def __init__(
self,
file_name: Optional[str] = None,
worker_id: int = 0,
base_port: int = 5005,
seed: int = 0,
docker_training: bool = False,
no_graphics: bool = False,
timeout_wait: int = 60,
args: Optional[List[str]] = None,
side_channels: Optional[List[SideChannel]] = None,
):
"""
Starts a new unity environment and establishes a connection with the environment.
Notice: Currently communication between Unity and Python takes place over an open socket without authentication.
Ensure that the network where training takes place is secure.
:string file_name: Name of Unity environment binary.
:int base_port: Baseline port number to connect to Unity environment over. worker_id increments over this.
:int worker_id: Number to add to communication port (5005) [0]. Used for asynchronous agent scenarios.
:bool docker_training: Informs this class whether the process is being run within a container.
:bool no_graphics: Whether to run the Unity simulator in no-graphics mode
:int timeout_wait: Time (in seconds) to wait for connection from environment.
:bool train_mode: Whether to run in training mode, speeding up the simulation, by default.
:list args: Addition Unity command line arguments
:list side_channels: Additional side channel for no-rl communication with Unity
"""
args = args or []
atexit.register(self._close)
self.port = base_port + worker_id
self._buffer_size = 12000
self._version_ = UnityEnvironment.API_VERSION
# If true, this means the environment was successfully loaded
self._loaded = False
# The process that is started. If None, no process was started
self.proc1 = None
self.timeout_wait: int = timeout_wait
self.communicator = self.get_communicator(worker_id, base_port,
timeout_wait)
self.worker_id = worker_id
self.side_channels: Dict[int, SideChannel] = {}
if side_channels is not None:
for _sc in side_channels:
if _sc.channel_type in self.side_channels:
raise UnityEnvironmentException(
"There cannot be two side channels with the same channel type {0}."
.format(_sc.channel_type))
self.side_channels[_sc.channel_type] = _sc
# If the environment name is None, a new environment will not be launched
# and the communicator will directly try to connect to an existing unity environment.
# If the worker-id is not 0 and the environment name is None, an error is thrown
if file_name is None and worker_id != 0:
raise UnityEnvironmentException(
"If the environment name is None, "
"the worker-id must be 0 in order to connect with the Editor.")
if file_name is not None:
self.executable_launcher(file_name, docker_training, no_graphics,
args)
else:
logger.info(
f"Listening on port {self.port}. "
f"Start training by pressing the Play button in the Unity Editor."
)
self._loaded = True
rl_init_parameters_in = UnityRLInitializationInputProto(seed=seed)
try:
aca_output = self.send_academy_parameters(rl_init_parameters_in)
aca_params = aca_output.rl_initialization_output
except UnityTimeOutException:
self._close()
raise
# TODO : think of a better way to expose the academyParameters
self._unity_version = aca_params.version
if self._unity_version != self._version_:
self._close()
raise UnityEnvironmentException(
f"The API number is not compatible between Unity and python. "
f"Python API: {self._version_}, Unity API: {self._unity_version}.\n"
f"Please go to https://github.com/Unity-Technologies/ml-agents/releases/tag/latest_release"
f"to download the latest version of ML-Agents.")
self._env_state: Dict[str, BatchedStepResult] = {}
self._env_specs: Dict[str, AgentGroupSpec] = {}
self._env_actions: Dict[str, np.ndarray] = {}
self._is_first_message = True
self._update_group_specs(aca_output)
def __init__(
self,
file_name: Optional[str] = None,
worker_id: int = 0,
base_port: Optional[int] = None,
seed: int = 0,
no_graphics: bool = False,
timeout_wait: int = 60,
additional_args: Optional[List[str]] = None,
side_channels: Optional[List[SideChannel]] = None,
log_folder: Optional[str] = None,
):
"""
Starts a new unity environment and establishes a connection with the environment.
Notice: Currently communication between Unity and Python takes place over an open socket without authentication.
Ensure that the network where training takes place is secure.
:string file_name: Name of Unity environment binary.
:int base_port: Baseline port number to connect to Unity environment over. worker_id increments over this.
If no environment is specified (i.e. file_name is None), the DEFAULT_EDITOR_PORT will be used.
:int worker_id: Offset from base_port. Used for training multiple environments simultaneously.
:bool no_graphics: Whether to run the Unity simulator in no-graphics mode
:int timeout_wait: Time (in seconds) to wait for connection from environment.
:list args: Addition Unity command line arguments
:list side_channels: Additional side channel for no-rl communication with Unity
:str log_folder: Optional folder to write the Unity Player log file into. Requires absolute path.
"""
atexit.register(self._close)
self._additional_args = additional_args or []
self._no_graphics = no_graphics
# If base port is not specified, use BASE_ENVIRONMENT_PORT if we have
# an environment, otherwise DEFAULT_EDITOR_PORT
if base_port is None:
base_port = (
self.BASE_ENVIRONMENT_PORT if file_name else self.DEFAULT_EDITOR_PORT
)
self._port = base_port + worker_id
self._buffer_size = 12000
# If true, this means the environment was successfully loaded
self._loaded = False
# The process that is started. If None, no process was started
self._proc1 = None
self._timeout_wait: int = timeout_wait
self._communicator = self._get_communicator(worker_id, base_port, timeout_wait)
self._worker_id = worker_id
self._side_channel_manager = SideChannelManager(side_channels)
self._log_folder = log_folder
# If the environment name is None, a new environment will not be launched
# and the communicator will directly try to connect to an existing unity environment.
# If the worker-id is not 0 and the environment name is None, an error is thrown
if file_name is None and worker_id != 0:
raise UnityEnvironmentException(
"If the environment name is None, "
"the worker-id must be 0 in order to connect with the Editor."
)
if file_name is not None:
try:
self._proc1 = env_utils.launch_executable(
file_name, self._executable_args()
)
except UnityEnvironmentException:
self._close(0)
raise
else:
logger.info(
f"Listening on port {self._port}. "
f"Start training by pressing the Play button in the Unity Editor."
)
self._loaded = True
rl_init_parameters_in = UnityRLInitializationInputProto(
seed=seed,
communication_version=self.API_VERSION,
package_version=mlagents_envs.__version__,
capabilities=UnityEnvironment._get_capabilities_proto(),
)
try:
aca_output = self._send_academy_parameters(rl_init_parameters_in)
aca_params = aca_output.rl_initialization_output
except UnityTimeOutException:
self._close(0)
raise
if not UnityEnvironment._check_communication_compatibility(
aca_params.communication_version,
UnityEnvironment.API_VERSION,
aca_params.package_version,
):
self._close(0)
UnityEnvironment._raise_version_exception(aca_params.communication_version)
UnityEnvironment._warn_csharp_base_capabilities(
aca_params.capabilities,
aca_params.package_version,
UnityEnvironment.API_VERSION,
)
self._env_state: Dict[str, Tuple[DecisionSteps, TerminalSteps]] = {}
self._env_specs: Dict[str, BehaviorSpec] = {}
self._env_actions: Dict[str, np.ndarray] = {}
self._is_first_message = True
self._update_behavior_specs(aca_output)
def __init__(
self,
file_name: Optional[str] = None,
worker_id: int = 0,
base_port: Optional[int] = None,
seed: int = 0,
no_graphics: bool = False,
timeout_wait: int = 60,
args: Optional[List[str]] = None,
side_channels: Optional[List[SideChannel]] = None,
):
"""
Starts a new unity environment and establishes a connection with the environment.
Notice: Currently communication between Unity and Python takes place over an open socket without authentication.
Ensure that the network where training takes place is secure.
:string file_name: Name of Unity environment binary.
:int base_port: Baseline port number to connect to Unity environment over. worker_id increments over this.
If no environment is specified (i.e. file_name is None), the DEFAULT_EDITOR_PORT will be used.
:int worker_id: Offset from base_port. Used for training multiple environments simultaneously.
:bool no_graphics: Whether to run the Unity simulator in no-graphics mode
:int timeout_wait: Time (in seconds) to wait for connection from environment.
:list args: Addition Unity command line arguments
:list side_channels: Additional side channel for no-rl communication with Unity
"""
args = args or []
atexit.register(self._close)
# If base port is not specified, use BASE_ENVIRONMENT_PORT if we have
# an environment, otherwise DEFAULT_EDITOR_PORT
if base_port is None:
base_port = (self.BASE_ENVIRONMENT_PORT
if file_name else self.DEFAULT_EDITOR_PORT)
self.port = base_port + worker_id
self._buffer_size = 12000
# If true, this means the environment was successfully loaded
self._loaded = False
# The process that is started. If None, no process was started
self.proc1 = None
self.timeout_wait: int = timeout_wait
self.communicator = self.get_communicator(worker_id, base_port,
timeout_wait)
self.worker_id = worker_id
self.side_channels: Dict[uuid.UUID, SideChannel] = {}
if side_channels is not None:
for _sc in side_channels:
if _sc.channel_id in self.side_channels:
raise UnityEnvironmentException(
"There cannot be two side channels with the same channel id {0}."
.format(_sc.channel_id))
self.side_channels[_sc.channel_id] = _sc
# If the environment name is None, a new environment will not be launched
# and the communicator will directly try to connect to an existing unity environment.
# If the worker-id is not 0 and the environment name is None, an error is thrown
if file_name is None and worker_id != 0:
raise UnityEnvironmentException(
"If the environment name is None, "
"the worker-id must be 0 in order to connect with the Editor.")
if file_name is not None:
self.executable_launcher(file_name, no_graphics, args)
else:
logger.info(
f"Listening on port {self.port}. "
f"Start training by pressing the Play button in the Unity Editor."
)
self._loaded = True
rl_init_parameters_in = UnityRLInitializationInputProto(
seed=seed,
communication_version=self.API_VERSION,
package_version=mlagents_envs.__version__,
)
try:
aca_output = self.send_academy_parameters(rl_init_parameters_in)
aca_params = aca_output.rl_initialization_output
except UnityTimeOutException:
self._close(0)
raise
unity_communicator_version = aca_params.communication_version
if unity_communicator_version != UnityEnvironment.API_VERSION:
self._close(0)
raise UnityEnvironmentException(
f"The communication API version is not compatible between Unity and python. "
f"Python API: {UnityEnvironment.API_VERSION}, Unity API: {unity_communicator_version}.\n "
f"Please go to https://github.com/Unity-Technologies/ml-agents/releases/tag/latest_release "
f"to download the latest version of ML-Agents.")
else:
logger.info(
f"Connected to Unity environment with package version {aca_params.package_version} "
f"and communication version {aca_params.communication_version}"
)
self._env_state: Dict[str, BatchedStepResult] = {}
self._env_specs: Dict[str, AgentGroupSpec] = {}
self._env_actions: Dict[str, np.ndarray] = {}
self._is_first_message = True
self._update_group_specs(aca_output)
