/// <summary>
/// Performs a single environment update to the Academy, and Agent
/// objects within the environment.
/// </summary>
public void EnvironmentStep()
{
if (!m_HadFirstReset)
{
ForcedFullReset();
}
AgentPreStep?.Invoke(m_StepCount);
m_StepCount += 1;
m_TotalStepCount += 1;
AgentIncrementStep?.Invoke();
using (TimerStack.Instance.Scoped("AgentSendState"))
{
AgentSendState?.Invoke();
}
using (TimerStack.Instance.Scoped("DecideAction"))
{
DecideAction?.Invoke();
}
// If the communicator is not on, we need to clear the SideChannel sending queue
if (!IsCommunicatorOn)
{
SideChannelUtils.GetSideChannelMessage();
}
using (TimerStack.Instance.Scoped("AgentAct"))
{
AgentAct?.Invoke();
}
}
public override void Initialize()
{
m_JdController = GetComponent <JointDriveController>();
m_JdController.SetupBodyPart(hips);
m_JdController.SetupBodyPart(chest);
m_JdController.SetupBodyPart(spine);
m_JdController.SetupBodyPart(head);
m_JdController.SetupBodyPart(thighL);
m_JdController.SetupBodyPart(shinL);
m_JdController.SetupBodyPart(footL);
m_JdController.SetupBodyPart(thighR);
m_JdController.SetupBodyPart(shinR);
m_JdController.SetupBodyPart(footR);
m_JdController.SetupBodyPart(armL);
m_JdController.SetupBodyPart(forearmL);
m_JdController.SetupBodyPart(handL);
m_JdController.SetupBodyPart(armR);
m_JdController.SetupBodyPart(forearmR);
m_JdController.SetupBodyPart(handR);
m_HipsRb = hips.GetComponent <Rigidbody>();
m_ChestRb = chest.GetComponent <Rigidbody>();
m_SpineRb = spine.GetComponent <Rigidbody>();
m_ResetParams = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>();
SetResetParameters();
}
public void TestRawBytesSideChannel()
{
var str1 = "Test string";
var str2 = "Test string, second";
var strSender = new RawBytesChannel(new Guid("9a5b8954-4f82-11ea-b238-784f4387d1f7"));
var strReceiver = new RawBytesChannel(new Guid("9a5b8954-4f82-11ea-b238-784f4387d1f7"));
var dictSender = new Dictionary <Guid, SideChannel> {
{ strSender.ChannelId, strSender }
};
var dictReceiver = new Dictionary <Guid, SideChannel> {
{ strReceiver.ChannelId, strReceiver }
};
strSender.SendRawBytes(Encoding.ASCII.GetBytes(str1));
strSender.SendRawBytes(Encoding.ASCII.GetBytes(str2));
byte[] fakeData = SideChannelUtils.GetSideChannelMessage(dictSender);
SideChannelUtils.ProcessSideChannelData(dictReceiver, fakeData);
var messages = strReceiver.GetAndClearReceivedMessages();
Assert.AreEqual(messages.Count, 2);
Assert.AreEqual(Encoding.ASCII.GetString(messages[0]), str1);
Assert.AreEqual(Encoding.ASCII.GetString(messages[1]), str2);
}
public override void CollectDiscreteActionMasks(DiscreteActionMasker actionMasker)
{
// Mask the necessary actions if selected by the user.
if (maskActions)
{
// Prevents the agent from picking an action that would make it collide with a wall
var positionX = (int)transform.position.x;
var positionZ = (int)transform.position.z;
var maxPosition = (int)SideChannelUtils.GetSideChannel <FloatPropertiesChannel>().GetPropertyWithDefault("gridSize", 5f) - 1;
if (positionX == 0)
{
actionMasker.SetMask(0, new int[] { k_Left });
}
if (positionX == maxPosition)
{
actionMasker.SetMask(0, new int[] { k_Right });
}
if (positionZ == 0)
{
actionMasker.SetMask(0, new int[] { k_Down });
}
if (positionZ == maxPosition)
{
actionMasker.SetMask(0, new int[] { k_Up });
}
}
}
/// <summary>
/// Shut down the Academy.
/// </summary>
public void Dispose()
{
DisableAutomaticStepping();
// Signal to listeners that the academy is being destroyed now
DestroyAction?.Invoke();
Communicator?.Dispose();
Communicator = null;
SideChannelUtils.UnregisterAllSideChannels();
if (m_ModelRunners != null)
{
foreach (var mr in m_ModelRunners)
{
mr.Dispose();
}
m_ModelRunners = null;
}
// Clear out the actions so we're not keeping references to any old objects
ResetActions();
// TODO - Pass worker ID or some other identifier,
// so that multiple envs won't overwrite each others stats.
TimerStack.Instance.SaveJsonTimers();
m_Initialized = false;
// Reset the Lazy instance
s_Lazy = new Lazy <Academy>(() => new Academy());
}
// スタート時に呼ばれる
public override void Initialize()
{
SettingRewards = new SettingReward();
curic = 0; //ぶつからないだけでRewardのパターン
curriculum = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>();
current_speed = 0.3f;
}
/// <summary>
/// Initializes the environment, configures it and initialized the Academy.
/// </summary>
void InitializeEnvironment()
{
EnableAutomaticStepping();
SideChannelUtils.RegisterSideChannel(new EngineConfigurationChannel());
SideChannelUtils.RegisterSideChannel(new FloatPropertiesChannel());
SideChannelUtils.RegisterSideChannel(new StatsSideChannel());
// Try to launch the communicator by using the arguments passed at launch
var port = ReadPortFromArgs();
if (port > 0)
{
Communicator = new RpcCommunicator(
new CommunicatorInitParameters
{
port = port
}
);
}
if (Communicator != null)
{
// We try to exchange the first message with Python. If this fails, it means
// no Python Process is ready to train the environment. In this case, the
//environment must use Inference.
try
{
var unityRlInitParameters = Communicator.Initialize(
new CommunicatorInitParameters
{
unityCommunicationVersion = k_ApiVersion,
unityPackageVersion = k_PackageVersion,
name = "AcademySingleton",
});
UnityEngine.Random.InitState(unityRlInitParameters.seed);
}
catch
{
Debug.Log($"" +
$"Couldn't connect to trainer on port {port} using API version {k_ApiVersion}. " +
"Will perform inference instead."
);
Communicator = null;
}
if (Communicator != null)
{
Communicator.QuitCommandReceived += OnQuitCommandReceived;
Communicator.ResetCommandReceived += OnResetCommand;
}
}
// If a communicator is enabled/provided, then we assume we are in
// training mode. In the absence of a communicator, we assume we are
// in inference mode.
ResetActions();
}
public void Awake()
{
SideChannelUtils.GetSideChannel <FloatPropertiesChannel>().RegisterCallback("gridSize", f =>
{
MainCamera.transform.position = new Vector3(-(f - 1) / 2f, f * 1.25f, -(f - 1) / 2f);
MainCamera.orthographicSize = (f + 5f) / 2f;
});
}
public void SetGroundMaterialFriction()
{
var resetParams = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>();
var groundCollider = ground.GetComponent <Collider>();
groundCollider.material.dynamicFriction = resetParams.GetPropertyWithDefault("dynamic_friction", 0);
groundCollider.material.staticFriction = resetParams.GetPropertyWithDefault("static_friction", 0);
}
public override void Initialize()
{
m_Rb = gameObject.GetComponent <Rigidbody>();
m_LookDir = Vector3.zero;
m_ResetParams = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>();
SetResetParameters();
}
public void SetResetParameters()
{
var fp = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>();
m_GoalSize = fp.GetPropertyWithDefault("goal_size", 5);
m_GoalSpeed = Random.Range(-1f, 1f) * fp.GetPropertyWithDefault("goal_speed", 1);
m_Deviation = fp.GetPropertyWithDefault("deviation", 0);
m_DeviationFreq = fp.GetPropertyWithDefault("deviation_freq", 0);
}
public void ResetBall()
{
ball.transform.position = ballStartingPos;
ballRb.velocity = Vector3.zero;
ballRb.angularVelocity = Vector3.zero;
var ballScale = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>().GetPropertyWithDefault("ball_scale", 0.015f);
ballRb.transform.localScale = new Vector3(ballScale, ballScale, ballScale);
}
public void SetBlockProperties()
{
var resetParams = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>();
var scale = resetParams.GetPropertyWithDefault("block_scale", 2);
//Set the scale of the block
m_BlockRb.transform.localScale = new Vector3(scale, 0.75f, scale);
// Set the drag of the block
m_BlockRb.drag = resetParams.GetPropertyWithDefault("block_drag", 0.5f);
}
public void TestAcademyDispose()
{
var floatProperties1 = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>();
Academy.Instance.Dispose();
Academy.Instance.LazyInitialize();
var floatProperties2 = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>();
Academy.Instance.Dispose();
Assert.AreNotEqual(floatProperties1, floatProperties2);
}
public override void Initialize()
{
m_WallJumpSettings = FindObjectOfType <WallJumpSettings>();
m_Configuration = Random.Range(0, 5);
m_AgentRb = GetComponent <Rigidbody>();
m_ShortBlockRb = shortBlock.GetComponent <Rigidbody>();
m_SpawnAreaBounds = spawnArea.GetComponent <Collider>().bounds;
m_GroundRenderer = ground.GetComponent <Renderer>();
m_GroundMaterial = m_GroundRenderer.material;
spawnArea.SetActive(false);
m_FloatProperties = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>();
}
public void TestFloatPropertiesSideChannel()
{
var k1 = "gravity";
var k2 = "length";
int wasCalled = 0;
var propA = new FloatPropertiesChannel();
var propB = new FloatPropertiesChannel();
var dictReceiver = new Dictionary <Guid, SideChannel> {
{ propA.ChannelId, propA }
};
var dictSender = new Dictionary <Guid, SideChannel> {
{ propB.ChannelId, propB }
};
propA.RegisterCallback(k1, f => { wasCalled++; });
var tmp = propB.GetPropertyWithDefault(k2, 3.0f);
Assert.AreEqual(tmp, 3.0f);
propB.SetProperty(k2, 1.0f);
tmp = propB.GetPropertyWithDefault(k2, 3.0f);
Assert.AreEqual(tmp, 1.0f);
byte[] fakeData = SideChannelUtils.GetSideChannelMessage(dictSender);
SideChannelUtils.ProcessSideChannelData(dictReceiver, fakeData);
tmp = propA.GetPropertyWithDefault(k2, 3.0f);
Assert.AreEqual(tmp, 1.0f);
Assert.AreEqual(wasCalled, 0);
propB.SetProperty(k1, 1.0f);
Assert.AreEqual(wasCalled, 0);
fakeData = SideChannelUtils.GetSideChannelMessage(dictSender);
SideChannelUtils.ProcessSideChannelData(dictReceiver, fakeData);
Assert.AreEqual(wasCalled, 1);
var keysA = propA.ListProperties();
Assert.AreEqual(2, keysA.Count);
Assert.IsTrue(keysA.Contains(k1));
Assert.IsTrue(keysA.Contains(k2));
var keysB = propA.ListProperties();
Assert.AreEqual(2, keysB.Count);
Assert.IsTrue(keysB.Contains(k1));
Assert.IsTrue(keysB.Contains(k2));
}
public override void OnEpisodeBegin()
{
timePenalty = 0;
m_BallTouch = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>().GetPropertyWithDefault("ball_touch", 0);
if (team == Team.Purple)
{
transform.rotation = Quaternion.Euler(0f, -90f, 0f);
}
else
{
transform.rotation = Quaternion.Euler(0f, 90f, 0f);
}
transform.position = m_Transform;
agentRb.velocity = Vector3.zero;
agentRb.angularVelocity = Vector3.zero;
SetResetParameters();
}
public void Awake()
{
// Save the original values
m_OriginalGravity = Physics.gravity;
m_OriginalFixedDeltaTime = Time.fixedDeltaTime;
m_OriginalMaximumDeltaTime = Time.maximumDeltaTime;
m_OriginalSolverIterations = Physics.defaultSolverIterations;
m_OriginalSolverVelocityIterations = Physics.defaultSolverVelocityIterations;
// Override
Physics.gravity *= gravityMultiplier;
Time.fixedDeltaTime = fixedDeltaTime;
Time.maximumDeltaTime = maximumDeltaTime;
Physics.defaultSolverIterations = solverIterations;
Physics.defaultSolverVelocityIterations = solverVelocityIterations;
SideChannelUtils.GetSideChannel <FloatPropertiesChannel>().RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
}
public void Start()
{
m_ResetParameters = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>();
m_Objects = new[] { goalPref, pitPref };
m_AgentCam = transform.Find("agentCam").GetComponent <Camera>();
actorObjs = new List <GameObject>();
var sceneTransform = transform.Find("scene");
m_Plane = sceneTransform.Find("Plane").gameObject;
m_Sn = sceneTransform.Find("sN").gameObject;
m_Ss = sceneTransform.Find("sS").gameObject;
m_Sw = sceneTransform.Find("sW").gameObject;
m_Se = sceneTransform.Find("sE").gameObject;
m_InitialPosition = transform.position;
}
public override void Initialize()
{
m_AgentRb = GetComponent <Rigidbody>();
m_BallRb = ball.GetComponent <Rigidbody>();
var canvas = GameObject.Find(k_CanvasName);
GameObject scoreBoard;
m_ResetParams = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>();
if (invertX)
{
scoreBoard = canvas.transform.Find(k_ScoreBoardBName).gameObject;
}
else
{
scoreBoard = canvas.transform.Find(k_ScoreBoardAName).gameObject;
}
m_TextComponent = scoreBoard.GetComponent <Text>();
SetResetParameters();
}
public void TestAcademy()
{
Assert.AreEqual(false, Academy.IsInitialized);
var aca = Academy.Instance;
Assert.AreEqual(true, Academy.IsInitialized);
// Check that init is idempotent
aca.LazyInitialize();
aca.LazyInitialize();
Assert.AreEqual(0, aca.EpisodeCount);
Assert.AreEqual(0, aca.StepCount);
Assert.AreEqual(0, aca.TotalStepCount);
Assert.AreNotEqual(null, SideChannelUtils.GetSideChannel <FloatPropertiesChannel>());
// Check that Dispose is idempotent
aca.Dispose();
Assert.AreEqual(false, Academy.IsInitialized);
aca.Dispose();
}
public void Awake()
{
// Save the original values
m_OriginalGravity = Physics.gravity;
m_OriginalFixedDeltaTime = Time.fixedDeltaTime;
m_OriginalMaximumDeltaTime = Time.maximumDeltaTime;
m_OriginalSolverIterations = Physics.defaultSolverIterations;
m_OriginalSolverVelocityIterations = Physics.defaultSolverVelocityIterations;
// Override
Physics.gravity *= gravityMultiplier;
Time.fixedDeltaTime = fixedDeltaTime;
Time.maximumDeltaTime = maximumDeltaTime;
Physics.defaultSolverIterations = solverIterations;
Physics.defaultSolverVelocityIterations = solverVelocityIterations;
// Make sure the Academy singleton is initialized first, since it will create the SideChannels.
var academy = Academy.Instance;
SideChannelUtils.GetSideChannel <FloatPropertiesChannel>().RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
}
public void TestIntegerSideChannel()
{
var intSender = new TestSideChannel();
var intReceiver = new TestSideChannel();
var dictSender = new Dictionary <Guid, SideChannel> {
{ intSender.ChannelId, intSender }
};
var dictReceiver = new Dictionary <Guid, SideChannel> {
{ intReceiver.ChannelId, intReceiver }
};
intSender.SendInt(4);
intSender.SendInt(5);
intSender.SendInt(6);
byte[] fakeData = SideChannelUtils.GetSideChannelMessage(dictSender);
SideChannelUtils.ProcessSideChannelData(dictReceiver, fakeData);
Assert.AreEqual(intReceiver.messagesReceived[0], 4);
Assert.AreEqual(intReceiver.messagesReceived[1], 5);
Assert.AreEqual(intReceiver.messagesReceived[2], 6);
}
public void Awake()
{
Academy.Instance.OnEnvironmentReset += EnvironmentReset;
m_statsSideChannel = SideChannelUtils.GetSideChannel <StatsSideChannel>();
}
public void SetLaserLengths()
{
m_LaserLength = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>().GetPropertyWithDefault("laser_length", 1.0f);
}
public void SetAgentScale()
{
float agentScale = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>().GetPropertyWithDefault("agent_scale", 1.0f);
gameObject.transform.localScale = new Vector3(agentScale, agentScale, agentScale);
}
public override void Initialize()
{
m_BallRb = ball.GetComponent <Rigidbody>();
m_ResetParams = SideChannelUtils.GetSideChannel <FloatPropertiesChannel>();
SetResetParameters();
}