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662 行
28 KiB
662 行
28 KiB
import atexit
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import glob
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import logging
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import numpy as np
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import os
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import subprocess
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from typing import Dict, List, Optional, Any
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from mlagents.envs.side_channel.side_channel import SideChannel
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from mlagents.envs.base_unity_environment import BaseUnityEnvironment
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from mlagents.envs.timers import timed, hierarchical_timer
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from .brain import AllBrainInfo, BrainInfo, BrainParameters
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from .exception import (
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UnityEnvironmentException,
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UnityCommunicationException,
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UnityActionException,
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UnityTimeOutException,
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)
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from mlagents.envs.communicator_objects.unity_rl_input_pb2 import UnityRLInputProto
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from mlagents.envs.communicator_objects.unity_rl_output_pb2 import UnityRLOutputProto
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from mlagents.envs.communicator_objects.agent_action_pb2 import AgentActionProto
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from mlagents.envs.communicator_objects.environment_parameters_pb2 import (
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EnvironmentParametersProto,
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)
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from mlagents.envs.communicator_objects.unity_output_pb2 import UnityOutputProto
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from mlagents.envs.communicator_objects.unity_rl_initialization_input_pb2 import (
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UnityRLInitializationInputProto,
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)
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from mlagents.envs.communicator_objects.unity_input_pb2 import UnityInputProto
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from .rpc_communicator import RpcCommunicator
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from sys import platform
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import signal
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import struct
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logging.basicConfig(level=logging.INFO)
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logger = logging.getLogger("mlagents.envs")
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class UnityEnvironment(BaseUnityEnvironment):
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SCALAR_ACTION_TYPES = (int, np.int32, np.int64, float, np.float32, np.float64)
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SINGLE_BRAIN_ACTION_TYPES = SCALAR_ACTION_TYPES + (list, np.ndarray)
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API_VERSION = "API-12"
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def __init__(
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self,
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file_name: Optional[str] = None,
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worker_id: int = 0,
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base_port: int = 5005,
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seed: int = 0,
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docker_training: bool = False,
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no_graphics: bool = False,
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timeout_wait: int = 60,
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args: Optional[List[str]] = None,
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side_channels: Optional[List[SideChannel]] = None,
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):
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"""
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Starts a new unity environment and establishes a connection with the environment.
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Notice: Currently communication between Unity and Python takes place over an open socket without authentication.
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Ensure that the network where training takes place is secure.
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:string file_name: Name of Unity environment binary.
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:int base_port: Baseline port number to connect to Unity environment over. worker_id increments over this.
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:int worker_id: Number to add to communication port (5005) [0]. Used for asynchronous agent scenarios.
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:bool docker_training: Informs this class whether the process is being run within a container.
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:bool no_graphics: Whether to run the Unity simulator in no-graphics mode
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:int timeout_wait: Time (in seconds) to wait for connection from environment.
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:bool train_mode: Whether to run in training mode, speeding up the simulation, by default.
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:list args: Addition Unity command line arguments
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:list side_channels: Additional side channel for no-rl communication with Unity
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"""
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args = args or []
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atexit.register(self._close)
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self.port = base_port + worker_id
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self._buffer_size = 12000
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self._version_ = UnityEnvironment.API_VERSION
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# If true, this means the environment was successfully loaded
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self._loaded = False
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# The process that is started. If None, no process was started
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self.proc1 = None
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self.timeout_wait: int = timeout_wait
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self.communicator = self.get_communicator(worker_id, base_port, timeout_wait)
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self.worker_id = worker_id
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self.side_channels: Dict[int, SideChannel] = {}
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if side_channels is not None:
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for _sc in side_channels:
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if _sc.channel_type in self.side_channels:
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raise UnityEnvironmentException(
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"There cannot be two side channels with the same channel type {0}.".format(
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_sc.channel_type
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)
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)
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self.side_channels[_sc.channel_type] = _sc
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# If the environment name is None, a new environment will not be launched
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# and the communicator will directly try to connect to an existing unity environment.
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# If the worker-id is not 0 and the environment name is None, an error is thrown
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if file_name is None and worker_id != 0:
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raise UnityEnvironmentException(
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"If the environment name is None, "
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"the worker-id must be 0 in order to connect with the Editor."
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)
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if file_name is not None:
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self.executable_launcher(file_name, docker_training, no_graphics, args)
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else:
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logger.info(
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"Start training by pressing the Play button in the Unity Editor."
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)
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self._loaded = True
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rl_init_parameters_in = UnityRLInitializationInputProto(seed=seed)
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try:
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aca_output = self.send_academy_parameters(rl_init_parameters_in)
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aca_params = aca_output.rl_initialization_output
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except UnityTimeOutException:
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self._close()
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raise
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# TODO : think of a better way to expose the academyParameters
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self._unity_version = aca_params.version
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if self._unity_version != self._version_:
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self._close()
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raise UnityEnvironmentException(
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"The API number is not compatible between Unity and python. Python API : {0}, Unity API : "
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"{1}.\nPlease go to https://github.com/Unity-Technologies/ml-agents to download the latest version "
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"of ML-Agents.".format(self._version_, self._unity_version)
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)
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self._n_agents: Dict[str, int] = {}
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self._is_first_message = True
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self._academy_name = aca_params.name
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self._log_path = aca_params.log_path
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self._brains: Dict[str, BrainParameters] = {}
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self._external_brain_names: List[str] = []
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self._num_external_brains = 0
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self._update_brain_parameters(aca_output)
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self._resetParameters = dict(aca_params.environment_parameters.float_parameters)
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logger.info(
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"\n'{0}' started successfully!\n{1}".format(self._academy_name, str(self))
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)
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@property
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def logfile_path(self):
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return self._log_path
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@property
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def brains(self):
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return self._brains
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@property
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def academy_name(self):
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return self._academy_name
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@property
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def number_external_brains(self):
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return self._num_external_brains
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@property
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def external_brain_names(self):
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return self._external_brain_names
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@staticmethod
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def get_communicator(worker_id, base_port, timeout_wait):
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return RpcCommunicator(worker_id, base_port, timeout_wait)
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@property
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def external_brains(self):
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external_brains = {}
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for brain_name in self.external_brain_names:
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external_brains[brain_name] = self.brains[brain_name]
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return external_brains
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@property
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def reset_parameters(self):
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return self._resetParameters
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def executable_launcher(self, file_name, docker_training, no_graphics, args):
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cwd = os.getcwd()
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file_name = (
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file_name.strip()
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.replace(".app", "")
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.replace(".exe", "")
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.replace(".x86_64", "")
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.replace(".x86", "")
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)
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true_filename = os.path.basename(os.path.normpath(file_name))
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logger.debug("The true file name is {}".format(true_filename))
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launch_string = None
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if platform == "linux" or platform == "linux2":
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candidates = glob.glob(os.path.join(cwd, file_name) + ".x86_64")
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if len(candidates) == 0:
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candidates = glob.glob(os.path.join(cwd, file_name) + ".x86")
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if len(candidates) == 0:
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candidates = glob.glob(file_name + ".x86_64")
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if len(candidates) == 0:
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candidates = glob.glob(file_name + ".x86")
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if len(candidates) > 0:
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launch_string = candidates[0]
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elif platform == "darwin":
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candidates = glob.glob(
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os.path.join(
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cwd, file_name + ".app", "Contents", "MacOS", true_filename
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)
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)
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if len(candidates) == 0:
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candidates = glob.glob(
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os.path.join(file_name + ".app", "Contents", "MacOS", true_filename)
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)
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if len(candidates) == 0:
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candidates = glob.glob(
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os.path.join(cwd, file_name + ".app", "Contents", "MacOS", "*")
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)
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if len(candidates) == 0:
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candidates = glob.glob(
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os.path.join(file_name + ".app", "Contents", "MacOS", "*")
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)
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if len(candidates) > 0:
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launch_string = candidates[0]
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elif platform == "win32":
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candidates = glob.glob(os.path.join(cwd, file_name + ".exe"))
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if len(candidates) == 0:
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candidates = glob.glob(file_name + ".exe")
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if len(candidates) > 0:
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launch_string = candidates[0]
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if launch_string is None:
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self._close()
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raise UnityEnvironmentException(
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"Couldn't launch the {0} environment. "
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"Provided filename does not match any environments.".format(
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true_filename
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)
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)
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else:
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logger.debug("This is the launch string {}".format(launch_string))
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# Launch Unity environment
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if not docker_training:
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subprocess_args = [launch_string]
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if no_graphics:
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subprocess_args += ["-nographics", "-batchmode"]
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subprocess_args += ["--port", str(self.port)]
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subprocess_args += args
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try:
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self.proc1 = subprocess.Popen(
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subprocess_args,
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# start_new_session=True means that signals to the parent python process
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# (e.g. SIGINT from keyboard interrupt) will not be sent to the new process on POSIX platforms.
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# This is generally good since we want the environment to have a chance to shutdown,
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# but may be undesirable in come cases; if so, we'll add a command-line toggle.
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# Note that on Windows, the CTRL_C signal will still be sent.
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start_new_session=True,
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)
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except PermissionError as perm:
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# This is likely due to missing read or execute permissions on file.
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raise UnityEnvironmentException(
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f"Error when trying to launch environment - make sure "
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f"permissions are set correctly. For example "
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f'"chmod -R 755 {launch_string}"'
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) from perm
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else:
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# Comments for future maintenance:
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# xvfb-run is a wrapper around Xvfb, a virtual xserver where all
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# rendering is done to virtual memory. It automatically creates a
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# new virtual server automatically picking a server number `auto-servernum`.
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# The server is passed the arguments using `server-args`, we are telling
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# Xvfb to create Screen number 0 with width 640, height 480 and depth 24 bits.
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# Note that 640 X 480 are the default width and height. The main reason for
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# us to add this is because we'd like to change the depth from the default
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# of 8 bits to 24.
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# Unfortunately, this means that we will need to pass the arguments through
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# a shell which is why we set `shell=True`. Now, this adds its own
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# complications. E.g SIGINT can bounce off the shell and not get propagated
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# to the child processes. This is why we add `exec`, so that the shell gets
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# launched, the arguments are passed to `xvfb-run`. `exec` replaces the shell
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# we created with `xvfb`.
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#
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docker_ls = (
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"exec xvfb-run --auto-servernum"
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" --server-args='-screen 0 640x480x24'"
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" {0} --port {1}"
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).format(launch_string, str(self.port))
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self.proc1 = subprocess.Popen(
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docker_ls,
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stdout=subprocess.PIPE,
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stderr=subprocess.PIPE,
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shell=True,
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)
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def __str__(self):
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reset_params_str = (
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"\n\t\t".join(
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[
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str(k) + " -> " + str(self._resetParameters[k])
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for k in self._resetParameters
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]
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)
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if self._resetParameters
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else "{}"
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)
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return f"""Unity Academy name: {self._academy_name}
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Reset Parameters : {reset_params_str}"""
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def reset(
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self,
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config: Dict = None,
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train_mode: bool = True,
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custom_reset_parameters: Any = None,
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) -> AllBrainInfo:
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"""
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Sends a signal to reset the unity environment.
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:return: AllBrainInfo : A data structure corresponding to the initial reset state of the environment.
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"""
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if config is None:
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config = self._resetParameters
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elif config:
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logger.info(
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"Academy reset with parameters: {0}".format(
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", ".join([str(x) + " -> " + str(config[x]) for x in config])
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)
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)
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for k in config:
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if (k in self._resetParameters) and (isinstance(config[k], (int, float))):
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self._resetParameters[k] = config[k]
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elif not isinstance(config[k], (int, float)):
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raise UnityEnvironmentException(
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"The value for parameter '{0}'' must be an Integer or a Float.".format(
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k
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)
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)
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else:
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raise UnityEnvironmentException(
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"The parameter '{0}' is not a valid parameter.".format(k)
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)
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if self._loaded:
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outputs = self.communicator.exchange(
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self._generate_reset_input(train_mode, config, custom_reset_parameters)
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)
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if outputs is None:
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raise UnityCommunicationException("Communicator has stopped.")
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self._update_brain_parameters(outputs)
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rl_output = outputs.rl_output
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s = self._get_state(rl_output)
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for _b in self._external_brain_names:
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self._n_agents[_b] = len(s[_b].agents)
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self._is_first_message = False
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return s
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else:
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raise UnityEnvironmentException("No Unity environment is loaded.")
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@timed
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def step(
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self,
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vector_action: Dict[str, np.ndarray] = None,
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value: Optional[Dict[str, np.ndarray]] = None,
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) -> AllBrainInfo:
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"""
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Provides the environment with an action, moves the environment dynamics forward accordingly,
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and returns observation, state, and reward information to the agent.
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:param value: Value estimates provided by agents.
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:param vector_action: Agent's vector action. Can be a scalar or vector of int/floats.
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:param memory: Vector corresponding to memory used for recurrent policies.
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:return: AllBrainInfo : A Data structure corresponding to the new state of the environment.
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"""
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if self._is_first_message:
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return self.reset()
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vector_action = {} if vector_action is None else vector_action
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value = {} if value is None else value
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# Check that environment is loaded, and episode is currently running.
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if not self._loaded:
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raise UnityEnvironmentException("No Unity environment is loaded.")
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else:
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if isinstance(vector_action, self.SINGLE_BRAIN_ACTION_TYPES):
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if self._num_external_brains == 1:
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vector_action = {self._external_brain_names[0]: vector_action}
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elif self._num_external_brains > 1:
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raise UnityActionException(
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"You have {0} brains, you need to feed a dictionary of brain names a keys, "
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"and vector_actions as values".format(self._num_external_brains)
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)
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else:
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raise UnityActionException(
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"There are no external brains in the environment, "
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"step cannot take a vector_action input"
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)
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if isinstance(value, self.SINGLE_BRAIN_ACTION_TYPES):
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if self._num_external_brains == 1:
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value = {self._external_brain_names[0]: value}
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elif self._num_external_brains > 1:
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raise UnityActionException(
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"You have {0} brains, you need to feed a dictionary of brain names as keys "
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"and state/action value estimates as values".format(
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self._num_external_brains
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)
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)
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else:
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raise UnityActionException(
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"There are no external brains in the environment, "
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"step cannot take a value input"
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)
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for brain_name in list(vector_action.keys()):
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if brain_name not in self._external_brain_names:
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raise UnityActionException(
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"The name {0} does not correspond to an external brain "
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"in the environment".format(brain_name)
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)
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for brain_name in self._external_brain_names:
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n_agent = self._n_agents[brain_name]
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if brain_name not in vector_action:
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if self._brains[brain_name].vector_action_space_type == "discrete":
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vector_action[brain_name] = (
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[0.0]
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* n_agent
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* len(self._brains[brain_name].vector_action_space_size)
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)
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else:
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vector_action[brain_name] = (
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[0.0]
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* n_agent
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* self._brains[brain_name].vector_action_space_size[0]
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)
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else:
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vector_action[brain_name] = self._flatten(vector_action[brain_name])
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discrete_check = (
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self._brains[brain_name].vector_action_space_type == "discrete"
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)
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expected_discrete_size = n_agent * len(
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self._brains[brain_name].vector_action_space_size
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)
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continuous_check = (
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self._brains[brain_name].vector_action_space_type == "continuous"
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)
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expected_continuous_size = (
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self._brains[brain_name].vector_action_space_size[0] * n_agent
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)
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if not (
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(
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discrete_check
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and len(vector_action[brain_name]) == expected_discrete_size
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)
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or (
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continuous_check
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and len(vector_action[brain_name]) == expected_continuous_size
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)
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):
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raise UnityActionException(
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"There was a mismatch between the provided action and "
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"the environment's expectation: "
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"The brain {0} expected {1} {2} action(s), but was provided: {3}".format(
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brain_name,
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str(expected_discrete_size)
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if discrete_check
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else str(expected_continuous_size),
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self._brains[brain_name].vector_action_space_type,
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str(vector_action[brain_name]),
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)
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)
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step_input = self._generate_step_input(vector_action, value)
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with hierarchical_timer("communicator.exchange"):
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outputs = self.communicator.exchange(step_input)
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if outputs is None:
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raise UnityCommunicationException("Communicator has stopped.")
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self._update_brain_parameters(outputs)
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rl_output = outputs.rl_output
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state = self._get_state(rl_output)
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for _b in self._external_brain_names:
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self._n_agents[_b] = len(state[_b].agents)
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return state
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|
|
def close(self):
|
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"""
|
|
Sends a shutdown signal to the unity environment, and closes the socket connection.
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"""
|
|
if self._loaded:
|
|
self._close()
|
|
else:
|
|
raise UnityEnvironmentException("No Unity environment is loaded.")
|
|
|
|
def _close(self):
|
|
self._loaded = False
|
|
self.communicator.close()
|
|
if self.proc1 is not None:
|
|
# Wait a bit for the process to shutdown, but kill it if it takes too long
|
|
try:
|
|
self.proc1.wait(timeout=self.timeout_wait)
|
|
signal_name = self.returncode_to_signal_name(self.proc1.returncode)
|
|
signal_name = f" ({signal_name})" if signal_name else ""
|
|
return_info = f"Environment shut down with return code {self.proc1.returncode}{signal_name}."
|
|
logger.info(return_info)
|
|
except subprocess.TimeoutExpired:
|
|
logger.info("Environment timed out shutting down. Killing...")
|
|
self.proc1.kill()
|
|
# Set to None so we don't try to close multiple times.
|
|
self.proc1 = None
|
|
|
|
@classmethod
|
|
def _flatten(cls, arr: Any) -> List[float]:
|
|
"""
|
|
Converts arrays to list.
|
|
:param arr: numpy vector.
|
|
:return: flattened list.
|
|
"""
|
|
if isinstance(arr, cls.SCALAR_ACTION_TYPES):
|
|
arr = [float(arr)]
|
|
if isinstance(arr, np.ndarray):
|
|
arr = arr.tolist()
|
|
if len(arr) == 0:
|
|
return arr
|
|
if isinstance(arr[0], np.ndarray):
|
|
# pylint: disable=no-member
|
|
arr = [item for sublist in arr for item in sublist.tolist()]
|
|
if isinstance(arr[0], list):
|
|
# pylint: disable=not-an-iterable
|
|
arr = [item for sublist in arr for item in sublist]
|
|
arr = [float(x) for x in arr]
|
|
return arr
|
|
|
|
def _get_state(self, output: UnityRLOutputProto) -> AllBrainInfo:
|
|
"""
|
|
Collects experience information from all external brains in environment at current step.
|
|
:return: a dictionary of BrainInfo objects.
|
|
"""
|
|
_data = {}
|
|
for brain_name in output.agentInfos:
|
|
agent_info_list = output.agentInfos[brain_name].value
|
|
_data[brain_name] = BrainInfo.from_agent_proto(
|
|
self.worker_id, agent_info_list, self.brains[brain_name]
|
|
)
|
|
self._parse_side_channel_message(self.side_channels, output.side_channel)
|
|
return _data
|
|
|
|
@staticmethod
|
|
def _parse_side_channel_message(
|
|
side_channels: Dict[int, SideChannel], data: bytearray
|
|
) -> None:
|
|
offset = 0
|
|
while offset < len(data):
|
|
try:
|
|
channel_type, message_len = struct.unpack_from("<ii", data, offset)
|
|
offset = offset + 8
|
|
message_data = data[offset : offset + message_len]
|
|
offset = offset + message_len
|
|
except Exception:
|
|
raise UnityEnvironmentException(
|
|
"There was a problem reading a message in a SideChannel. "
|
|
"Please make sure the version of MLAgents in Unity is "
|
|
"compatible with the Python version."
|
|
)
|
|
if len(message_data) != message_len:
|
|
raise UnityEnvironmentException(
|
|
"The message received by the side channel {0} was "
|
|
"unexpectedly short. Make sure your Unity Environment "
|
|
"sending side channel data properly.".format(channel_type)
|
|
)
|
|
if channel_type in side_channels:
|
|
side_channels[channel_type].on_message_received(message_data)
|
|
else:
|
|
logger.warning(
|
|
"Unknown side channel data received. Channel type "
|
|
": {0}.".format(channel_type)
|
|
)
|
|
|
|
@staticmethod
|
|
def _generate_side_channel_data(side_channels: Dict[int, SideChannel]) -> bytearray:
|
|
result = bytearray()
|
|
for channel_type, channel in side_channels.items():
|
|
for message in channel.message_queue:
|
|
result += struct.pack("<ii", channel_type, len(message))
|
|
result += message
|
|
channel.message_queue = []
|
|
return result
|
|
|
|
def _update_brain_parameters(self, output: UnityOutputProto) -> None:
|
|
init_output = output.rl_initialization_output
|
|
|
|
for brain_param in init_output.brain_parameters:
|
|
# Each BrainParameter in the rl_initialization_output should have at least one AgentInfo
|
|
# Get that agent, because we need some of its observations.
|
|
agent_infos = output.rl_output.agentInfos[brain_param.brain_name]
|
|
if agent_infos.value:
|
|
agent = agent_infos.value[0]
|
|
new_brain = BrainParameters.from_proto(brain_param, agent)
|
|
self._brains[brain_param.brain_name] = new_brain
|
|
logger.info(f"Connected new brain:\n{new_brain}")
|
|
self._external_brain_names = list(self._brains.keys())
|
|
self._num_external_brains = len(self._external_brain_names)
|
|
|
|
@timed
|
|
def _generate_step_input(
|
|
self, vector_action: Dict[str, np.ndarray], value: Dict[str, np.ndarray]
|
|
) -> UnityInputProto:
|
|
rl_in = UnityRLInputProto()
|
|
for b in vector_action:
|
|
n_agents = self._n_agents[b]
|
|
if n_agents == 0:
|
|
continue
|
|
_a_s = len(vector_action[b]) // n_agents
|
|
for i in range(n_agents):
|
|
action = AgentActionProto(
|
|
vector_actions=vector_action[b][i * _a_s : (i + 1) * _a_s]
|
|
)
|
|
if b in value:
|
|
if value[b] is not None:
|
|
action.value = float(value[b][i])
|
|
rl_in.agent_actions[b].value.extend([action])
|
|
rl_in.command = 0
|
|
rl_in.side_channel = bytes(self._generate_side_channel_data(self.side_channels))
|
|
return self.wrap_unity_input(rl_in)
|
|
|
|
def _generate_reset_input(
|
|
self, training: bool, config: Dict, custom_reset_parameters: Any
|
|
) -> UnityInputProto:
|
|
rl_in = UnityRLInputProto()
|
|
rl_in.is_training = training
|
|
rl_in.environment_parameters.CopyFrom(EnvironmentParametersProto())
|
|
for key in config:
|
|
rl_in.environment_parameters.float_parameters[key] = config[key]
|
|
if custom_reset_parameters is not None:
|
|
rl_in.environment_parameters.custom_reset_parameters.CopyFrom(
|
|
custom_reset_parameters
|
|
)
|
|
rl_in.command = 1
|
|
rl_in.side_channel = bytes(self._generate_side_channel_data(self.side_channels))
|
|
return self.wrap_unity_input(rl_in)
|
|
|
|
def send_academy_parameters(
|
|
self, init_parameters: UnityRLInitializationInputProto
|
|
) -> UnityOutputProto:
|
|
inputs = UnityInputProto()
|
|
inputs.rl_initialization_input.CopyFrom(init_parameters)
|
|
return self.communicator.initialize(inputs)
|
|
|
|
@staticmethod
|
|
def wrap_unity_input(rl_input: UnityRLInputProto) -> UnityInputProto:
|
|
result = UnityInputProto()
|
|
result.rl_input.CopyFrom(rl_input)
|
|
return result
|
|
|
|
@staticmethod
|
|
def returncode_to_signal_name(returncode: int) -> Optional[str]:
|
|
"""
|
|
Try to convert return codes into their corresponding signal name.
|
|
E.g. returncode_to_signal_name(-2) -> "SIGINT"
|
|
"""
|
|
try:
|
|
# A negative value -N indicates that the child was terminated by signal N (POSIX only).
|
|
s = signal.Signals(-returncode) # pylint: disable=no-member
|
|
return s.name
|
|
except Exception:
|
|
# Should generally be a ValueError, but catch everything just in case.
|
|
return None
|