/// <summary>
/// Initializes the environment, configures it and initialized the Academy.
/// </summary>
void InitializeEnvironment()
{
EnableAutomaticStepping();
var floatProperties = new FloatPropertiesChannel();
FloatProperties = floatProperties;
// 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)
{
Communicator.RegisterSideChannel(new EngineConfigurationChannel());
Communicator.RegisterSideChannel(floatProperties);
// 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
{
version = k_ApiVersion,
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();
}
/// <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;
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();
FloatProperties = null;
m_Initialized = false;
// Reset the Lazy instance
s_Lazy = new Lazy <Academy>(() => new Academy());
}
public override void InitializeAgent()
{
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 = Academy.Instance.FloatProperties;
SetResetParameters();
}
public override void InitializeAgent()
{
m_BallRb = ball.GetComponent <Rigidbody>();
var academy = FindObjectOfType <Academy>();
m_ResetParams = academy.FloatProperties;
SetResetParameters();
}
public override void InitializeAgent()
{
m_Rb = gameObject.GetComponent <Rigidbody>();
m_LookDir = Vector3.zero;
m_ResetParams = Academy.Instance.FloatProperties;
SetResetParameters();
}
public override void InitializeAgent()
{
m_Rb = gameObject.GetComponent <Rigidbody>();
m_LookDir = Vector3.zero;
var academy = FindObjectOfType <Academy>();
m_ResetParams = academy.FloatProperties;
SetResetParameters();
}
public void Start()
{
m_ResetParameters = FindObjectOfType <Academy>().FloatProperties;
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 InitializeAgent()
{
m_AgentRb = GetComponent <Rigidbody>();
m_BallRb = ball.GetComponent <Rigidbody>();
var canvas = GameObject.Find(k_CanvasName);
GameObject scoreBoard;
m_ResetParams = Academy.Instance.FloatProperties;
if (invertX)
{
scoreBoard = canvas.transform.Find(k_ScoreBoardBName).gameObject;
}
else
{
scoreBoard = canvas.transform.Find(k_ScoreBoardAName).gameObject;
}
m_TextComponent = scoreBoard.GetComponent <Text>();
SetResetParameters();
}
public override void InitializeAgent()
{
m_BallRb = ball.GetComponent <Rigidbody>();
m_ResetParams = Academy.Instance.FloatProperties;
SetResetParameters();
}
/// <summary>
/// Initializes the environment, configures it and initialized the Academy.
/// </summary>
void InitializeEnvironment()
{
m_OriginalGravity = Physics.gravity;
m_OriginalFixedDeltaTime = Time.fixedDeltaTime;
m_OriginalMaximumDeltaTime = Time.maximumDeltaTime;
var floatProperties = new FloatPropertiesChannel();
FloatProperties = floatProperties;
InitializeAcademy();
// 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)
{
Communicator.RegisterSideChannel(new EngineConfigurationChannel());
Communicator.RegisterSideChannel(floatProperties);
// 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
{
version = k_ApiVersion,
name = gameObject.name,
});
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.
DecideAction += () => { };
DestroyAction += () => { };
AgentSetStatus += i => { };
AgentResetIfDone += () => { };
AgentSendState += () => { };
AgentAct += () => { };
AgentForceReset += () => { };
}
