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unity-tech-cn:/tag-0.2.0
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拉取从: unity-tech-cn:develop/gym-wrapper
unity-tech-cn:/main
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unity-tech-cn:/develop/memorydump
unity-tech-cn:/develop/permutepytorch
unity-tech-cn:/develop/sac-targetq
unity-tech-cn:/develop/actions-out
unity-tech-cn:/develop/reshapeonnxmemories
unity-tech-cn:/develop/crawlergail
unity-tech-cn:/develop/debugtorchfood
unity-tech-cn:/develop/hybrid-actions
unity-tech-cn:/develop/bullet-hell
unity-tech-cn:/develop/action-spec-gym
unity-tech-cn:/develop/battlefoodcollector
unity-tech-cn:/develop/use-action-buffers
unity-tech-cn:/develop/hardswish
unity-tech-cn:/develop/leakyrelu
unity-tech-cn:/develop/torch-clip-scale
unity-tech-cn:/develop/contentropy
unity-tech-cn:/develop/manch
unity-tech-cn:/develop/torchcrawlerdebug
unity-tech-cn:/develop/fix-nan
unity-tech-cn:/develop/multitype-buffer
unity-tech-cn:/develop/windows-delay
unity-tech-cn:/develop/torch-tanh
unity-tech-cn:/develop/gail-norm
unity-tech-cn:/develop/multiprocess
unity-tech-cn:/develop/unified-obs
unity-tech-cn:/develop/rm-rf-new-models
unity-tech-cn:/develop/skipcritic
unity-tech-cn:/develop/centralizedcritic
unity-tech-cn:/develop/dodgeball-tests
unity-tech-cn:/develop/cc-teammanager
unity-tech-cn:/develop/weight-decay
unity-tech-cn:/develop/singular-embeddings
unity-tech-cn:/develop/zombieteammanager
unity-tech-cn:/develop/superpush
unity-tech-cn:/develop/teammanager
unity-tech-cn:/develop/zombie-exp
unity-tech-cn:/develop/update-readme
unity-tech-cn:/develop/readme-fix
unity-tech-cn:/develop/coma-noact
unity-tech-cn:/develop/coma-withq
unity-tech-cn:/develop/coma2
unity-tech-cn:/develop/action-slice
unity-tech-cn:/develop/gru
unity-tech-cn:/develop/critic-op-lstm-currentmem
unity-tech-cn:/develop/decaygail
unity-tech-cn:/develop/gail-srl-hack
unity-tech-cn:/develop/rear-pad
unity-tech-cn:/develop/mm-copyright-dates
unity-tech-cn:/develop/dodgeball-raycasts
unity-tech-cn:/develop/collab-envs-exp-ervin
unity-tech-cn:/develop/pushcollabonly
unity-tech-cn:/develop/sample-curation
unity-tech-cn:/develop/soccer-groupman
unity-tech-cn:/develop/input-actuator-tanks
unity-tech-cn:/develop/validate-release-fix
unity-tech-cn:/develop/new-console-log
unity-tech-cn:/develop/lex-walker-model
unity-tech-cn:/develop/lstm-burnin
unity-tech-cn:/develop/grid-vaiable-names
unity-tech-cn:/develop/fix-attn-embedding
unity-tech-cn:/develop/api-documentation-update-some-fixes
unity-tech-cn:/develop/update-grpc
unity-tech-cn:/develop/grid-rootref-debug
unity-tech-cn:/develop/pbcollab-rays
unity-tech-cn:/develop/2.0-verified-pre
unity-tech-cn:/develop/parameterizedenvs
unity-tech-cn:/develop/custom-ray-sensor
unity-tech-cn:/develop/mm-add-v2blog
unity-tech-cn:/develop/custom-raycast
unity-tech-cn:/develop/area-manager
unity-tech-cn:/develop/remove-unecessary-lr
unity-tech-cn:/develop/use-base-env-in-learn
unity-tech-cn:/soccer-fives/multiagent
unity-tech-cn:/develop/cubewars/splashdamage
unity-tech-cn:/develop/add-fire/exp
unity-tech-cn:/develop/add-fire/jit
unity-tech-cn:/develop/add-fire/speedtest
unity-tech-cn:/develop/add-fire/bc
unity-tech-cn:/develop/add-fire/ckpt-2
unity-tech-cn:/develop/add-fire/normalize-context
unity-tech-cn:/develop/add-fire/components-dir
unity-tech-cn:/develop/add-fire/halfentropy
unity-tech-cn:/develop/add-fire/memoryclass
unity-tech-cn:/develop/add-fire/categoricaldist
unity-tech-cn:/develop/add-fire/mm
unity-tech-cn:/develop/add-fire/sac-lst
unity-tech-cn:/develop/add-fire/mm3
unity-tech-cn:/develop/add-fire/continuous
unity-tech-cn:/develop/add-fire/ghost
unity-tech-cn:/develop/add-fire/policy-tests
unity-tech-cn:/develop/add-fire/export-discrete
unity-tech-cn:/develop/add-fire/test-simple-rl-fix-resnet
unity-tech-cn:/develop/add-fire/remove-currdoc
unity-tech-cn:/develop/add-fire/clean2
unity-tech-cn:/develop/add-fire/doc-cleanups
unity-tech-cn:/develop/add-fire/changelog
unity-tech-cn:/develop/add-fire/mm2
unity-tech-cn:/develop/model-transfer/add-physics
unity-tech-cn:/develop/model-transfer/train
unity-tech-cn:/develop/jit/experiments
unity-tech-cn:/exp-vince/sep30-2020
unity-tech-cn:/hh-develop-gridsensor-tests/static
unity-tech-cn:/develop/hybrid-actions/distlist
unity-tech-cn:/develop/bullet-hell/buffer
unity-tech-cn:/goal-conditioning/new
unity-tech-cn:/goal-conditioning/sensors-2
unity-tech-cn:/goal-conditioning/sensors-3-pytest-fix
unity-tech-cn:/goal-conditioning/grid-world
unity-tech-cn:/soccer-comms/disc
unity-tech-cn:/develop/centralizedcritic/counterfact
unity-tech-cn:/develop/centralizedcritic/mm
unity-tech-cn:/develop/centralizedcritic/nonego
unity-tech-cn:/develop/zombieteammanager/disableagent
unity-tech-cn:/develop/zombieteammanager/killfirst
unity-tech-cn:/develop/superpush/int
unity-tech-cn:/develop/superpush/branch-cleanup
unity-tech-cn:/develop/teammanager/int
unity-tech-cn:/develop/teammanager/cubewar-nocycle
unity-tech-cn:/develop/teammanager/cubewars
unity-tech-cn:/develop/superpush/int/hunter
unity-tech-cn:/goal-conditioning/new/allo-crawler
unity-tech-cn:/develop/coma2/clip
unity-tech-cn:/develop/coma2/singlenetwork
unity-tech-cn:/develop/coma2/samenet
unity-tech-cn:/develop/coma2/fixgroup
unity-tech-cn:/develop/coma2/samenet/sum
unity-tech-cn:/hh-develop-dodgeball/goy-input
unity-tech-cn:/develop/soccer-groupman/mod
unity-tech-cn:/develop/soccer-groupman/mod/hunter
unity-tech-cn:/develop/soccer-groupman/mod/hunter/cine
unity-tech-cn:/ai-hw-2021/tensor-applier
此合并请求有变更与目标分支冲突。
/ml-agents-envs/setup.py
/ml-agents/mlagents/trainers/tests/test_simple_rl.py
2 次代码提交
作者 | SHA1 | 备注 | 提交日期 |
---|---|---|---|
vincentpierre | d031c7a9 | Merging master | 4 年前 |
vincentpierre | 599d7e9f | Merging master | 4 年前 |
共有 4 个文件被更改,包括 260 次插入 和 4 次删除
-
1ml-agents-envs/setup.py
-
45ml-agents/mlagents/trainers/tests/test_simple_rl.py
-
178ml-agents-envs/mlagents_envs/gym_to_unity_wrapper.py
-
40ml-agents-envs/mlagents_envs/tests/test_gym_to_unity_wrapper.py
|
|||
from mlagents_envs.base_env import ( |
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BaseEnv, |
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DecisionSteps, |
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TerminalSteps, |
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BehaviorSpec, |
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BehaviorName, |
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AgentId, |
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ActionType, |
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BehaviorMapping, |
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) |
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from mlagents_envs.exception import UnityActionException, UnityObservationException |
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|
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from typing import Tuple, Union, Optional |
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|
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import numpy as np |
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|
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import gym |
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|
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|
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class GymToUnityWrapper(BaseEnv): |
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_DEFAULT_BEHAVIOR_NAME = "gym_behavior_name" |
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_AGENT_ID = 1 |
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|
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def __init__(self, gym_env: gym.Env, name: Optional[str] = None): |
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""" |
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Wrapper construction. Creates an implementation of a Unity BaseEnv from a gym |
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environment. |
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:gym.Env gym_env: The gym environment that will be wrapped. |
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:str name: [Optional] The name of the gym environment. This will become the |
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name of the behavior for the BaseEnv. |
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""" |
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self._gym_env = gym_env |
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self._first_message = True |
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if name is None: |
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self._behavior_name = self._DEFAULT_BEHAVIOR_NAME |
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else: |
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self._behavior_name = name |
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action_type = ActionType.CONTINUOUS |
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action_shape: Union[Tuple[int, ...], int] = 0 |
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if isinstance(self._gym_env.action_space, gym.spaces.Box): |
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action_type = ActionType.CONTINUOUS |
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action_shape = np.prod(self._gym_env.action_space.shape) |
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self._act_ratio = np.maximum( |
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self._gym_env.action_space.high, -self._gym_env.action_space.low |
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) |
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self._act_ratio[self._act_ratio > 1e38] = 1 |
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elif isinstance(self._gym_env.action_space, gym.spaces.Discrete): |
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action_shape = (self._gym_env.action_space.n,) |
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action_type = ActionType.DISCRETE |
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else: |
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raise UnityActionException( |
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f"Unknown action type {self._gym_env.action_space}" |
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) |
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if not isinstance(self._gym_env.observation_space, gym.spaces.Box): |
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raise UnityObservationException( |
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f"Unknown observation type {self._gym_env.observation_space}" |
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) |
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self._obs_ratio = np.maximum( |
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self._gym_env.observation_space.high, -self._gym_env.observation_space.low |
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) |
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# If the range is infinity, just don't normalize |
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self._obs_ratio[self._obs_ratio > 1e38] = 1 |
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self._behavior_specs = BehaviorSpec( |
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observation_shapes=[self._gym_env.observation_space.shape], |
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action_type=action_type, |
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action_shape=action_shape, |
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) |
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self._g_action: np.ndarray = None |
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self._current_steps: Tuple[DecisionSteps, TerminalSteps] = ( |
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DecisionSteps.empty(self._behavior_specs), |
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TerminalSteps.empty(self._behavior_specs), |
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) |
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|
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@property |
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def behavior_specs(self) -> BehaviorMapping: |
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return BehaviorMapping({self._behavior_name: self._behavior_specs}) |
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|
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def step(self) -> None: |
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if self._first_message: |
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self.reset() |
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return |
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obs, rew, done, info = self._gym_env.step(self._g_action) |
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if not done: |
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self._current_steps = ( |
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DecisionSteps( |
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obs=[np.expand_dims(obs / self._obs_ratio, axis=0)], |
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reward=np.array([rew], dtype=np.float32), |
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agent_id=np.array([self._AGENT_ID], dtype=np.int32), |
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action_mask=None, |
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), |
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TerminalSteps.empty(self._behavior_specs), |
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) |
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else: |
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self._first_message = True |
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self._current_steps = ( |
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DecisionSteps.empty(self._behavior_specs), |
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TerminalSteps( |
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obs=[np.expand_dims(obs / self._obs_ratio, axis=0)], |
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reward=np.array([rew], dtype=np.float32), |
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interrupted=np.array( |
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[info.get("TimeLimit.truncated", False)], dtype=np.bool |
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), |
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agent_id=np.array([self._AGENT_ID], dtype=np.int32), |
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), |
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) |
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|
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def reset(self) -> None: |
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self._first_message = False |
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obs = self._gym_env.reset() |
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self._current_steps = ( |
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DecisionSteps( |
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obs=[np.expand_dims(obs / self._obs_ratio, axis=0)], |
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reward=np.array([0], dtype=np.float32), |
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agent_id=np.array([self._AGENT_ID], dtype=np.int32), |
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action_mask=None, |
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), |
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TerminalSteps.empty(self._behavior_specs), |
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) |
|||
|
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def close(self) -> None: |
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self._gym_env.close() |
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|
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def set_actions(self, behavior_name: BehaviorName, action: np.ndarray) -> None: |
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assert behavior_name == self._behavior_name |
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spec = self._behavior_specs |
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expected_type = np.float32 if spec.is_action_continuous() else np.int32 |
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n_agents = len(self._current_steps[0]) |
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if n_agents == 0: |
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return |
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expected_shape = (n_agents, spec.action_size) |
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if action.shape != expected_shape: |
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raise UnityActionException( |
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"The behavior {0} needs an input of dimension {1} but received input of dimension {2}".format( |
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behavior_name, expected_shape, action.shape |
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) |
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) |
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if action.dtype != expected_type: |
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action = action.astype(expected_type) |
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if isinstance(self._gym_env.action_space, gym.spaces.Discrete): |
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self._g_action = int(action[0, 0]) |
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elif isinstance(self._gym_env.action_space, gym.spaces.Box): |
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self._g_action = action[0] / self._act_ratio |
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else: |
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raise UnityActionException( |
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f"Unknown action type {self._gym_env.action_space}" |
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) |
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|
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def set_action_for_agent( |
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self, behavior_name: BehaviorName, agent_id: AgentId, action: np.ndarray |
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) -> None: |
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assert behavior_name == self._behavior_name |
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assert agent_id == self._AGENT_ID |
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spec = self._behavior_specs |
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expected_shape = (spec.action_size,) |
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if action.shape != expected_shape: |
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raise UnityActionException( |
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f"The Agent {0} with BehaviorName {1} needs an input of dimension " |
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f"{2} but received input of dimension {3}".format( |
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agent_id, behavior_name, expected_shape, action.shape |
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) |
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) |
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expected_type = np.float32 if spec.is_action_continuous() else np.int32 |
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if action.dtype != expected_type: |
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action = action.astype(expected_type) |
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if isinstance(self._gym_env.action_space, gym.spaces.Discrete): |
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self._g_action = int(action[0]) |
|||
elif isinstance(self._gym_env.action_space, gym.spaces.Box): |
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self._g_action = action / self._act_ratio |
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else: |
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raise UnityActionException( |
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f"Unknown action type {self._gym_env.action_space}" |
|||
) |
|||
|
|||
def get_steps( |
|||
self, behavior_name: BehaviorName |
|||
) -> Tuple[DecisionSteps, TerminalSteps]: |
|||
assert behavior_name == self._behavior_name |
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return self._current_steps |
|
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from mlagents_envs.gym_to_unity_wrapper import GymToUnityWrapper |
|||
from mlagents_envs.base_env import ActionType |
|||
import gym |
|||
|
|||
import pytest |
|||
|
|||
|
|||
GYM_ENVS = ["CartPole-v1", "MountainCar-v0"] |
|||
|
|||
|
|||
@pytest.mark.parametrize("name", GYM_ENVS, ids=GYM_ENVS) |
|||
def test_creation(name): |
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env = GymToUnityWrapper(gym.make(name), name) |
|||
env.close() |
|||
|
|||
|
|||
@pytest.mark.parametrize("name", GYM_ENVS, ids=GYM_ENVS) |
|||
def test_specs(name): |
|||
gym_env = gym.make(name) |
|||
env = GymToUnityWrapper(gym_env, name) |
|||
assert list(env.behavior_specs.keys()) == [name] |
|||
if isinstance(gym_env.action_space, gym.spaces.Box): |
|||
assert env.behavior_specs[name].action_type == ActionType.CONTINUOUS |
|||
elif isinstance(gym_env.action_space, gym.spaces.Discrete): |
|||
assert env.behavior_specs[name].action_type == ActionType.DISCRETE |
|||
else: |
|||
raise NotImplementedError("Test for this action space type not implemented") |
|||
env.close() |
|||
|
|||
|
|||
@pytest.mark.parametrize("name", GYM_ENVS, ids=GYM_ENVS) |
|||
def test_steps(name): |
|||
env = GymToUnityWrapper(gym.make(name), name) |
|||
spec = env.behavior_specs[name] |
|||
env.reset() |
|||
for _ in range(200): |
|||
d_steps, t_steps = env.get_steps(name) |
|||
env.set_actions(name, spec.create_empty_action(len(d_steps))) |
|||
env.step() |
|||
env.close() |
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