public override void OnImportAsset(AssetImportContext ctx)
{
var inputType = Path.GetExtension(ctx.assetPath);
if (inputType == null)
{
throw new Exception("Demonstration import error.");
}
try
{
// Read first two proto objects containing metadata and brain parameters.
Stream reader = File.OpenRead(ctx.assetPath);
var metaDataProto = DemonstrationMetaProto.Parser.ParseDelimitedFrom(reader);
var metaData = new DemonstrationMetaData(metaDataProto);
reader.Seek(DemonstrationStore.MetaDataBytes + 1, 0);
var brainParamsProto = BrainParametersProto.Parser.ParseDelimitedFrom(reader);
var brainParameters = new BrainParameters(brainParamsProto);
reader.Close();
var demonstration = ScriptableObject.CreateInstance <Demonstration>();
demonstration.Initialize(brainParameters, metaData);
userData = demonstration.ToString();
Texture2D texture = (Texture2D)
AssetDatabase.LoadAssetAtPath(IconPath, typeof(Texture2D));
#if UNITY_2017_3_OR_NEWER
ctx.AddObjectToAsset(ctx.assetPath, demonstration, texture);
ctx.SetMainObject(demonstration);
#else
ctx.SetMainAsset(ctx.assetPath, model);
#endif
}
catch
{
return;
}
}
/// Helper function that resets all the data structures associated with
/// the agent. Typically used when the agent is being initialized or reset
/// at the end of an episode.
void ResetData()
{
if (brain == null)
{
return;
}
BrainParameters param = brain.brainParameters;
actionMasker = new ActionMasker(param);
if (param.vectorActionSpaceType == SpaceType.continuous)
{
action.vectorActions = new float[param.vectorActionSize[0]];
info.storedVectorActions = new float[param.vectorActionSize[0]];
}
else
{
action.vectorActions = new float[param.vectorActionSize.Length];
info.storedVectorActions = new float[param.vectorActionSize.Length];
}
if (info.textObservation == null)
{
info.textObservation = "";
}
action.textActions = "";
info.memories = new List <float>();
action.memories = new List <float>();
info.vectorObservation =
new List <float>(param.vectorObservationSize);
info.stackedVectorObservation =
new List <float>(param.vectorObservationSize
* brain.brainParameters.numStackedVectorObservations);
info.stackedVectorObservation.AddRange(
new float[param.vectorObservationSize
* param.numStackedVectorObservations]);
info.visualObservations = new List <Texture2D>();
info.customObservation = null;
}
/// <summary>
/// Sends the Agent info to the linked Brain.
/// </summary>
void SendInfoToBrain()
{
if (brain == null)
{
return;
}
info.memories = action.memories;
info.storedVectorActions = action.vectorActions;
info.storedTextActions = action.textActions;
info.vectorObservation.Clear();
actionMasker.ResetMask();
CollectObservations();
info.actionMasks = actionMasker.GetMask();
BrainParameters param = brain.brainParameters;
if (info.vectorObservation.Count != param.vectorObservationSize)
{
throw new UnityAgentsException(string.Format(
"Vector Observation size mismatch between continuous " +
"agent {0} and brain {1}. " +
"Was Expecting {2} but received {3}. ",
gameObject.name, brain.name,
brain.brainParameters.vectorObservationSize,
info.vectorObservation.Count));
}
info.stackedVectorObservation.RemoveRange(
0, param.vectorObservationSize);
info.stackedVectorObservation.AddRange(info.vectorObservation);
info.visualObservations.Clear();
var visualObservationCount = agentParameters.agentCameras.Count + agentParameters.agentRenderTextures.Count;
if (param.cameraResolutions.Length > visualObservationCount)
{
throw new UnityAgentsException(string.Format(
"Not enough cameras/renderTextures for agent {0} : Brain {1} expecting at " +
"least {2} cameras/renderTextures but only {3} were present.",
gameObject.name, brain.name,
brain.brainParameters.cameraResolutions.Length,
visualObservationCount));
}
//First add all cameras
for (int i = 0; i < agentParameters.agentCameras.Count; i++)
{
ObservationToTexture(
agentParameters.agentCameras[i],
param.cameraResolutions[i].width,
param.cameraResolutions[i].height,
ref textureArray[i]);
info.visualObservations.Add(textureArray[i]);
}
//Then add all renderTextures
var camCount = agentParameters.agentCameras.Count;
for (int i = 0; i < agentParameters.agentRenderTextures.Count; i++)
{
ObservationToTexture(
agentParameters.agentRenderTextures[i],
param.cameraResolutions[camCount + i].width,
param.cameraResolutions[camCount + i].height,
ref textureArray[i]);
info.visualObservations.Add(textureArray[i]);
}
info.reward = reward;
info.done = done;
info.maxStepReached = maxStepReached;
info.id = id;
brain.SendState(this, info);
if (recorder != null && recorder.record && Application.isEditor)
{
recorder.WriteExperience(info);
}
info.textObservation = "";
}
public ActionMasker(BrainParameters brainParameters)
{
this._brainParameters = brainParameters;
}
public void Initialize(BrainParameters brainParameters,
DemonstrationMetaData demonstrationMetaData)
{
this.brainParameters = brainParameters;
metaData = demonstrationMetaData;
}
