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from typing import List, Tuple
from mlagents_envs.communicator_objects.agent_info_pb2 import AgentInfoProto
from mlagents_envs.communicator_objects.observation_pb2 import (
ObservationProto,
NONE,
PNG,
)
from mlagents_envs.communicator_objects.brain_parameters_pb2 import BrainParametersProto
import numpy as np
from mlagents_envs.base_env import AgentGroupSpec, ActionType
import io
from mlagents_envs.rpc_utils import (
agent_group_spec_from_proto,
process_pixels,
_process_visual_observation,
_process_vector_observation,
batched_step_result_from_proto,
)
from PIL import Image
def generate_list_agent_proto(
n_agent: int, shape: List[Tuple[int]]
) -> List[AgentInfoProto]:
result = []
for agent_index in range(n_agent):
ap = AgentInfoProto()
ap.reward = agent_index
ap.done = agent_index % 2 == 0
ap.max_step_reached = agent_index % 2 == 1
ap.id = agent_index
ap.action_mask.extend([True, False] * 5)
obs_proto_list = []
for obs_index in range(len(shape)):
obs_proto = ObservationProto()
obs_proto.shape.extend(list(shape[obs_index]))
obs_proto.compression_type = NONE
obs_proto.float_data.data.extend([0.1] * np.prod(shape[obs_index]))
obs_proto_list.append(obs_proto)
ap.observations.extend(obs_proto_list)
result.append(ap)
return result
def generate_compressed_data(in_array: np.ndarray) -> bytes:
image_arr = (in_array * 255).astype(np.uint8)
im = Image.fromarray(image_arr, "RGB")
byteIO = io.BytesIO()
im.save(byteIO, format="PNG")
return byteIO.getvalue()
def generate_compressed_proto_obs(in_array: np.ndarray) -> ObservationProto:
obs_proto = ObservationProto()
obs_proto.compressed_data = generate_compressed_data(in_array)
obs_proto.compression_type = PNG
obs_proto.shape.extend(in_array.shape)
return obs_proto
def test_process_pixels():
in_array = np.random.rand(128, 128, 3)
byte_arr = generate_compressed_data(in_array)
out_array = process_pixels(byte_arr, False)
assert out_array.shape == (128, 128, 3)
assert np.sum(in_array - out_array) / np.prod(in_array.shape) < 0.01
assert (in_array - out_array < 0.01).all()
def test_process_pixels_gray():
in_array = np.random.rand(128, 128, 3)
byte_arr = generate_compressed_data(in_array)
out_array = process_pixels(byte_arr, True)
assert out_array.shape == (128, 128, 1)
assert np.mean(in_array.mean(axis=2, keepdims=True) - out_array) < 0.01
assert (in_array.mean(axis=2, keepdims=True) - out_array < 0.01).all()
def test_vector_observation():
n_agents = 10
shapes = [(3,), (4,)]
list_proto = generate_list_agent_proto(n_agents, shapes)
for obs_index, shape in enumerate(shapes):
arr = _process_vector_observation(obs_index, shape, list_proto)
assert list(arr.shape) == ([n_agents] + list(shape))
assert (np.abs(arr - 0.1) < 0.01).all()
def test_process_visual_observation():
in_array_1 = np.random.rand(128, 128, 3)
proto_obs_1 = generate_compressed_proto_obs(in_array_1)
in_array_2 = np.random.rand(128, 128, 3)
proto_obs_2 = generate_compressed_proto_obs(in_array_2)
ap1 = AgentInfoProto()
ap1.observations.extend([proto_obs_1])
ap2 = AgentInfoProto()
ap2.observations.extend([proto_obs_2])
ap_list = [ap1, ap2]
arr = _process_visual_observation(0, (128, 128, 3), ap_list)
assert list(arr.shape) == [2, 128, 128, 3]
assert (arr[0, :, :, :] - in_array_1 < 0.01).all()
assert (arr[1, :, :, :] - in_array_2 < 0.01).all()
def test_batched_step_result_from_proto():
n_agents = 10
shapes = [(3,), (4,)]
group_spec = AgentGroupSpec(shapes, ActionType.CONTINUOUS, 3)
ap_list = generate_list_agent_proto(n_agents, shapes)
result = batched_step_result_from_proto(ap_list, group_spec)
assert list(result.reward) == list(range(n_agents))
assert list(result.agent_id) == list(range(n_agents))
for index in range(n_agents):
assert result.done[index] == (index % 2 == 0)
assert result.max_step[index] == (index % 2 == 1)
assert list(result.obs[0].shape) == [n_agents] + list(shapes[0])
assert list(result.obs[1].shape) == [n_agents] + list(shapes[1])
def test_action_masking_discrete():
n_agents = 10
shapes = [(3,), (4,)]
group_spec = AgentGroupSpec(shapes, ActionType.DISCRETE, (7, 3))
ap_list = generate_list_agent_proto(n_agents, shapes)
result = batched_step_result_from_proto(ap_list, group_spec)
masks = result.action_mask
assert isinstance(masks, list)
assert len(masks) == 2
assert masks[0].shape == (n_agents, 7)
assert masks[1].shape == (n_agents, 3)
assert masks[0][0, 0]
assert not masks[1][0, 0]
assert masks[1][0, 1]
def test_action_masking_discrete_1():
n_agents = 10
shapes = [(3,), (4,)]
group_spec = AgentGroupSpec(shapes, ActionType.DISCRETE, (10,))
ap_list = generate_list_agent_proto(n_agents, shapes)
result = batched_step_result_from_proto(ap_list, group_spec)
masks = result.action_mask
assert isinstance(masks, list)
assert len(masks) == 1
assert masks[0].shape == (n_agents, 10)
assert masks[0][0, 0]
def test_action_masking_discrete_2():
n_agents = 10
shapes = [(3,), (4,)]
group_spec = AgentGroupSpec(shapes, ActionType.DISCRETE, (2, 2, 6))
ap_list = generate_list_agent_proto(n_agents, shapes)
result = batched_step_result_from_proto(ap_list, group_spec)
masks = result.action_mask
assert isinstance(masks, list)
assert len(masks) == 3
assert masks[0].shape == (n_agents, 2)
assert masks[1].shape == (n_agents, 2)
assert masks[2].shape == (n_agents, 6)
assert masks[0][0, 0]
def test_action_masking_continuous():
n_agents = 10
shapes = [(3,), (4,)]
group_spec = AgentGroupSpec(shapes, ActionType.CONTINUOUS, 10)
ap_list = generate_list_agent_proto(n_agents, shapes)
result = batched_step_result_from_proto(ap_list, group_spec)
masks = result.action_mask
assert masks is None
def test_agent_group_spec_from_proto():
agent_proto = generate_list_agent_proto(1, [(3,), (4,)])[0]
bp = BrainParametersProto()
bp.vector_action_size.extend([5, 4])
bp.vector_action_space_type = 0
group_spec = agent_group_spec_from_proto(bp, agent_proto)
assert group_spec.is_action_discrete()
assert not group_spec.is_action_continuous()
assert group_spec.observation_shapes == [(3,), (4,)]
assert group_spec.discrete_action_branches == (5, 4)
assert group_spec.action_size == 2
bp = BrainParametersProto()
bp.vector_action_size.extend([6])
bp.vector_action_space_type = 1
group_spec = agent_group_spec_from_proto(bp, agent_proto)
assert not group_spec.is_action_discrete()
assert group_spec.is_action_continuous()
assert group_spec.action_size == 6