def relaunch(self):
self.comm.close()
self.comm = comm_unity.UnityCommunication(port=str(self.port_number),
**self.executable_args)
def __init__(self,
num_agents=2,
max_episode_length=200,
observation_types=None,
use_editor=False,
base_port=8080,
port_id=0,
executable_args={},
recording_options={
'recording': False,
'output_folder': None,
'file_name_prefix': None,
'cameras': 'PERSON_FROM_BACK',
'modality': 'normal'
},
seed=123):
self.seed = seed
self.prev_reward = 0.
self.rnd = random.Random(seed)
np.random.seed(seed)
self.steps = 0
self.env_id = None
self.max_ids = {}
self.num_agents = num_agents
self.max_episode_length = max_episode_length
self.actions_available = [
'turnleft', 'walkforward', 'turnright', 'walktowards', 'open',
'close', 'put', 'grab', 'no_action'
]
self.recording_options = recording_options
self.base_port = base_port
self.port_id = port_id
self.executable_args = executable_args
# Observation parameters
self.num_camera_per_agent = 6
self.CAMERA_NUM = 1 # 0 TOP, 1 FRONT, 2 LEFT..
self.default_image_width = 300
self.default_image_height = 300
if observation_types is not None:
self.observation_types = observation_types
else:
self.observation_types = ['partial' for _ in range(num_agents)]
self.agent_info = {0: 'Chars/Female1', 1: 'Chars/Male1'}
self.changed_graph = True
self.rooms = None
self.id2node = None
self.num_static_cameras = None
if use_editor:
# Use Unity Editor
self.port_number = 8080
self.comm = comm_unity.UnityCommunication()
else:
# Launch the executable
self.port_number = self.base_port + port_id
# ipdb.set_trace()
self.comm = comm_unity.UnityCommunication(port=str(
self.port_number),
**self.executable_args)
atexit.register(self.close)
self.reset()