def reset(self) -> None:
if self._loaded:
outputs = self._communicator.exchange(self._generate_reset_input())
if outputs is None:
raise UnityCommunicatorStoppedException("Communicator has exited.")
self._update_behavior_specs(outputs)
rl_output = outputs.rl_output
self._update_state(rl_output)
self._is_first_message = False
self._env_actions.clear()
else:
raise UnityEnvironmentException("No Unity environment is loaded.")
def step(self) -> None:
if self._is_first_message:
return self.reset()
if not self._loaded:
raise UnityEnvironmentException("No Unity environment is loaded.")
# fill the blanks for missing actions
for group_name in self._env_specs:
if group_name not in self._env_actions:
n_agents = 0
if group_name in self._env_state:
n_agents = len(self._env_state[group_name][0])
self._env_actions[group_name] = self._env_specs[
group_name].create_empty_action(n_agents)
step_input = self._generate_step_input(self._env_actions)
with hierarchical_timer("communicator.exchange"):
outputs = self.communicator.exchange(step_input)
if outputs is None:
raise UnityCommunicatorStoppedException("Communicator has exited.")
self._update_behavior_specs(outputs)
rl_output = outputs.rl_output
self._update_state(rl_output)
self._env_actions.clear()
