def reset(self):
self.done = False
_reward_e, state_e, _done_e = self.env_space.aeb_space.init_data_s(
ENV_DATA_NAMES, e=self.e)
for (a, b), body in util.ndenumerate_nonan(self.body_e):
state = self.u_env.reset()
state_e[(a, b)] = state
# TODO internalize render code
if not self.train_mode:
self.u_env.render()
non_nan_cnt = util.count_nonan(state_e.flatten())
assert non_nan_cnt == 1, 'OpenAI Gym supports only single body'
return _reward_e, state_e, _done_e
def reset(self):
self.done = False
_reward_e, state_e, done_e = self.env_space.aeb_space.init_data_s(ENV_DATA_NAMES, e=self.e)
for (a, b), body in util.ndenumerate_nonan(self.body_e):
state = self.u_env.reset()
state_e[(a, b)] = state
done_e[(a, b)] = self.done
# TODO internalize render code
if util.get_lab_mode() == 'dev':
self.u_env.render()
non_nan_cnt = util.count_nonan(state_e.flatten())
assert non_nan_cnt == 1, 'OpenAI Gym supports only single body'
return _reward_e, state_e, done_e
def reset(self):
self.done = False
_reward_e, state_e, done_e = self.env_space.aeb_space.init_data_s(
ENV_DATA_NAMES, e=self.e)
for (a, b), body in util.ndenumerate_nonan(self.body_e):
state = self.u_env.reset()
state_e[(a, b)] = state
done_e[(a, b)] = self.done
if util.get_lab_mode() == 'dev':
self.u_env.render()
non_nan_cnt = util.count_nonan(state_e.flatten())
assert non_nan_cnt == 1, 'OpenAI Gym supports only single body'
logger.debug(
f'Env {self.e} reset reward_e: {_reward_e}, state_e: {state_e}, done_e: {done_e}'
)
return _reward_e, state_e, done_e
def check_u_agent_to_body(self, env_info_a, a):
'''Check the size match between unity agent and body'''
u_agent_num = len(env_info_a.agents)
body_num = util.count_nonan(self.body_e[a])
assert u_agent_num == body_num, f'There must be a Unity agent for each body; a:{a}, e:{self.e}, agent_num: {u_agent_num} != body_num: {body_num}.'
def test_count_nonan(arr, arr_len):
assert util.count_nonan(np.array(arr)) == arr_len
def test_count_nonan(arr, arr_len):
assert util.count_nonan(np.array(arr)) == arr_len
def check_u_agent_to_body(self, env_info_a, a):
'''Check the size match between unity agent and body'''
u_agent_num = len(env_info_a.agents)
body_num = util.count_nonan(self.body_e[a])
assert u_agent_num == body_num, f'There must be a Unity agent for each body; a:{a}, e:{self.e}, agent_num: {u_agent_num} != body_num: {body_num}.'
