def test_environment_parameters():
sender = EnvironmentParametersChannel()
# We use a raw bytes channel to interpred the data
receiver = RawBytesChannel(sender.channel_id)
sender.set_float_parameter("param-1", 0.1)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([receiver]).process_side_channel_message(data)
message = IncomingMessage(receiver.get_and_clear_received_messages()[0])
key = message.read_string()
dtype = message.read_int32()
value = message.read_float32()
assert key == "param-1"
assert dtype == EnvironmentParametersChannel.EnvironmentDataTypes.FLOAT
assert value - 0.1 < 1e-8
sender.set_float_parameter("param-1", 0.1)
sender.set_float_parameter("param-2", 0.1)
sender.set_float_parameter("param-3", 0.1)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([receiver]).process_side_channel_message(data)
assert len(receiver.get_and_clear_received_messages()) == 3
with pytest.raises(UnityCommunicationException):
# try to send data to the EngineConfigurationChannel
sender.set_float_parameter("param-1", 0.1)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([sender]).process_side_channel_message(data)
def test_engine_configuration():
sender = EngineConfigurationChannel()
# We use a raw bytes channel to interpred the data
receiver = RawBytesChannel(sender.channel_id)
config = EngineConfig.default_config()
sender.set_configuration(config)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([receiver]).process_side_channel_message(data)
received_data = receiver.get_and_clear_received_messages()
assert len(received_data) == 5 # 5 different messages one for each setting
sent_time_scale = 4.5
sender.set_configuration_parameters(time_scale=sent_time_scale)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([receiver]).process_side_channel_message(data)
message = IncomingMessage(receiver.get_and_clear_received_messages()[0])
message.read_int32()
time_scale = message.read_float32()
assert time_scale == sent_time_scale
with pytest.raises(UnitySideChannelException):
sender.set_configuration_parameters(width=None, height=42)
with pytest.raises(UnityCommunicationException):
# try to send data to the EngineConfigurationChannel
sender.set_configuration_parameters(time_scale=sent_time_scale)
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([sender]).process_side_channel_message(data)
def configure_side_channels(self,
side_channels: List[SideChannel]) -> None:
contains_engine_config_sc = any([
isinstance(sc, EngineConfigurationChannel) for sc in side_channels
])
if not contains_engine_config_sc:
self.side_channels.append(self.create_engine_config_side_channel())
contains_arena_config_sc = any([
sc.channel_id == self.ARENA_CONFIG_SC_UUID for sc in side_channels
])
if not contains_arena_config_sc:
self.arenas_parameters_side_channel = RawBytesChannel(
channel_id=uuid.UUID(self.ARENA_CONFIG_SC_UUID))
self.side_channels.append(self.arenas_parameters_side_channel)
def test_raw_bytes():
guid = uuid.uuid4()
sender = RawBytesChannel(guid)
receiver = RawBytesChannel(guid)
sender.send_raw_data(b"foo")
sender.send_raw_data(b"bar")
data = SideChannelManager([sender]).generate_side_channel_messages()
SideChannelManager([receiver]).process_side_channel_message(data)
messages = receiver.get_and_clear_received_messages()
assert len(messages) == 2
assert messages[0].decode("ascii") == "foo"
assert messages[1].decode("ascii") == "bar"
messages = receiver.get_and_clear_received_messages()
assert len(messages) == 0
def test_raw_bytes():
sender = RawBytesChannel()
receiver = RawBytesChannel()
sender.send_raw_data("foo".encode("ascii"))
sender.send_raw_data("bar".encode("ascii"))
data = UnityEnvironment._generate_side_channel_data(
{sender.channel_type: sender})
UnityEnvironment._parse_side_channel_message(
{receiver.channel_type: receiver}, data)
messages = receiver.get_and_clear_received_messages()
assert len(messages) == 2
assert messages[0].decode("ascii") == "foo"
assert messages[1].decode("ascii") == "bar"
messages = receiver.get_and_clear_received_messages()
assert len(messages) == 0
class AnimalAIEnvironment(UnityEnvironment):
# Default values for configuration parameters of the environment, can be changed if needed
# Increasing the timescale value for training might speed up the process on powefull machines
# but take care as the higher the timescale the more likely the physics might break
WINDOW_WIDTH = PlayTrain(play=1200, train=80)
WINDOW_HEIGHT = PlayTrain(play=800, train=80)
QUALITY_LEVEL = PlayTrain(play=5, train=1)
TIMESCALE = PlayTrain(play=1, train=300)
TARGET_FRAME_RATE = PlayTrain(play=60, train=-1)
ARENA_CONFIG_SC_UUID = "9c36c837-cad5-498a-b675-bc19c9370072"
def __init__(
self,
file_name: Optional[str] = None,
worker_id: int = 0,
base_port: int = 5005,
seed: int = 0,
# docker_training: bool = False, # Will be removed in final version
n_arenas: int = 1,
play: bool = False,
arenas_configurations: ArenaConfig = None,
inference: bool = False,
resolution: int = None,
grayscale: bool = False,
side_channels: Optional[List[SideChannel]] = None,
):
args = self.executable_args(n_arenas, play, resolution, grayscale)
self.play = play
self.inference = inference
self.timeout = 10 if play else 60
self.side_channels = side_channels if side_channels else []
self.arenas_parameters_side_channel = None
self.configure_side_channels(self.side_channels)
super().__init__(
file_name=file_name,
worker_id=worker_id,
base_port=base_port,
seed=seed,
no_graphics=False,
timeout_wait=self.timeout,
args=args,
side_channels=self.side_channels,
)
self.reset(arenas_configurations)
def configure_side_channels(self,
side_channels: List[SideChannel]) -> None:
contains_engine_config_sc = any([
isinstance(sc, EngineConfigurationChannel) for sc in side_channels
])
if not contains_engine_config_sc:
self.side_channels.append(self.create_engine_config_side_channel())
contains_arena_config_sc = any([
sc.channel_id == self.ARENA_CONFIG_SC_UUID for sc in side_channels
])
if not contains_arena_config_sc:
self.arenas_parameters_side_channel = RawBytesChannel(
channel_id=uuid.UUID(self.ARENA_CONFIG_SC_UUID))
self.side_channels.append(self.arenas_parameters_side_channel)
def create_engine_config_side_channel(self) -> EngineConfigurationChannel:
if self.play or self.inference:
engine_configuration = EngineConfig(
width=self.WINDOW_WIDTH.play,
height=self.WINDOW_HEIGHT.play,
quality_level=self.QUALITY_LEVEL.play,
time_scale=self.TIMESCALE.play,
target_frame_rate=self.TARGET_FRAME_RATE.play,
)
else:
engine_configuration = EngineConfig(
width=self.WINDOW_WIDTH.train,
height=self.WINDOW_HEIGHT.train,
quality_level=self.QUALITY_LEVEL.train,
time_scale=self.TIMESCALE.train,
target_frame_rate=self.TARGET_FRAME_RATE.train,
)
engine_configuration_channel = EngineConfigurationChannel()
engine_configuration_channel.set_configuration(engine_configuration)
return engine_configuration_channel
def reset(self, arenas_configurations: ArenaConfig = None) -> None:
if arenas_configurations:
arenas_configurations_proto = arenas_configurations.to_proto()
arenas_configurations_proto_string = arenas_configurations_proto.SerializeToString(
deterministic=True)
self.arenas_parameters_side_channel.send_raw_data(
bytearray(arenas_configurations_proto_string))
try:
super().reset()
except UnityTimeOutException as timeoutException:
if self.play:
pass
else:
raise timeoutException
def close(self):
if self.play:
self.communicator.close()
if self.proc1:
self.proc1.kill()
else:
super().close()
@staticmethod
def executable_args(
n_arenas: int = 1,
play: bool = False,
resolution: int = 84,
grayscale: bool = False,
) -> List[str]:
args = ["--playerMode"]
if play:
args.append("1")
else:
args.append("0")
args.append("--numberOfArenas")
args.append(str(n_arenas))
if resolution:
args.append("--resolution")
args.append(str(resolution))
if grayscale:
args.append("--grayscale")
return args