def _connect_to_environment(port, settings):
"""Helper function for connecting to a running dm_hard_eight environment."""
if settings.level_name not in HARD_EIGHT_TASK_LEVEL_NAMES:
raise ValueError(
'Level named "{}" is not supported for dm_hard_eight'.format(
settings.level_name))
channel, connection = _create_channel_and_connection(port)
original_send = connection.send
connection.send = lambda request: _wrap_send(lambda: original_send(request)
)
world_name = connection.send(
dm_env_rpc_pb2.CreateWorldRequest(
settings={
'seed': tensor_utils.pack_tensor(settings.seed),
'episodeId': tensor_utils.pack_tensor(0),
'levelName': tensor_utils.pack_tensor(settings.level_name),
})).world_name
join_world_settings = {
'width': tensor_utils.pack_tensor(settings.width),
'height': tensor_utils.pack_tensor(settings.height),
}
specs = connection.send(
dm_env_rpc_pb2.JoinWorldRequest(world_name=world_name,
settings=join_world_settings)).specs
return _ConnectionDetails(channel=channel,
connection=connection,
specs=specs)
def _connect_to_environment(port, settings):
"""Helper function for connecting to a running dm_construction environment."""
channel, connection = _create_channel_and_connection(port)
original_send = connection.send
connection.send = lambda request: _wrap_send(lambda: original_send(request)
)
all_settings = {
key: tensor_utils.pack_tensor(val)
for key, val in settings.items()
}
create_settings = {
"levelName": all_settings["levelName"],
"seed": tensor_utils.pack_tensor(0),
"episodeId": tensor_utils.pack_tensor(0)
}
world_name = connection.send(
dm_env_rpc_pb2.CreateWorldRequest(settings=create_settings)).world_name
join_settings = all_settings.copy()
del join_settings["levelName"]
specs = connection.send(
dm_env_rpc_pb2.JoinWorldRequest(world_name=world_name,
settings=join_settings)).specs
return channel, connection, specs
def test_unpack(self):
unpacked = self._spec_manager.unpack({
54:
tensor_utils.pack_tensor([1.0, 2.0], dtype=np.float32),
55:
tensor_utils.pack_tensor([3, 4, 5], dtype=np.int32),
})
self.assertLen(unpacked, 2)
np.testing.assert_array_equal(np.asarray([1.0, 2.0]), unpacked['fuzz'])
np.testing.assert_array_equal(np.asarray([3, 4, 5]), unpacked['foo'])
def test_pack(self):
packed = self._spec_manager.pack({
'fuzz': [1.0, 2.0],
'foo': [3, 4, 5]
})
expected = {
54: tensor_utils.pack_tensor([1.0, 2.0], dtype=np.float32),
55: tensor_utils.pack_tensor([3, 4, 5], dtype=np.int32),
}
self.assertDictEqual(expected, packed)
def test_reset_seed_setting(self):
self._world_name = self._connection.send(
dm_env_rpc_pb2.CreateWorldRequest(
settings={'seed': tensor_utils.pack_tensor(1234)})).world_name
self._connection.send(
dm_env_rpc_pb2.JoinWorldRequest(world_name=self._world_name))
step_response = self._connection.send(dm_env_rpc_pb2.StepRequest())
self._connection.send(
dm_env_rpc_pb2.ResetRequest(
settings={'seed': tensor_utils.pack_tensor(1234)}))
self.assertEqual(step_response,
self._connection.send(dm_env_rpc_pb2.StepRequest()))
def test_unpack_scalar_proto(self):
scalar = struct_pb2.Value(string_value='my message')
tensor = tensor_utils.pack_tensor(scalar)
unpacked = struct_pb2.Value()
tensor_utils.unpack_tensor(tensor).Unpack(unpacked)
self.assertEqual(scalar, unpacked)
def test_spec_generate_value_step(self):
self._connection.send = mock.MagicMock(
return_value=_SAMPLE_STEP_RESPONSE)
action_spec = self._env.action_spec()
actions = {
name: spec.generate_value()
for name, spec in action_spec.items()
}
self._env.step(actions)
self._connection.send.assert_called_once_with(
dm_env_rpc_pb2.StepRequest(
requested_observations=[1, 2],
actions={
1: tensor_utils.pack_tensor(actions['foo']),
2: tensor_utils.pack_tensor(actions['bar'], dtype=np.str_)
}))
def test_pack_scalar_protos(self):
scalar = struct_pb2.Value(string_value='my message')
tensor = tensor_utils.pack_tensor(scalar)
self.assertEqual([], tensor.shape)
self.assertLen(tensor.protos.array, 1)
unpacked = struct_pb2.Value()
self.assertTrue(tensor.protos.array[0].Unpack(unpacked))
self.assertEqual(scalar, unpacked)
def test_requested_observations(self):
requested_observations = ['foo']
filtered_env = dm_env_adaptor.DmEnvAdaptor(self._connection, _SAMPLE_SPEC,
requested_observations)
expected_filtered_step_request = dm_env_rpc_pb2.StepRequest(
requested_observations=[1],
actions={
1: tensor_utils.pack_tensor(4, dtype=dm_env_rpc_pb2.UINT8),
2: tensor_utils.pack_tensor('hello')
})
self._connection.send = mock.MagicMock(return_value=_SAMPLE_STEP_RESPONSE)
filtered_env.step({'foo': 4, 'bar': 'hello'})
self._connection.send.assert_called_once_with(
expected_filtered_step_request)
def _create_test_tensor(spec, dtype=None):
"""Creates an arbitrary tensor consistent with the TensorSpec `spec`."""
shape = np.asarray(spec.shape)
shape[shape < 0] = 1
value = [_create_test_value(spec)] * int(np.prod(shape))
tensor = tensor_utils.pack_tensor(value, dtype=dtype or spec.dtype)
tensor.shape[:] = shape
return tensor
def _connect_to_environment(port, settings):
"""Helper function for connecting to a running dm_fast_mapping environment."""
if settings.level_name not in FAST_MAPPING_TASK_LEVEL_NAMES:
raise ValueError(
'Level named "{}" is not a valid dm_fast_mapping level.'.format(
settings.level_name))
channel, connection = _create_channel_and_connection(port)
original_send = connection.send
connection.send = lambda request: _wrap_send(lambda: original_send(request)
)
world_name = connection.send(
dm_env_rpc_pb2.CreateWorldRequest(
settings={
'seed': tensor_utils.pack_tensor(settings.seed),
'episodeId': tensor_utils.pack_tensor(0),
'levelName': tensor_utils.pack_tensor(settings.level_name),
})).world_name
join_world_settings = {
'width':
tensor_utils.pack_tensor(settings.width),
'height':
tensor_utils.pack_tensor(settings.height),
'EpisodeLengthSeconds':
tensor_utils.pack_tensor(settings.episode_length_seconds),
'ShowReachabilityHUD':
tensor_utils.pack_tensor(False),
}
specs = connection.send(
dm_env_rpc_pb2.JoinWorldRequest(world_name=world_name,
settings=join_world_settings)).specs
return _ConnectionDetails(channel=channel,
connection=connection,
specs=specs)
def test_cannot_send_wrong_type_to_nonnumeric_actions(self):
tensor = tensor_utils.pack_tensor(0, dtype=np.int32)
for uid, spec in self.nonnumeric_actions.items():
with self.subTest(uid=uid, name=spec.name):
shape = np.asarray(spec.shape)
shape[shape < 0] = 1
tensor.shape[:] = shape
with self.assertRaises(error.DmEnvRpcError):
self.step(actions={uid: tensor})
def test_can_send_broadcastable_actions(self):
for uid, spec in self.specs.actions.items():
with self.subTest(uid=uid, name=spec.name):
tensor = tensor_utils.pack_tensor(_create_test_value(spec),
dtype=spec.dtype)
shape = np.asarray(spec.shape)
shape[shape < 0] = 1
tensor.shape[:] = shape
self.step(actions={uid: tensor})
def test_pack_proto_arrays(self):
array = np.array([
struct_pb2.Value(string_value=message)
for message in ['foo', 'bar']
])
tensor = tensor_utils.pack_tensor(array)
self.assertEqual([2], tensor.shape)
unpacked = struct_pb2.Value()
tensor.protos.array[0].Unpack(unpacked)
self.assertEqual(array[0], unpacked)
tensor.protos.array[1].Unpack(unpacked)
self.assertEqual(array[1], unpacked)
def _connect_to_environment(port, settings):
"""Helper function for connecting to a running Alchemy environment."""
if settings.level_name not in ALCHEMY_LEVEL_NAMES:
raise ValueError(
'Level named "{}" is not a valid dm_alchemy level.'.format(
settings.level_name))
channel, connection = _create_channel_and_connection(port)
original_send = connection.send
connection.send = lambda request: _wrap_send(lambda: original_send(request)
)
world_name = connection.send(
dm_env_rpc_pb2.CreateWorldRequest(
settings={
'seed': tensor_utils.pack_tensor(settings.seed),
'episodeId': tensor_utils.pack_tensor(0),
'levelName': tensor_utils.pack_tensor(settings.level_name),
'EventSubscriptionRegex': tensor_utils.pack_tensor(
'DeepMind/.*'),
})).world_name
join_world_settings = {
'width': tensor_utils.pack_tensor(settings.width),
'height': tensor_utils.pack_tensor(settings.height),
}
specs = connection.send(
dm_env_rpc_pb2.JoinWorldRequest(world_name=world_name,
settings=join_world_settings)).specs
return _ConnectionDetails(channel=channel,
connection=connection,
specs=specs)
def test_cannot_send_action_above_max(self):
for uid, spec in self.numeric_actions.items():
with self.subTest(uid=uid, name=spec.name):
above = _above_max(spec)
if above is None:
# There are no values above spec's max.
continue
tensor = tensor_utils.pack_tensor(above, dtype=spec.dtype)
shape = np.asarray(spec.shape)
shape[shape < 0] = 1
tensor.shape[:] = shape
with self.assertRaises(error.DmEnvRpcError):
self.step(actions={uid: tensor})
def test_unpack_proto_arrays(self):
array = np.array([
struct_pb2.Value(string_value=message)
for message in ['foo', 'bar']
])
tensor = tensor_utils.pack_tensor(array)
round_trip = tensor_utils.unpack_tensor(tensor)
unpacked = struct_pb2.Value()
round_trip[0].Unpack(unpacked)
self.assertEqual(array[0], unpacked)
round_trip[1].Unpack(unpacked)
self.assertEqual(array[1], unpacked)
def test_create_join_world_with_packed_settings(self):
connection = mock.MagicMock()
connection.send = mock.MagicMock(side_effect=[
dm_env_rpc_pb2.CreateWorldResponse(world_name='Magrathea_02'),
dm_env_rpc_pb2.JoinWorldResponse(specs=_SAMPLE_SPEC)
])
env, world_name = dm_env_adaptor.create_and_join_world(
connection,
create_world_settings={
'planet': tensor_utils.pack_tensor('Magrathea')
},
join_world_settings={
'ship_type': tensor_utils.pack_tensor(2),
'player': tensor_utils.pack_tensor('arthur'),
'unpacked_setting': [1, 2, 3],
})
self.assertIsNotNone(env)
self.assertEqual('Magrathea_02', world_name)
connection.send.assert_has_calls([
mock.call(
text_format.Parse(
"""settings: {
key: 'planet', value: { strings: { array: 'Magrathea' } }
}""", dm_env_rpc_pb2.CreateWorldRequest())),
mock.call(
text_format.Parse(
"""world_name: 'Magrathea_02'
settings: { key: 'ship_type', value: { int64s: { array: 2 } } }
settings: {
key: 'player', value: { strings: { array: 'arthur' } }
}
settings: {
key: 'unpacked_setting', value: {
int64s: { array: 1 array: 2 array: 3 }
shape: 3
}
}""", dm_env_rpc_pb2.JoinWorldRequest())),
])
def write(self, key: str, value) -> None:
"""Writes the provided value to a property.
Args:
key: A string key that represents the property to write.
value: A scalar (float, int, string, etc.), NumPy array, or nested lists.
See tensor_utils.pack for more details.
"""
packed_request = any_pb2.Any()
packed_request.Pack(
properties_pb2.PropertyRequest(
write_property=properties_pb2.WritePropertyRequest(
key=key, value=tensor_utils.pack_tensor(value))))
self._connection.send(packed_request)
def pack(self, tensors):
"""Packs a name-keyed Python dict to a dm_env_rpc uid-to-tensor map.
Args:
tensors: A dict mapping string names to scalars and arrays.
Returns:
A dict mapping UIDs to dm_env_rpc tensor protos.
"""
packed = {}
for name, value in tensors.items():
dm_env_rpc_spec = self.name_to_spec(name)
tensor = tensor_utils.pack_tensor(value, dtype=dm_env_rpc_spec.dtype)
_assert_shapes_match(tensor, dm_env_rpc_spec)
packed[self.name_to_uid(name)] = tensor
return packed
def create_and_join_world(
connection: dm_env_rpc_connection.Connection,
create_world_settings: Mapping[str, Any],
join_world_settings: Mapping[str, Any],
requested_observations: Optional[Iterable[str]] = None,
extensions: Optional[Mapping[str, Any]] = frozendict.frozendict()
) -> Tuple[DmEnvAdaptor, str]:
"""Helper function to create and join a world with the provided settings.
Args:
connection: An instance of Connection already connected to a dm_env_rpc
server.
create_world_settings: Settings used to create the world. Values must be
packable into a Tensor proto or already packed.
join_world_settings: Settings used to join the world. Values must be
packable into a Tensor message.
requested_observations: Optional set of requested observations.
extensions: Optional mapping of extension instances to DmEnvAdaptor
attributes.
Returns:
Tuple of DmEnvAdaptor and the created world name.
"""
create_world_settings = {
key: (value if isinstance(value, dm_env_rpc_pb2.Tensor) else
tensor_utils.pack_tensor(value))
for key, value in create_world_settings.items()
}
world_name = connection.send(
dm_env_rpc_pb2.CreateWorldRequest(
settings=create_world_settings)).world_name
try:
return_type = collections.namedtuple('DmEnvAndWorldName',
['env', 'world_name'])
return return_type(
join_world(connection, world_name, join_world_settings,
requested_observations, extensions), world_name)
except (error.DmEnvRpcError, ValueError):
connection.send(
dm_env_rpc_pb2.DestroyWorldRequest(world_name=world_name))
raise
def join_world(
connection: dm_env_rpc_connection.Connection,
world_name: str,
join_world_settings: Mapping[str, Any],
requested_observations: Optional[Iterable[str]] = None,
extensions: Optional[Mapping[str, Any]] = immutabledict.immutabledict()
) -> DmEnvAdaptor:
"""Helper function to join a world with the provided settings.
Args:
connection: An instance of Connection already connected to a dm_env_rpc
server.
world_name: Name of the world to join.
join_world_settings: Settings used to join the world. Values must be
packable into a Tensor message or already packed.
requested_observations: Optional set of requested observations.
extensions: Optional mapping of extension instances to DmEnvAdaptor
attributes.
Returns:
Instance of DmEnvAdaptor.
"""
join_world_settings = {
key: (value if isinstance(value, dm_env_rpc_pb2.Tensor) else
tensor_utils.pack_tensor(value))
for key, value in join_world_settings.items()
}
specs = connection.send(
dm_env_rpc_pb2.JoinWorldRequest(world_name=world_name,
settings=join_world_settings)).specs
try:
return DmEnvAdaptor(connection,
specs,
requested_observations,
extensions=extensions)
except ValueError:
connection.send(dm_env_rpc_pb2.LeaveWorldRequest())
raise
def create_world(connection: dm_env_rpc_connection.Connection,
create_world_settings: Mapping[str, Any]) -> str:
"""Helper function to create a world with the provided settings.
Args:
connection: An instance of Connection already connected to a dm_env_rpc
server.
create_world_settings: Settings used to create the world. Values must be
packable into a Tensor proto or already packed.
Returns:
Created world name.
"""
create_world_settings = {
key: (value if isinstance(value, dm_env_rpc_pb2.Tensor) else
tensor_utils.pack_tensor(value))
for key, value in create_world_settings.items()
}
return connection.send(
dm_env_rpc_pb2.CreateWorldRequest(
settings=create_world_settings)).world_name
def _make_environment_connection(channel, connection, settings):
"""Helper function for connecting to a running dm_memorytask environment."""
original_send = connection.send
connection.send = lambda request: _wrap_send(lambda: original_send(request))
world_name = connection.send(
dm_env_rpc_pb2.CreateWorldRequest(
settings={
'seed': tensor_utils.pack_tensor(settings.seed),
'episodeId': tensor_utils.pack_tensor(0),
'levelName': tensor_utils.pack_tensor(settings.level_name),
})).world_name
join_world_settings = {
'width':
tensor_utils.pack_tensor(settings.width),
'height':
tensor_utils.pack_tensor(settings.height),
'EpisodeLengthSeconds':
tensor_utils.pack_tensor(settings.episode_length_seconds),
}
specs = connection.send(
dm_env_rpc_pb2.JoinWorldRequest(
world_name=world_name, settings=join_world_settings)).specs
return _ConnectionDetails(channel=channel, connection=connection, specs=specs)
def statement(self):
self._unpacked.flat[0] += 1 # prevent caching of the result
tensor_utils.pack_tensor(self._unpacked, self._dtype)
def test_cannot_send_invalid_action_uid(self):
bad_uid = _find_uid_not_in_set(self.action_uids)
with self.assertRaises(error.DmEnvRpcError):
self.step(actions={bad_uid: tensor_utils.pack_tensor(0)})
def setup(self):
# Use non-zero values in case there's something special about zero arrays.
tensor = np.arange(np.prod(self._shape),
dtype=self._dtype).reshape(self._shape)
self._packed = tensor_utils.pack_tensor(tensor, self._dtype)
def test_first_step_actions_are_ignored(self):
bad_uid = _find_uid_not_in_set(self.action_uids)
self.step(actions={bad_uid: tensor_utils.pack_tensor(0)})
import contextlib
from absl.testing import absltest
import grpc
import mock
from google.protobuf import any_pb2
from google.protobuf import struct_pb2
from google.rpc import status_pb2
from dm_env_rpc.v1 import connection as dm_env_rpc_connection
from dm_env_rpc.v1 import dm_env_rpc_pb2
from dm_env_rpc.v1 import error
from dm_env_rpc.v1 import tensor_utils
_CREATE_REQUEST = dm_env_rpc_pb2.CreateWorldRequest(
settings={'foo': tensor_utils.pack_tensor('bar')})
_CREATE_RESPONSE = dm_env_rpc_pb2.CreateWorldResponse()
_BAD_CREATE_REQUEST = dm_env_rpc_pb2.CreateWorldRequest()
_TEST_ERROR = dm_env_rpc_pb2.EnvironmentResponse(error=status_pb2.Status(
message='A test error.'))
_INCORRECT_RESPONSE_TEST_MSG = dm_env_rpc_pb2.DestroyWorldRequest(
world_name='foo')
_INCORRECT_RESPONSE = dm_env_rpc_pb2.EnvironmentResponse(
leave_world=dm_env_rpc_pb2.LeaveWorldResponse())
_EXTENSION_REQUEST = struct_pb2.Value(string_value='extension request')
_EXTENSION_RESPONSE = struct_pb2.Value(number_value=555)
def write_property(self, name, value):
"""Write a property of the Unity environment."""
properties = {name: tensor_utils.pack_tensor(value)}
self._connection.send(
dm_env_rpc_pb2.WritePropertyRequest(properties=properties))
