[Test] Make tests to compare compressed and non-compressed obs (#4547)

* Move folders around

* [Make tests to compare compressed and non-compressed obs
> Make `Utilities.TextureToTensorProxy` public (debatable)
> GridSensor can now be compressed or uncompressed
> Added 2 scenes and an integration test to make sure compressed and uncompressed obs are the same

* fix typo

* renaming file so pytest will not try to run it

* rename yamato config file

* Need standalone build for 2019.4

* Running only on 2018.4 since it seems to be the only version thhat can build

* Typo in the name of the testing script

* Renaming the scene
So this is funny Python bug but
`a.strip(".unity")` will remove the last letter of `a` (before the .unity) if the last letter is "t"
not kidding, try :
```
a = "fewgfwegwrgvrt.unity"
a.strip(".unity")
```

* using splitext rather than strip to find executable name`

* Rename and move TextureToTensor

* Addressing comments

* re...

.yamato/gym-interface-test.yml

 test_editors:
-  - version: 2019.4
+  - version: 2018.4
+  - version: 2019.3
 ---
 {% for editor in test_editors %}
 test_gym_interface_{{ editor.version }}:

.yamato/python-ll-api-test.yml

 test_editors:
-  - version: 2019.4
+  - version: 2018.4
+  - version: 2019.3
 ---
 {% for editor in test_editors %}
 test_mac_ll_api_{{ editor.version }}:

.yamato/standalone-build-test.yml

     - python -u -m ml-agents.tests.yamato.standalone_build_tests --scene=Assets/ML-Agents/Examples/Basic/Scenes/Basic.unity
     - python -u -m ml-agents.tests.yamato.standalone_build_tests --scene=Assets/ML-Agents/Examples/Bouncer/Scenes/Bouncer.unity
     - python -u -m ml-agents.tests.yamato.standalone_build_tests --scene=Assets/ML-Agents/Examples/WallJump/Scenes/WallJump.unity
+    - python -u -m ml-agents.tests.yamato.standalone_build_tests --scene=Assets/ML-Agents/TestScenes/TestCompressedGrid/TestGridCompressed.unity
+    - python -u -m ml-agents.tests.yamato.standalone_build_tests --scene=Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureCompressed.unity
   triggers:
     cancel_old_ci: true
     expression: |

.yamato/training-int-tests.yml

 test_editors:
   - version: 2018.4
-  - version: 2019.4
-  - version: 2020.1
+  - version: 2019.3
 ---
 {% for editor in test_editors %}
 test_mac_training_int_{{ editor.version }}:

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

         [Tooltip("Whether to show gizmos or not")]
         public bool ShowGizmos = false;
 
+        public SensorCompressionType CompressionType = SensorCompressionType.PNG;
+
         /// <summary>
         /// Array of colors displaying the DebugColors for each cell in OnDrawGizmos. Only updated if ShowGizmos.
         /// </summary>
         /// <inheritdoc/>
         public virtual SensorCompressionType GetCompressionType()
         {
-            return SensorCompressionType.PNG;
+            return CompressionType;
         }
 
         /// <summary>

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

             using (TimerStack.Instance.Scoped("CameraSensor.WriteToTensor"))
             {
                 var texture = ObservationToTexture(m_Camera, m_Width, m_Height);
-                var numWritten = Utilities.TextureToTensorProxy(texture, writer, m_Grayscale);
+                var numWritten = writer.WriteTexture(texture, m_Grayscale);
                 DestroyTexture(texture);
                 return numWritten;
             }

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

             }
         }
     }
+
+    public static class ObservationWriterExtension
+    {
+
+        /// <summary>
+        /// Writes a Texture2D into a ObservationWriter.
+        /// </summary>
+        /// <param name="obsWriter">
+        /// Writer to fill with Texture data.
+        /// </param>
+        /// <param name="texture">
+        /// The texture to be put into the tensor.
+        /// </param>
+        /// <param name="grayScale">
+        /// If set to <c>true</c> the textures will be converted to grayscale before
+        /// being stored in the tensor.
+        /// </param>
+        /// <returns>The number of floats written</returns>
+        public static int WriteTexture(
+            this ObservationWriter obsWriter,
+            Texture2D texture,
+            bool grayScale)
+        {
+            var width = texture.width;
+            var height = texture.height;
+
+            var texturePixels = texture.GetPixels32();
+            // During training, we convert from Texture to PNG before sending to the trainer, which has the
+            // effect of flipping the image. We need another flip here at inference time to match this.
+            for (var h = height - 1; h >= 0; h--)
+            {
+                for (var w = 0; w < width; w++)
+                {
+                    var currentPixel = texturePixels[(height - h - 1) * width + w];
+                    if (grayScale)
+                    {
+                        obsWriter[h, w, 0] =
+                            (currentPixel.r + currentPixel.g + currentPixel.b) / 3f / 255.0f;
+                    }
+                    else
+                    {
+                        // For Color32, the r, g and b values are between 0 and 255.
+                        obsWriter[h, w, 0] = currentPixel.r / 255.0f;
+                        obsWriter[h, w, 1] = currentPixel.g / 255.0f;
+                        obsWriter[h, w, 2] = currentPixel.b / 255.0f;
+                    }
+                }
+            }
+
+            return height * width * (grayScale ? 1 : 3);
+        }
+    }
 }

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

             using (TimerStack.Instance.Scoped("RenderTextureSensor.Write"))
             {
                 var texture = ObservationToTexture(m_RenderTexture);
-                var numWritten = Utilities.TextureToTensorProxy(texture, writer, m_Grayscale);
+                var numWritten = writer.WriteTexture(texture, m_Grayscale);
                 DestroyTexture(texture);
                 return numWritten;
             }

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

             int height = m_WrappedSensor.GetObservationShape()[0];
             int width = m_WrappedSensor.GetObservationShape()[1];
             var texture2D = new Texture2D(width, height, TextureFormat.RGB24, false);
+            Color32[] resetColorArray = texture2D.GetPixels32();
+            Color32 black = new Color32(0, 0, 0, 0);
+            for (int i = 0; i < resetColorArray.Length; i++)
+            {
+                resetColorArray[i] = black;
+            }
+            texture2D.SetPixels32(resetColorArray);
+            texture2D.Apply();
             return texture2D.EncodeToPNG();
         }
 

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

 {
     internal static class Utilities
     {
-        /// <summary>
-        /// Puts a Texture2D into a ObservationWriter.
-        /// </summary>
-        /// <param name="texture">
-        /// The texture to be put into the tensor.
-        /// </param>
-        /// <param name="obsWriter">
-        /// Writer to fill with Texture data.
-        /// </param>
-        /// <param name="grayScale">
-        /// If set to <c>true</c> the textures will be converted to grayscale before
-        /// being stored in the tensor.
-        /// </param>
-        /// <returns>The number of floats written</returns>
-        internal static int TextureToTensorProxy(
-            Texture2D texture,
-            ObservationWriter obsWriter,
-            bool grayScale)
-        {
-            var width = texture.width;
-            var height = texture.height;
-
-            var texturePixels = texture.GetPixels32();
-            // During training, we convert from Texture to PNG before sending to the trainer, which has the
-            // effect of flipping the image. We need another flip here at inference time to match this.
-            for (var h = height - 1; h >= 0; h--)
-            {
-                for (var w = 0; w < width; w++)
-                {
-                    var currentPixel = texturePixels[(height - h - 1) * width + w];
-                    if (grayScale)
-                    {
-                        obsWriter[h, w, 0] =
-                            (currentPixel.r + currentPixel.g + currentPixel.b) / 3f / 255.0f;
-                    }
-                    else
-                    {
-                        // For Color32, the r, g and b values are between 0 and 255.
-                        obsWriter[h, w, 0] = currentPixel.r / 255.0f;
-                        obsWriter[h, w, 1] = currentPixel.g / 255.0f;
-                        obsWriter[h, w, 2] = currentPixel.b / 255.0f;
-                    }
-                }
-            }
-
-            return height * width * (grayScale ? 1 : 3);
-        }
 
         /// <summary>
         /// Calculates the cumulative sum of an integer array. The result array will be one element

ml-agents/tests/yamato/standalone_build_tests.py

+import os
 import sys
 import argparse
 
 
     executable_name = None
     if scene_path is not None:
-        executable_name = scene_path.strip(".unity")
+        executable_name = os.path.splitext(scene_path)[0]  # Remove extension
+    print(f"Executable name {executable_name}")
 
     returncode = run_standalone_build(
         base_path, output_path=executable_name, scene_path=scene_path

.yamato/compressed-sensor-test.yml

+test_editors:
+  - version: 2018.4
+  - version: 2019.3
+---
+{% for editor in test_editors %}
+test_compressed_obs_{{ editor.version }}:
+  name: Test Compressed Sensor Observation {{ editor.version }}
+  agent:
+    type: Unity::VM::osx
+    image: ml-agents/ml-agents-bokken-mac:0.1.4-492264
+    flavor: b1.small
+  variables:
+    UNITY_VERSION: {{ editor.version }}
+  commands:
+    - pip install pyyaml --index-url https://artifactory.prd.it.unity3d.com/artifactory/api/pypi/pypi/simple
+    - python -u -m ml-agents.tests.yamato.setup_venv
+    - ./venv/bin/python ml-agents/tests/yamato/scripts/run_compressed_sensor.py --env=artifacts/testPlayer-TestGridCompressed
+    - ./venv/bin/python ml-agents/tests/yamato/scripts/run_compressed_sensor.py --env=artifacts/testPlayer-TestTextureCompressed
+  dependencies:
+    - .yamato/standalone-build-test.yml#test_mac_standalone_{{ editor.version }}
+  triggers:
+    cancel_old_ci: true
+    expression: |
+      (pull_request.target eq "master" OR
+      pull_request.target match "release.+") AND
+      NOT pull_request.draft AND
+      (pull_request.changes.any match "com.unity.ml-agents/**" OR
+      pull_request.changes.any match "com.unity.ml-agents.extensions/**" OR
+      pull_request.changes.any match "Project/**" OR
+      pull_request.changes.any match "ml-agents/**" OR
+      pull_request.changes.any match "ml-agents-envs/**" OR
+      pull_request.changes.any match ".yamato/compressed-sensor-test.yml") AND
+      NOT pull_request.changes.all match "**/*.md"
+{% endfor %}

Project/Assets/ML-Agents/TestScenes.meta

+fileFormatVersion: 2
+guid: 73f290de2bb5d4009a3831255f1f5d0f
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

ml-agents/tests/yamato/scripts/run_compressed_sensor.py

+import argparse
+import numpy as np
+
+from mlagents_envs.environment import UnityEnvironment
+
+EPSILON = 0.001
+
+
+def test_run_environment(env_name):
+    """
+    Run the low-level API test of compressed sensors using the specified environment
+    :param env_name: Name of the Unity environment binary to launch
+    """
+    env = UnityEnvironment(
+        file_name=env_name, no_graphics=True, additional_args=["-logFile", "-"]
+    )
+
+    try:
+        # Reset the environment
+        env.reset()
+
+        env.step()
+
+        # Set the default brain to work with
+        group_name = list(env.behavior_specs.keys())[0]
+
+        # Get the state of the agents
+        decision_steps, _ = env.get_steps(group_name)
+
+        # One observation comes from compressed sensor while the other comes
+        # from an uncompressed sensor
+        obs_1 = decision_steps.obs[0][0, :, :, :]
+        obs_2 = decision_steps.obs[0][1, :, :, :]
+
+        diff = np.abs(obs_1 - obs_2)
+
+        # make sure both are identical
+        assert np.max(diff) < EPSILON
+
+        # make sure an actual observation was collected
+        assert np.max(obs_1) > EPSILON
+
+        print("Observations were identical")
+
+    finally:
+        env.close()
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--env", default="artifacts/testPlayer")
+    args = parser.parse_args()
+    test_run_environment(args.env)

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Project/Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureCompressed.unity.meta

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Project/Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureSensor.cs

+using UnityEngine;
+using Unity.MLAgents.Sensors;
+using Unity.MLAgents;
+
+public class TestTextureSensor : ISensor
+{
+    Texture2D m_Texture;
+    string m_Name;
+    int[] m_Shape;
+    SensorCompressionType m_CompressionType;
+
+    /// <summary>
+    /// The compression type used by the sensor.
+    /// </summary>
+    public SensorCompressionType CompressionType
+    {
+        get { return m_CompressionType; }
+        set { m_CompressionType = value; }
+    }
+
+
+    public TestTextureSensor(
+        Texture2D texture, string name, SensorCompressionType compressionType)
+    {
+        m_Texture = texture;
+        var width = texture.width;
+        var height = texture.height;
+        m_Name = name;
+        m_Shape = new[] { height, width, 3 };
+        m_CompressionType = compressionType;
+    }
+
+    /// <inheritdoc/>
+    public string GetName()
+    {
+        return m_Name;
+    }
+
+    /// <inheritdoc/>
+    public int[] GetObservationShape()
+    {
+        return m_Shape;
+    }
+
+    /// <inheritdoc/>
+    public byte[] GetCompressedObservation()
+    {
+        var compressed = m_Texture.EncodeToPNG();
+        return compressed;
+    }
+
+    /// <inheritdoc/>
+    public int Write(ObservationWriter writer)
+    {
+        var numWritten = writer.WriteTexture(m_Texture, false);
+        return numWritten;
+    }
+
+    /// <inheritdoc/>
+    public void Update() { }
+
+    /// <inheritdoc/>
+    public void Reset() { }
+
+    /// <inheritdoc/>
+    public SensorCompressionType GetCompressionType()
+    {
+        return m_CompressionType;
+    }
+}
+

Project/Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureSensor.cs.meta

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Project/Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureSensorComponent.cs

+using UnityEngine;
+using UnityEngine.Serialization;
+using Unity.MLAgents.Sensors;
+
+
+public class TestTextureSensorComponent : SensorComponent
+{
+    TestTextureSensor m_Sensor;
+
+    public Texture2D TestTexture;
+
+    string m_SensorName = "TextureSensor";
+
+    public string SensorName
+    {
+        get { return m_SensorName; }
+        set { m_SensorName = value; }
+    }
+
+
+    public int ObservationStacks = 4;
+
+    public SensorCompressionType CompressionType = SensorCompressionType.PNG;
+
+
+    /// <inheritdoc/>
+    public override ISensor CreateSensor()
+    {
+        m_Sensor = new TestTextureSensor(TestTexture, SensorName, CompressionType);
+        if (ObservationStacks != 1)
+        {
+            return new StackingSensor(m_Sensor, ObservationStacks);
+        }
+        return m_Sensor;
+    }
+
+    /// <inheritdoc/>
+    public override int[] GetObservationShape()
+    {
+        var width = TestTexture.width;
+        var height = TestTexture.height;
+        var observationShape = new[] { height, width, 3 };
+
+        var stacks = ObservationStacks > 1 ? ObservationStacks : 1;
+        if (stacks > 1)
+        {
+            observationShape[2] *= stacks;
+        }
+
+        return observationShape;
+    }
+}
+

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