions(), _b('\252\002\034MLAgents.CommunicatorObjects'))
-_ENVIRONMENTPARAMETERSPROTO_FLOATPARAMETERSENTRY.has_options = True
-_ENVIRONMENTPARAMETERSPROTO_FLOATPARAMETERSENTRY._options = _descriptor._ParseOptions(descriptor_pb2.MessageOptions(), _b('8\001'))
+DESCRIPTOR._options = None
+_ENVIRONMENTPARAMETERSPROTO_FLOATPARAMETERSENTRY._options = None
 # @@protoc_insertion_point(module_scope)

ml-agents/mlagents/envs/communicator_objects/header_pb2.py

 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
   name='mlagents/envs/communicator_objects/header.proto',
   package='communicator_objects',
   syntax='proto3',
+  serialized_options=_b('\252\002\034MLAgents.CommunicatorObjects'),
   serialized_pb=_b('\n/mlagents/envs/communicator_objects/header.proto\x12\x14\x63ommunicator_objects\")\n\x06Header\x12\x0e\n\x06status\x18\x01 \x01(\x05\x12\x0f\n\x07message\x18\x02 \x01(\tB\x1f\xaa\x02\x1cMLAgents.CommunicatorObjectsb\x06proto3')
 )
 
       has_default_value=False, default_value=0,
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='message', full_name='communicator_objects.Header.message', index=1,
       number=2, type=9, cpp_type=9, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
-  options=None,
+  serialized_options=None,
   is_extendable=False,
   syntax='proto3',
   extension_ranges=[],
 _sym_db.RegisterMessage(Header)
 
 
-DESCRIPTOR.has_options = True
-DESCRIPTOR._options = _descriptor._ParseOptions(descriptor_pb2.FileOptions(), _b('\252\002\034MLAgents.CommunicatorObjects'))
+DESCRIPTOR._options = None
 # @@protoc_insertion_point(module_scope)

ml-agents/mlagents/envs/communicator_objects/resolution_proto_pb2.py

 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
 # @@protoc_insertion_point(imports)
 
 _sym_db = _symbol_database.Default()
   name='mlagents/envs/communicator_objects/resolution_proto.proto',
   package='communicator_objects',
   syntax='proto3',
+  serialized_options=_b('\252\002\034MLAgents.CommunicatorObjects'),
   serialized_pb=_b('\n9mlagents/envs/communicator_objects/resolution_proto.proto\x12\x14\x63ommunicator_objects\"D\n\x0fResolutionProto\x12\r\n\x05width\x18\x01 \x01(\x05\x12\x0e\n\x06height\x18\x02 \x01(\x05\x12\x12\n\ngray_scale\x18\x03 \x01(\x08\x42\x1f\xaa\x02\x1cMLAgents.CommunicatorObjectsb\x06proto3')
 )
 
       has_default_value=False, default_value=0,
       message_type=None, enum_type=None, containing_type=None,
       is_extension=False, extension_scope=None,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='height', full_name='communicator_objects.ResolutionProto.height', index=1,
       number=2, type=5, cpp_type=1, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
     _descriptor.FieldDescriptor(
       name='gray_scale', full_name='communicator_objects.ResolutionProto.gray_scale', index=2,
       number=3, type=8, cpp_type=7, label=1,
-      options=None, file=DESCRIPTOR),
+      serialized_options=None, file=DESCRIPTOR),
   ],
   extensions=[
   ],
-  options=None,
+  serialized_options=None,
   is_extendable=False,
   syntax='proto3',
   extension_ranges=[],
 _sym_db.RegisterMessage(ResolutionProto)
 
 
-DESCRIPTOR.has_options = True
-DESCRIPTOR._options = _descriptor._ParseOptions(descriptor_pb2.FileOptions(), _b('\252\002\034MLAgents.CommunicatorObjects'))
+DESCRIPTOR._options = None
 # @@protoc_insertion_point(module_scope)

ml-agents/mlagents/envs/communicator_objects/space_type_proto_pb2.py

 from google.protobuf import message as _message
 from google.protobuf import reflection as _reflection
 from google.protobuf import symbol_database as _symbol_database
-from google.protobuf import descriptor_pb2
 # @@protoc_insertion_point(imports)