diff --git a/.yamato/gym-interface-test.yml b/.yamato/gym-interface-test.yml index a24d6d7232..2501b8751b 100644 --- a/.yamato/gym-interface-test.yml +++ b/.yamato/gym-interface-test.yml @@ -13,7 +13,7 @@ test_gym_interface_{{ editor.version }}: commands: - pip install pyyaml - python -u -m ml-agents.tests.yamato.setup_venv - - ./venv/bin/python ml-agents/tests/yamato/scripts/run_gym.py --env=Project/testPlayer-Basic + - ./venv/bin/python ml-agents/tests/yamato/scripts/run_gym.py --env=artifacts/testPlayer-Basic dependencies: - .yamato/standalone-build-test.yml#test_mac_standalone_{{ editor.version }} triggers: diff --git a/.yamato/protobuf-generation-test.yml b/.yamato/protobuf-generation-test.yml index 5afd7748dc..9805fc9794 100644 --- a/.yamato/protobuf-generation-test.yml +++ b/.yamato/protobuf-generation-test.yml @@ -36,6 +36,6 @@ test_mac_protobuf_generation: - "protobuf-definitions/*.md" - "protobuf-definitions/**/*.md" artifacts: - dist: + patch: paths: - - "artifacts/*" + - "artifacts/*.*" diff --git a/.yamato/python-ll-api-test.yml b/.yamato/python-ll-api-test.yml index aec111225a..ab666b9331 100644 --- a/.yamato/python-ll-api-test.yml +++ b/.yamato/python-ll-api-test.yml @@ -15,7 +15,7 @@ test_mac_ll_api_{{ editor.version }}: - python -u -m ml-agents.tests.yamato.setup_venv - ./venv/bin/python ml-agents/tests/yamato/scripts/run_llapi.py dependencies: - - .yamato/standalone-build-test.yml#test_mac_standalone_{{ editor.version }} --env=Project/testPlayer + - .yamato/standalone-build-test.yml#test_mac_standalone_{{ editor.version }} triggers: cancel_old_ci: true changes: diff --git a/.yamato/standalone-build-test.yml b/.yamato/standalone-build-test.yml index eb0fd5168b..58d07f5804 100644 --- a/.yamato/standalone-build-test.yml +++ b/.yamato/standalone-build-test.yml @@ -27,7 +27,10 @@ test_mac_standalone_{{ editor.version }}: - "com.unity.ml-agents/*.md" - "com.unity.ml-agents/**/*.md" artifacts: + logs: + paths: + - "artifacts/standalone_build.txt" standalonebuild: paths: - - "Project/testPlayer*/**" + - "artifacts/testPlayer*/**" {% endfor %} diff --git a/.yamato/training-int-tests.yml b/.yamato/training-int-tests.yml index b39bb0fc02..e929ecdce8 100644 --- a/.yamato/training-int-tests.yml +++ b/.yamato/training-int-tests.yml @@ -17,8 +17,8 @@ test_mac_training_int_{{ editor.version }}: # Backwards-compatibility tests. # If we make a breaking change to the communication protocol, these will need # to be disabled until the next release. - - python -u -m ml-agents.tests.yamato.training_int_tests --python=0.15.0 - - python -u -m ml-agents.tests.yamato.training_int_tests --csharp=0.15.0 + # - python -u -m ml-agents.tests.yamato.training_int_tests --python=0.15.0 + # - python -u -m ml-agents.tests.yamato.training_int_tests --csharp=0.15.0 dependencies: - .yamato/standalone-build-test.yml#test_mac_standalone_{{ editor.version }} triggers: @@ -35,7 +35,10 @@ test_mac_training_int_{{ editor.version }}: - "com.unity.ml-agents/*.md" - "com.unity.ml-agents/**/*.md" artifacts: - unit: + logs: paths: - - "artifacts/**" + - "artifacts/standalone_build.txt" + standalonebuild: + paths: + - "artifacts/testplayer*/**" {% endfor %} diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md index 5f2093e0ef..9d91c544fe 100755 --- a/com.unity.ml-agents/CHANGELOG.md +++ b/com.unity.ml-agents/CHANGELOG.md @@ -15,6 +15,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0. - Removed the multi-agent gym option from the gym wrapper. For multi-agent scenarios, use the [Low Level Python API](Python-API.md). - The low level Python API has changed. You can look at the document [Low Level Python API documentation](Python-API.md) for more information. If you use `mlagents-learn` for training, this should be a transparent change. - Added ability to start training (initialize model weights) from a previous run ID. (#3710) + - The internal event `Academy.AgentSetStatus` was renamed to `Academy.AgentPreStep` and made public. + - The offset logic was removed from DecisionRequester. ### Minor Changes - Format of console output has changed slightly and now matches the name of the model/summary directory. (#3630, #3616) diff --git a/com.unity.ml-agents/Runtime/Academy.cs b/com.unity.ml-agents/Runtime/Academy.cs index 9db61fbb14..3b6efc98d4 100644 --- a/com.unity.ml-agents/Runtime/Academy.cs +++ b/com.unity.ml-agents/Runtime/Academy.cs @@ -58,7 +58,7 @@ public class Academy : IDisposable /// on each side, although we may allow some flexibility in the future. /// This should be incremented whenever a change is made to the communication protocol. /// - const string k_ApiVersion = "0.15.0"; + const string k_ApiVersion = "0.16.0"; /// /// Unity package version of com.unity.ml-agents. @@ -138,11 +138,14 @@ public bool IsCommunicatorOn // This will mark the Agent as Done if it has reached its maxSteps. internal event Action AgentIncrementStep; - // Signals to all the agents at each environment step along with the - // Academy's maxStepReached, done and stepCount values. The agents rely - // on this event to update their own values of max step reached and done - // in addition to aligning on the step count of the global episode. - internal event Action AgentSetStatus; + + /// + /// Signals to all of the s that their step is about to begin. + /// This is a good time for an to decide if it would like to + /// call or + /// for this step. Any other pre-step setup could be done during this even as well. + /// + public event Action AgentPreStep; // Signals to all the agents at each environment step so they can send // their state to their Policy if they have requested a decision. @@ -347,7 +350,7 @@ void ResetActions() { DecideAction = () => {}; DestroyAction = () => {}; - AgentSetStatus = i => {}; + AgentPreStep = i => {}; AgentSendState = () => {}; AgentAct = () => {}; AgentForceReset = () => {}; @@ -423,7 +426,7 @@ public void EnvironmentStep() ForcedFullReset(); } - AgentSetStatus?.Invoke(m_StepCount); + AgentPreStep?.Invoke(m_StepCount); m_StepCount += 1; m_TotalStepCount += 1; diff --git a/com.unity.ml-agents/Runtime/DecisionRequester.cs b/com.unity.ml-agents/Runtime/DecisionRequester.cs index 64a50fe1ba..3c2fab97d7 100644 --- a/com.unity.ml-agents/Runtime/DecisionRequester.cs +++ b/com.unity.ml-agents/Runtime/DecisionRequester.cs @@ -1,3 +1,4 @@ +using System; using UnityEngine; using UnityEngine.Serialization; @@ -8,12 +9,12 @@ namespace MLAgents /// at regular intervals. /// [AddComponentMenu("ML Agents/Decision Requester", (int)MenuGroup.Default)] - internal class DecisionRequester : MonoBehaviour + [RequireComponent(typeof(Agent))] + public class DecisionRequester : MonoBehaviour { /// /// The frequency with which the agent requests a decision. A DecisionPeriod of 5 means - /// that the Agent will request a decision every 5 Academy steps. - /// + /// that the Agent will request a decision every 5 Academy steps. /// [Range(1, 20)] [Tooltip("The frequency with which the agent requests a decision. A DecisionPeriod " + "of 5 means that the Agent will request a decision every 5 Academy steps.")] @@ -29,37 +30,32 @@ internal class DecisionRequester : MonoBehaviour [FormerlySerializedAs("RepeatAction")] public bool TakeActionsBetweenDecisions = true; - /// - /// Whether or not the Agent decisions should start at an offset (different for each agent). - /// This does not affect . Turning this on will distribute - /// the decision-making computations for all the agents across multiple Academy steps. - /// This can be valuable in scenarios where you have many agents in the scene, particularly - /// during the inference phase. - /// - [Tooltip("Whether or not Agent decisions should start at an offset.")] - public bool offsetStep; - + [NonSerialized] Agent m_Agent; - int m_Offset; internal void Awake() { - m_Offset = offsetStep ? gameObject.GetInstanceID() : 0; m_Agent = gameObject.GetComponent(); - Academy.Instance.AgentSetStatus += MakeRequests; + Debug.Assert(m_Agent != null, "Agent component was not found on this gameObject and is required."); + Academy.Instance.AgentPreStep += MakeRequests; } void OnDestroy() { if (Academy.IsInitialized) { - Academy.Instance.AgentSetStatus -= MakeRequests; + Academy.Instance.AgentPreStep -= MakeRequests; } } - void MakeRequests(int count) + /// + /// Method that hooks into the Academy in order inform the Agent on whether or not it should request a + /// decision, and whether or not it should take actions between decisions. + /// + /// The current step count of the academy. + void MakeRequests(int academyStepCount) { - if ((count + m_Offset) % DecisionPeriod == 0) + if (academyStepCount % DecisionPeriod == 0) { m_Agent?.RequestDecision(); } diff --git a/com.unity.ml-agents/Tests/Editor/PublicAPI/PublicApiValidation.cs b/com.unity.ml-agents/Tests/Editor/PublicAPI/PublicApiValidation.cs index ab6e00b2b2..45f0c6173d 100644 --- a/com.unity.ml-agents/Tests/Editor/PublicAPI/PublicApiValidation.cs +++ b/com.unity.ml-agents/Tests/Editor/PublicAPI/PublicApiValidation.cs @@ -4,6 +4,7 @@ using MLAgents.Sensors; using NUnit.Framework; using UnityEngine; +using UnityEngine.TestTools; namespace MLAgentsExamples { @@ -71,106 +72,5 @@ public void CheckSetupRayPerceptionSensorComponent() sensorComponent.CreateSensor(); } - - class PublicApiAgent : Agent - { - public int numHeuristicCalls; - - public override float[] Heuristic() - { - numHeuristicCalls++; - return base.Heuristic(); - } - } - - // Simple SensorComponent that sets up a StackingSensor - class StackingComponent : SensorComponent - { - public SensorComponent wrappedComponent; - public int numStacks; - - public override ISensor CreateSensor() - { - var wrappedSensor = wrappedComponent.CreateSensor(); - return new StackingSensor(wrappedSensor, numStacks); - } - - public override int[] GetObservationShape() - { - int[] shape = (int[]) wrappedComponent.GetObservationShape().Clone(); - for (var i = 0; i < shape.Length; i++) - { - shape[i] *= numStacks; - } - - return shape; - } - } - - - [Test] - public void CheckSetupAgent() - { - var gameObject = new GameObject(); - - var behaviorParams = gameObject.AddComponent(); - behaviorParams.brainParameters.vectorObservationSize = 3; - behaviorParams.brainParameters.numStackedVectorObservations = 2; - behaviorParams.brainParameters.vectorActionDescriptions = new[] { "TestActionA", "TestActionB" }; - behaviorParams.brainParameters.vectorActionSize = new[] { 2, 2 }; - behaviorParams.brainParameters.vectorActionSpaceType = SpaceType.Discrete; - behaviorParams.behaviorName = "TestBehavior"; - behaviorParams.TeamId = 42; - behaviorParams.useChildSensors = true; - - var agent = gameObject.AddComponent(); - // Make sure we can set the behavior type correctly after the agent is added - behaviorParams.behaviorType = BehaviorType.InferenceOnly; - // Can't actually create an Agent with InferenceOnly and no model, so change back - behaviorParams.behaviorType = BehaviorType.Default; - - // TODO - not internal yet - // var decisionRequester = gameObject.AddComponent(); - // decisionRequester.DecisionPeriod = 2; - - var sensorComponent = gameObject.AddComponent(); - sensorComponent.sensorName = "ray3d"; - sensorComponent.detectableTags = new List { "Player", "Respawn" }; - sensorComponent.raysPerDirection = 3; - - // Make a StackingSensor that wraps the RayPerceptionSensorComponent3D - // This isn't necessarily practical, just to ensure that it can be done - var wrappingSensorComponent = gameObject.AddComponent(); - wrappingSensorComponent.wrappedComponent = sensorComponent; - wrappingSensorComponent.numStacks = 3; - - // ISensor isn't set up yet. - Assert.IsNull(sensorComponent.raySensor); - - agent.LazyInitialize(); - // Make sure we can set the behavior type correctly after the agent is initialized - // (this creates a new policy). - behaviorParams.behaviorType = BehaviorType.HeuristicOnly; - - // Initialization should set up the sensors - Assert.IsNotNull(sensorComponent.raySensor); - - // Let's change the inference device - var otherDevice = behaviorParams.inferenceDevice == InferenceDevice.CPU ? InferenceDevice.GPU : InferenceDevice.CPU; - agent.SetModel(behaviorParams.behaviorName, behaviorParams.model, otherDevice); - - agent.AddReward(1.0f); - - agent.RequestAction(); - agent.RequestDecision(); - - Academy.Instance.AutomaticSteppingEnabled = false; - Academy.Instance.EnvironmentStep(); - - var actions = agent.GetAction(); - // default Heuristic implementation should return zero actions. - Assert.AreEqual(new[] {0.0f, 0.0f}, actions); - Assert.AreEqual(1, agent.numHeuristicCalls); - } } } diff --git a/com.unity.ml-agents/Tests/Runtime/RuntimeAPITest.cs b/com.unity.ml-agents/Tests/Runtime/RuntimeAPITest.cs new file mode 100644 index 0000000000..afe452d003 --- /dev/null +++ b/com.unity.ml-agents/Tests/Runtime/RuntimeAPITest.cs @@ -0,0 +1,129 @@ +#if UNITY_INCLUDE_TESTS +using System.Collections; +using System.Collections.Generic; +using MLAgents; +using MLAgents.Policies; +using MLAgents.Sensors; +using NUnit.Framework; +using UnityEngine; +using UnityEngine.TestTools; + +namespace Tests +{ + + public class PublicApiAgent : Agent + { + public int numHeuristicCalls; + + public override float[] Heuristic() + { + numHeuristicCalls++; + return base.Heuristic(); + } + }// Simple SensorComponent that sets up a StackingSensor + public class StackingComponent : SensorComponent + { + public SensorComponent wrappedComponent; + public int numStacks; + + public override ISensor CreateSensor() + { + var wrappedSensor = wrappedComponent.CreateSensor(); + return new StackingSensor(wrappedSensor, numStacks); + } + + public override int[] GetObservationShape() + { + int[] shape = (int[]) wrappedComponent.GetObservationShape().Clone(); + for (var i = 0; i < shape.Length; i++) + { + shape[i] *= numStacks; + } + + return shape; + } + } + + public class RuntimeApiTest + { + [SetUp] + public static void Setup() + { + Academy.Instance.AutomaticSteppingEnabled = false; + } + + [UnityTest] + public IEnumerator RuntimeApiTestWithEnumeratorPasses() + { + var gameObject = new GameObject(); + + var behaviorParams = gameObject.AddComponent(); + behaviorParams.brainParameters.vectorObservationSize = 3; + behaviorParams.brainParameters.numStackedVectorObservations = 2; + behaviorParams.brainParameters.vectorActionDescriptions = new[] { "TestActionA", "TestActionB" }; + behaviorParams.brainParameters.vectorActionSize = new[] { 2, 2 }; + behaviorParams.brainParameters.vectorActionSpaceType = SpaceType.Discrete; + behaviorParams.behaviorName = "TestBehavior"; + behaviorParams.TeamId = 42; + behaviorParams.useChildSensors = true; + + + // Can't actually create an Agent with InferenceOnly and no model, so change back + behaviorParams.behaviorType = BehaviorType.Default; + + var sensorComponent = gameObject.AddComponent(); + sensorComponent.sensorName = "ray3d"; + sensorComponent.detectableTags = new List { "Player", "Respawn" }; + sensorComponent.raysPerDirection = 3; + + // Make a StackingSensor that wraps the RayPerceptionSensorComponent3D + // This isn't necessarily practical, just to ensure that it can be done + var wrappingSensorComponent = gameObject.AddComponent(); + wrappingSensorComponent.wrappedComponent = sensorComponent; + wrappingSensorComponent.numStacks = 3; + + // ISensor isn't set up yet. + Assert.IsNull(sensorComponent.raySensor); + + + // Make sure we can set the behavior type correctly after the agent is initialized + // (this creates a new policy). + behaviorParams.behaviorType = BehaviorType.HeuristicOnly; + + // Agent needs to be added after everything else is setup. + var agent = gameObject.AddComponent(); + + // DecisionRequester has to be added after Agent. + var decisionRequester = gameObject.AddComponent(); + decisionRequester.DecisionPeriod = 2; + decisionRequester.TakeActionsBetweenDecisions = true; + + + // Initialization should set up the sensors + Assert.IsNotNull(sensorComponent.raySensor); + + // Let's change the inference device + var otherDevice = behaviorParams.inferenceDevice == InferenceDevice.CPU ? InferenceDevice.GPU : InferenceDevice.CPU; + agent.SetModel(behaviorParams.behaviorName, behaviorParams.model, otherDevice); + + agent.AddReward(1.0f); + + // skip a frame. + yield return null; + + Academy.Instance.EnvironmentStep(); + + var actions = agent.GetAction(); + // default Heuristic implementation should return zero actions. + Assert.AreEqual(new[] {0.0f, 0.0f}, actions); + Assert.AreEqual(1, agent.numHeuristicCalls); + + Academy.Instance.EnvironmentStep(); + Assert.AreEqual(1, agent.numHeuristicCalls); + + Academy.Instance.EnvironmentStep(); + Assert.AreEqual(2, agent.numHeuristicCalls); + } + } +} +#endif diff --git a/com.unity.ml-agents/Tests/Runtime/RuntimeAPITest.cs.meta b/com.unity.ml-agents/Tests/Runtime/RuntimeAPITest.cs.meta new file mode 100644 index 0000000000..5f7821402b --- /dev/null +++ b/com.unity.ml-agents/Tests/Runtime/RuntimeAPITest.cs.meta @@ -0,0 +1,11 @@ +fileFormatVersion: 2 +guid: 17878576e4ed14b09875e37394e5ad90 +MonoImporter: + externalObjects: {} + serializedVersion: 2 + defaultReferences: [] + executionOrder: 0 + icon: {instanceID: 0} + userData: + assetBundleName: + assetBundleVariant: diff --git a/com.unity.ml-agents/Tests/Runtime/SerializeTestScene.unity b/com.unity.ml-agents/Tests/Runtime/SerializeTestScene.unity deleted file mode 100644 index 954c52ce66..0000000000 --- a/com.unity.ml-agents/Tests/Runtime/SerializeTestScene.unity +++ /dev/null @@ -1,429 +0,0 @@ -%YAML 1.1 -%TAG !u! tag:unity3d.com,2011: ---- !u!29 &1 -OcclusionCullingSettings: - m_ObjectHideFlags: 0 - serializedVersion: 2 - m_OcclusionBakeSettings: - smallestOccluder: 5 - smallestHole: 0.25 - backfaceThreshold: 100 - m_SceneGUID: 00000000000000000000000000000000 - m_OcclusionCullingData: {fileID: 0} ---- !u!104 &2 -RenderSettings: - m_ObjectHideFlags: 0 - serializedVersion: 9 - m_Fog: 0 - m_FogColor: {r: 0.5, g: 0.5, b: 0.5, a: 1} - m_FogMode: 3 - m_FogDensity: 0.01 - m_LinearFogStart: 0 - m_LinearFogEnd: 300 - m_AmbientSkyColor: {r: 0.212, g: 0.227, b: 0.259, a: 1} - m_AmbientEquatorColor: {r: 0.114, g: 0.125, b: 0.133, a: 1} - m_AmbientGroundColor: {r: 0.047, g: 0.043, b: 0.035, a: 1} - m_AmbientIntensity: 1 - m_AmbientMode: 0 - m_SubtractiveShadowColor: {r: 0.42, g: 0.478, b: 0.627, a: 1} - m_SkyboxMaterial: {fileID: 10304, guid: 0000000000000000f000000000000000, type: 0} - m_HaloStrength: 0.5 - m_FlareStrength: 1 - m_FlareFadeSpeed: 3 - m_HaloTexture: {fileID: 0} - m_SpotCookie: {fileID: 10001, guid: 0000000000000000e000000000000000, type: 0} - m_DefaultReflectionMode: 0 - m_DefaultReflectionResolution: 128 - m_ReflectionBounces: 1 - m_ReflectionIntensity: 1 - m_CustomReflection: {fileID: 0} - m_Sun: {fileID: 0} - m_IndirectSpecularColor: {r: 0.44657898, g: 0.49641287, b: 0.5748173, a: 1} - m_UseRadianceAmbientProbe: 0 ---- !u!157 &3 -LightmapSettings: - m_ObjectHideFlags: 0 - serializedVersion: 11 - m_GIWorkflowMode: 0 - m_GISettings: - serializedVersion: 2 - m_BounceScale: 1 - m_IndirectOutputScale: 1 - m_AlbedoBoost: 1 - m_EnvironmentLightingMode: 0 - m_EnableBakedLightmaps: 1 - m_EnableRealtimeLightmaps: 1 - m_LightmapEditorSettings: - serializedVersion: 10 - m_Resolution: 2 - m_BakeResolution: 40 - m_AtlasSize: 1024 - m_AO: 0 - m_AOMaxDistance: 1 - m_CompAOExponent: 1 - m_CompAOExponentDirect: 0 - m_Padding: 2 - m_LightmapParameters: {fileID: 0} - m_LightmapsBakeMode: 1 - m_TextureCompression: 1 - m_FinalGather: 0 - m_FinalGatherFiltering: 1 - m_FinalGatherRayCount: 256 - m_ReflectionCompression: 2 - m_MixedBakeMode: 2 - m_BakeBackend: 1 - m_PVRSampling: 1 - m_PVRDirectSampleCount: 32 - m_PVRSampleCount: 500 - m_PVRBounces: 2 - m_PVRFilterTypeDirect: 0 - m_PVRFilterTypeIndirect: 0 - m_PVRFilterTypeAO: 0 - m_PVRFilteringMode: 1 - m_PVRCulling: 1 - m_PVRFilteringGaussRadiusDirect: 1 - m_PVRFilteringGaussRadiusIndirect: 5 - m_PVRFilteringGaussRadiusAO: 2 - m_PVRFilteringAtrousPositionSigmaDirect: 0.5 - m_PVRFilteringAtrousPositionSigmaIndirect: 2 - m_PVRFilteringAtrousPositionSigmaAO: 1 - m_ShowResolutionOverlay: 1 - m_LightingDataAsset: {fileID: 0} - m_UseShadowmask: 1 ---- !u!196 &4 -NavMeshSettings: - serializedVersion: 2 - m_ObjectHideFlags: 0 - m_BuildSettings: - serializedVersion: 2 - agentTypeID: 0 - agentRadius: 0.5 - agentHeight: 2 - agentSlope: 45 - agentClimb: 0.4 - ledgeDropHeight: 0 - maxJumpAcrossDistance: 0 - minRegionArea: 2 - manualCellSize: 0 - cellSize: 0.16666667 - manualTileSize: 0 - tileSize: 256 - accuratePlacement: 0 - debug: - m_Flags: 0 - m_NavMeshData: {fileID: 0} ---- !u!1 &106586301 -GameObject: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - serializedVersion: 6 - m_Component: - - component: {fileID: 106586304} - - component: {fileID: 106586303} - - component: {fileID: 106586302} - m_Layer: 0 - m_Name: Agent - m_TagString: Untagged - m_Icon: {fileID: 0} - m_NavMeshLayer: 0 - m_StaticEditorFlags: 0 - m_IsActive: 1 ---- !u!114 &106586302 -MonoBehaviour: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 106586301} - m_Enabled: 1 - m_EditorHideFlags: 0 - m_Script: {fileID: 11500000, guid: c3d607733e457478885f15ee89725709, type: 3} - m_Name: - m_EditorClassIdentifier: - agentParameters: - maxStep: 5000 - hasUpgradedFromAgentParameters: 1 - maxStep: 5000 ---- !u!114 &106586303 -MonoBehaviour: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 106586301} - m_Enabled: 1 - m_EditorHideFlags: 0 - m_Script: {fileID: 11500000, guid: 5d1c4e0b1822b495aa52bc52839ecb30, type: 3} - m_Name: - m_EditorClassIdentifier: - m_BrainParameters: - vectorObservationSize: 1 - numStackedVectorObservations: 1 - vectorActionSize: 01000000 - vectorActionDescriptions: [] - vectorActionSpaceType: 0 - m_Model: {fileID: 0} - m_InferenceDevice: 0 - m_BehaviorType: 0 - m_BehaviorName: My Behavior - m_TeamID: 0 - m_UseChildSensors: 1 ---- !u!4 &106586304 -Transform: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 106586301} - m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} - m_LocalPosition: {x: 0, y: 0, z: 0} - m_LocalScale: {x: 1, y: 1, z: 1} - m_Children: - - {fileID: 1471486645} - m_Father: {fileID: 0} - m_RootOrder: 2 - m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} ---- !u!1 &185701317 -GameObject: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - serializedVersion: 6 - m_Component: - - component: {fileID: 185701319} - - component: {fileID: 185701318} - m_Layer: 0 - m_Name: Directional Light - m_TagString: Untagged - m_Icon: {fileID: 0} - m_NavMeshLayer: 0 - m_StaticEditorFlags: 0 - m_IsActive: 1 ---- !u!108 &185701318 -Light: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 185701317} - m_Enabled: 1 - serializedVersion: 8 - m_Type: 1 - m_Color: {r: 1, g: 0.95686275, b: 0.8392157, a: 1} - m_Intensity: 1 - m_Range: 10 - m_SpotAngle: 30 - m_CookieSize: 10 - m_Shadows: - m_Type: 2 - m_Resolution: -1 - m_CustomResolution: -1 - m_Strength: 1 - m_Bias: 0.05 - m_NormalBias: 0.4 - m_NearPlane: 0.2 - m_Cookie: {fileID: 0} - m_DrawHalo: 0 - m_Flare: {fileID: 0} - m_RenderMode: 0 - m_CullingMask: - serializedVersion: 2 - m_Bits: 4294967295 - m_Lightmapping: 4 - m_LightShadowCasterMode: 0 - m_AreaSize: {x: 1, y: 1} - m_BounceIntensity: 1 - m_ColorTemperature: 6570 - m_UseColorTemperature: 0 - m_ShadowRadius: 0 - m_ShadowAngle: 0 ---- !u!4 &185701319 -Transform: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 185701317} - m_LocalRotation: {x: 0.40821788, y: -0.23456968, z: 0.10938163, w: 0.8754261} - m_LocalPosition: {x: 0, y: 3, z: 0} - m_LocalScale: {x: 1, y: 1, z: 1} - m_Children: [] - m_Father: {fileID: 0} - m_RootOrder: 1 - m_LocalEulerAnglesHint: {x: 50, y: -30, z: 0} ---- !u!1 &804630118 -GameObject: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - serializedVersion: 6 - m_Component: - - component: {fileID: 804630121} - - component: {fileID: 804630120} - - component: {fileID: 804630119} - m_Layer: 0 - m_Name: Main Camera - m_TagString: MainCamera - m_Icon: {fileID: 0} - m_NavMeshLayer: 0 - m_StaticEditorFlags: 0 - m_IsActive: 1 ---- !u!81 &804630119 -AudioListener: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 804630118} - m_Enabled: 1 ---- !u!20 &804630120 -Camera: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 804630118} - m_Enabled: 1 - serializedVersion: 2 - m_ClearFlags: 1 - m_BackGroundColor: {r: 0.19215687, g: 0.3019608, b: 0.4745098, a: 0} - m_projectionMatrixMode: 1 - m_SensorSize: {x: 36, y: 24} - m_LensShift: {x: 0, y: 0} - m_GateFitMode: 2 - m_FocalLength: 50 - m_NormalizedViewPortRect: - serializedVersion: 2 - x: 0 - y: 0 - width: 1 - height: 1 - near clip plane: 0.3 - far clip plane: 1000 - field of view: 60 - orthographic: 0 - orthographic size: 5 - m_Depth: -1 - m_CullingMask: - serializedVersion: 2 - m_Bits: 4294967295 - m_RenderingPath: -1 - m_TargetTexture: {fileID: 0} - m_TargetDisplay: 0 - m_TargetEye: 3 - m_HDR: 1 - m_AllowMSAA: 1 - m_AllowDynamicResolution: 0 - m_ForceIntoRT: 0 - m_OcclusionCulling: 1 - m_StereoConvergence: 10 - m_StereoSeparation: 0.022 ---- !u!4 &804630121 -Transform: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 804630118} - m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} - m_LocalPosition: {x: 0, y: 1, z: -10} - m_LocalScale: {x: 1, y: 1, z: 1} - m_Children: [] - m_Father: {fileID: 0} - m_RootOrder: 0 - m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} ---- !u!1 &1471486644 -GameObject: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - serializedVersion: 6 - m_Component: - - component: {fileID: 1471486645} - - component: {fileID: 1471486648} - - component: {fileID: 1471486647} - - component: {fileID: 1471486646} - m_Layer: 0 - m_Name: Cube - m_TagString: Untagged - m_Icon: {fileID: 0} - m_NavMeshLayer: 0 - m_StaticEditorFlags: 0 - m_IsActive: 1 ---- !u!4 &1471486645 -Transform: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 1471486644} - m_LocalRotation: {x: 0, y: 0, z: 0, w: 1} - m_LocalPosition: {x: 0, y: 0, z: 0} - m_LocalScale: {x: 1, y: 1, z: 1} - m_Children: [] - m_Father: {fileID: 106586304} - m_RootOrder: 0 - m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0} ---- !u!65 &1471486646 -BoxCollider: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 1471486644} - m_Material: {fileID: 0} - m_IsTrigger: 0 - m_Enabled: 1 - serializedVersion: 2 - m_Size: {x: 1, y: 1, z: 1} - m_Center: {x: 0, y: 0, z: 0} ---- !u!23 &1471486647 -MeshRenderer: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 1471486644} - m_Enabled: 1 - m_CastShadows: 1 - m_ReceiveShadows: 1 - m_DynamicOccludee: 1 - m_MotionVectors: 1 - m_LightProbeUsage: 1 - m_ReflectionProbeUsage: 1 - m_RenderingLayerMask: 1 - m_RendererPriority: 0 - m_Materials: - - {fileID: 10303, guid: 0000000000000000f000000000000000, type: 0} - m_StaticBatchInfo: - firstSubMesh: 0 - subMeshCount: 0 - m_StaticBatchRoot: {fileID: 0} - m_ProbeAnchor: {fileID: 0} - m_LightProbeVolumeOverride: {fileID: 0} - m_ScaleInLightmap: 1 - m_PreserveUVs: 0 - m_IgnoreNormalsForChartDetection: 0 - m_ImportantGI: 0 - m_StitchLightmapSeams: 0 - m_SelectedEditorRenderState: 3 - m_MinimumChartSize: 4 - m_AutoUVMaxDistance: 0.5 - m_AutoUVMaxAngle: 89 - m_LightmapParameters: {fileID: 0} - m_SortingLayerID: 0 - m_SortingLayer: 0 - m_SortingOrder: 0 ---- !u!33 &1471486648 -MeshFilter: - m_ObjectHideFlags: 0 - m_CorrespondingSourceObject: {fileID: 0} - m_PrefabInstance: {fileID: 0} - m_PrefabAsset: {fileID: 0} - m_GameObject: {fileID: 1471486644} - m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0} diff --git a/com.unity.ml-agents/Tests/Runtime/Unity.ML-Agents.Runtime.Tests.asmdef b/com.unity.ml-agents/Tests/Runtime/Unity.ML-Agents.Runtime.Tests.asmdef new file mode 100644 index 0000000000..16cbc07f52 --- /dev/null +++ b/com.unity.ml-agents/Tests/Runtime/Unity.ML-Agents.Runtime.Tests.asmdef @@ -0,0 +1,25 @@ +{ + "name": "Tests", + "references": [ + "Unity.ML-Agents", + "Barracuda", + "Unity.ML-Agents.CommunicatorObjects", + "Unity.ML-Agents.Editor" + ], + "optionalUnityReferences": [ + "TestAssemblies" + ], + "includePlatforms": [], + "excludePlatforms": [], + "allowUnsafeCode": false, + "overrideReferences": true, + "precompiledReferences": [ + "System.IO.Abstractions.dll", + "System.IO.Abstractions.TestingHelpers.dll", + "Google.Protobuf.dll" + ], + "autoReferenced": false, + "defineConstraints": [ + "UNITY_INCLUDE_TESTS" + ] +} diff --git a/com.unity.ml-agents/Tests/Runtime/SerializeTestScene.unity.meta b/com.unity.ml-agents/Tests/Runtime/Unity.ML-Agents.Runtime.Tests.asmdef.meta similarity index 59% rename from com.unity.ml-agents/Tests/Runtime/SerializeTestScene.unity.meta rename to com.unity.ml-agents/Tests/Runtime/Unity.ML-Agents.Runtime.Tests.asmdef.meta index 5b95bd43f8..4fa9a793f6 100644 --- a/com.unity.ml-agents/Tests/Runtime/SerializeTestScene.unity.meta +++ b/com.unity.ml-agents/Tests/Runtime/Unity.ML-Agents.Runtime.Tests.asmdef.meta @@ -1,6 +1,6 @@ fileFormatVersion: 2 -guid: 60783bd849bd242eeb66243542762b23 -DefaultImporter: +guid: d29014db7ebcd4cf4a14f537fbf02110 +AssemblyDefinitionImporter: externalObjects: {} userData: assetBundleName: diff --git a/ml-agents-envs/mlagents_envs/environment.py b/ml-agents-envs/mlagents_envs/environment.py index d750cbe90d..70545c4dbf 100644 --- a/ml-agents-envs/mlagents_envs/environment.py +++ b/ml-agents-envs/mlagents_envs/environment.py @@ -58,7 +58,7 @@ class UnityEnvironment(BaseEnv): # Currently we require strict equality between the communication protocol # on each side, although we may allow some flexibility in the future. # This should be incremented whenever a change is made to the communication protocol. - API_VERSION = "0.15.0" + API_VERSION = "0.16.0" # Default port that the editor listens on. If an environment executable # isn't specified, this port will be used. diff --git a/ml-agents/tests/yamato/scripts/run_llapi.py b/ml-agents/tests/yamato/scripts/run_llapi.py index 1783ae9a00..a20f5f8553 100644 --- a/ml-agents/tests/yamato/scripts/run_llapi.py +++ b/ml-agents/tests/yamato/scripts/run_llapi.py @@ -89,6 +89,6 @@ def main(env_name): if __name__ == "__main__": parser = argparse.ArgumentParser() - parser.add_argument("--env", default="Project/testPlayer") + parser.add_argument("--env", default="artifacts/testPlayer") args = parser.parse_args() main(args.env) diff --git a/ml-agents/tests/yamato/standalone_build_tests.py b/ml-agents/tests/yamato/standalone_build_tests.py index f71d8259f8..0a16224d20 100644 --- a/ml-agents/tests/yamato/standalone_build_tests.py +++ b/ml-agents/tests/yamato/standalone_build_tests.py @@ -15,7 +15,7 @@ def main(scene_path): executable_name = "testPlayer-" + executable_name returncode = run_standalone_build( - base_path, verbose=True, output_path=executable_name, scene_path=scene_path + base_path, output_path=executable_name, scene_path=scene_path ) if returncode == 0: diff --git a/ml-agents/tests/yamato/training_int_tests.py b/ml-agents/tests/yamato/training_int_tests.py index 7ff9074b06..5900e83920 100644 --- a/ml-agents/tests/yamato/training_int_tests.py +++ b/ml-agents/tests/yamato/training_int_tests.py @@ -6,6 +6,7 @@ from .yamato_utils import ( get_base_path, + get_base_output_path, run_standalone_build, init_venv, override_config_file, @@ -34,9 +35,12 @@ def run_training(python_version, csharp_version): if csharp_version is not None: # We can't rely on the old C# code recognizing the commandline argument to set the output # So rename testPlayer (containing the most recent build) to something else temporarily - full_player_path = os.path.join("Project", "testPlayer.app") - temp_player_path = os.path.join("Project", "temp_testPlayer.app") - final_player_path = os.path.join("Project", f"testPlayer_{csharp_version}.app") + artifact_path = get_base_output_path() + full_player_path = os.path.join(artifact_path, "testPlayer.app") + temp_player_path = os.path.join(artifact_path, "temp_testPlayer.app") + final_player_path = os.path.join( + artifact_path, f"testPlayer_{csharp_version}.app" + ) os.rename(full_player_path, temp_player_path) @@ -67,7 +71,8 @@ def run_training(python_version, csharp_version): ) mla_learn_cmd = ( - f"mlagents-learn override.yaml --train --env=Project/{standalone_player_path} " + f"mlagents-learn override.yaml --train --env=" + f"{os.path.join(get_base_output_path(), standalone_player_path)} " f"--run-id={run_id} --no-graphics --env-args -logFile -" ) # noqa res = subprocess.run( diff --git a/ml-agents/tests/yamato/yamato_utils.py b/ml-agents/tests/yamato/yamato_utils.py index bcbe7abf9b..8a208b18e5 100644 --- a/ml-agents/tests/yamato/yamato_utils.py +++ b/ml-agents/tests/yamato/yamato_utils.py @@ -1,4 +1,5 @@ import os +import shutil import subprocess import yaml from typing import List, Optional @@ -24,14 +25,23 @@ def get_base_path(): return os.getcwd() +def get_base_output_path(): + """" + Returns the artifact folder to use for yamato jobs. + """ + return os.path.join(get_base_path(), "artifacts") + + def run_standalone_build( base_path: str, verbose: bool = False, output_path: str = None, scene_path: str = None, + log_output_path: str = f"{get_base_output_path()}/standalone_build.txt", ) -> int: """ - Run BuildStandalonePlayerOSX test to produce a player. The location defaults to Project/testPlayer. + Run BuildStandalonePlayerOSX test to produce a player. The location defaults to + artifacts/standalone_build/testPlayer. """ unity_exe = get_unity_executable_path() print(f"Running BuildStandalonePlayerOSX via {unity_exe}") @@ -44,16 +54,33 @@ def run_standalone_build( "-executeMethod", "MLAgents.StandaloneBuildTest.BuildStandalonePlayerOSX", ] - if verbose: - test_args += ["-logfile", "-"] + + os.makedirs(os.path.dirname(log_output_path), exist_ok=True) + subprocess.run(["touch", log_output_path]) + test_args += ["-logfile", log_output_path] + if output_path is not None: + output_path = os.path.join(get_base_output_path(), output_path) test_args += ["--mlagents-build-output-path", output_path] + os.makedirs(os.path.dirname(output_path), exist_ok=True) if scene_path is not None: test_args += ["--mlagents-build-scene-path", scene_path] print(f"{' '.join(test_args)} ...") timeout = 30 * 60 # 30 minutes, just in case res: subprocess.CompletedProcess = subprocess.run(test_args, timeout=timeout) + + # Copy the default build name into the artifacts folder. + if output_path is None and res.returncode == 0: + shutil.move( + os.path.join(base_path, "Project", "testPlayer.app"), + os.path.join(get_base_output_path(), "testPlayer.app"), + ) + + # Print if we fail or want verbosity. + if verbose or res.returncode != 0: + subprocess.run(["cat", log_output_path]) + return res.returncode @@ -107,8 +134,10 @@ def checkout_csharp_version(csharp_version): """ if csharp_version is None: return + csharp_dirs = ["com.unity.ml-agents", "Project"] for csharp_dir in csharp_dirs: + subprocess.check_call(f"rm -rf {csharp_dir}", shell=True) subprocess.check_call( f"git checkout {csharp_version} -- {csharp_dir}", shell=True ) @@ -120,6 +149,8 @@ def undo_git_checkout(): """ subprocess.check_call("git reset HEAD .", shell=True) subprocess.check_call("git checkout -- .", shell=True) + # Ensure the cache isn't polluted with old compiled assemblies. + subprocess.check_call(f"rm -rf Project/Library", shell=True) def override_config_file(src_path, dest_path, **kwargs):