Koha9
de066f3a65
Unity: No more detect Closest enemy info. Add different density sensor let agent get more state information on the center of view. Adjust Start Scene UI manager. Add in game visible rayCast & information that rayCast detect. Python: Start use mypy black and flake8 to format Python.
130 lines
4.7 KiB
Python
130 lines
4.7 KiB
Python
import mlagents_envs
|
||
from mlagents_envs.base_env import ActionTuple
|
||
from mlagents_envs.environment import UnityEnvironment
|
||
|
||
import numpy as np
|
||
|
||
|
||
class makeEnv(object):
|
||
def __init__(self, envPath, workerID, basePort):
|
||
self.env = UnityEnvironment(
|
||
file_name=envPath,
|
||
seed=1,
|
||
side_channels=[],
|
||
worker_id=workerID,
|
||
base_port=basePort,
|
||
)
|
||
self.env.reset()
|
||
|
||
# get enviroment specs
|
||
self.LOAD_DIR_SIZE_IN_STATE = 3
|
||
self.TRACKED_AGENT = -1
|
||
self.BEHA_SPECS = self.env.behavior_specs
|
||
self.BEHA_NAME = list(self.BEHA_SPECS)[0]
|
||
self.SPEC = self.BEHA_SPECS[self.BEHA_NAME]
|
||
self.OBSERVATION_SPECS = self.SPEC.observation_specs[
|
||
0
|
||
] # observation spec
|
||
self.ACTION_SPEC = self.SPEC.action_spec # action specs
|
||
|
||
self.DISCRETE_SIZE = self.ACTION_SPEC.discrete_size # 連続的な動作のSize
|
||
self.CONTINUOUS_SIZE = self.ACTION_SPEC.continuous_size # 離散的な動作のSize
|
||
self.STATE_SIZE = (
|
||
self.OBSERVATION_SPECS.shape[0] - self.LOAD_DIR_SIZE_IN_STATE
|
||
) # 環境観測データ数
|
||
print("√√√√√Enviroment Initialized Success√√√√√")
|
||
|
||
def step(
|
||
self,
|
||
discreteActions=None,
|
||
continuousActions=None,
|
||
behaviorName=None,
|
||
trackedAgent=None,
|
||
):
|
||
# take action to enviroment
|
||
# return mextState,reward,done
|
||
|
||
# check if arg is include None or IS None
|
||
try:
|
||
isDisNone = discreteActions.any() is None
|
||
if discreteActions.all() is None:
|
||
print("step() Error!:discreteActions include None")
|
||
except:
|
||
isDisNone = True
|
||
try:
|
||
isConNone = continuousActions.any() is None
|
||
if continuousActions.all() is None:
|
||
print("step() Error!:continuousActions include None")
|
||
except:
|
||
isConNone = True
|
||
|
||
if isDisNone:
|
||
# if discreteActions is enpty just give nothing[[0]] to Enviroment
|
||
discreteActions = np.array([[0]], dtype=np.int)
|
||
if isConNone:
|
||
# if continuousActions is enpty just give nothing[[0]] to Enviroment
|
||
continuousActions = np.array([[0]], dtype=np.float)
|
||
if behaviorName is None:
|
||
behaviorName = self.BEHA_NAME
|
||
if trackedAgent is None:
|
||
trackedAgent = self.TRACKED_AGENT
|
||
|
||
# create actionTuple
|
||
thisActionTuple = ActionTuple(
|
||
continuous=continuousActions, discrete=discreteActions
|
||
)
|
||
# take action to env
|
||
self.env.set_actions(
|
||
behavior_name=behaviorName, action=thisActionTuple
|
||
)
|
||
self.env.step()
|
||
# get nextState & reward & done after this action
|
||
nextState, reward, done, loadDir, saveNow = self.getSteps(
|
||
behaviorName, trackedAgent
|
||
)
|
||
return nextState, reward, done, loadDir, saveNow
|
||
|
||
def getSteps(self, behaviorName=None, trackedAgent=None):
|
||
# get nextState & reward & done
|
||
if behaviorName is None:
|
||
behaviorName = self.BEHA_NAME
|
||
decisionSteps, terminalSteps = self.env.get_steps(behaviorName)
|
||
if self.TRACKED_AGENT == -1 and len(decisionSteps) >= 1:
|
||
self.TRACKED_AGENT = decisionSteps.agent_id[0]
|
||
if trackedAgent is None:
|
||
trackedAgent = self.TRACKED_AGENT
|
||
|
||
if (
|
||
trackedAgent in decisionSteps
|
||
): # ゲーム終了していない場合、環境状態がdecision_stepsに保存される
|
||
nextState = decisionSteps[trackedAgent].obs[0]
|
||
nextState = np.reshape(
|
||
nextState, [1, self.STATE_SIZE + self.LOAD_DIR_SIZE_IN_STATE]
|
||
)
|
||
saveNow = nextState[0][-1]
|
||
loadDir = nextState[0][-3:-1]
|
||
nextState = nextState[0][:-3]
|
||
reward = decisionSteps[trackedAgent].reward
|
||
done = False
|
||
if (
|
||
trackedAgent in terminalSteps
|
||
): # ゲーム終了した場合、環境状態がterminal_stepsに保存される
|
||
nextState = terminalSteps[trackedAgent].obs[0]
|
||
nextState = np.reshape(
|
||
nextState, [1, self.STATE_SIZE + self.LOAD_DIR_SIZE_IN_STATE]
|
||
)
|
||
saveNow = nextState[0][-1]
|
||
loadDir = nextState[0][-3:-1]
|
||
nextState = nextState[0][:-3]
|
||
reward = terminalSteps[trackedAgent].reward
|
||
done = True
|
||
return nextState, reward, done, loadDir, saveNow
|
||
|
||
def reset(self):
|
||
self.env.reset()
|
||
nextState, reward, done, loadDir, saveNow = self.getSteps()
|
||
return nextState, reward, done, loadDir, saveNow
|
||
|
||
def render(self):
|
||
self.env.render()
|