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Merged
merged 3 commits into from
Mar 22, 2021
Merged

[MLA-1634] Remove SensorComponent.GetObservationShape() #5172

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e15cc14
Remove SensorComponent.GetObservationShape()
Mar 22, 2021
d53481a
changelog and migration
Mar 22, 2021
685e177
fix raw strings
Mar 22, 2021
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6 changes: 0 additions & 6 deletions Project/Assets/ML-Agents/Examples/Basic/Scripts/BasicSensorComponent.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -19,12 +19,6 @@ public override ISensor CreateSensor()
{
return new BasicSensor(basicController);
}

/// <inheritdoc/>
public override int[] GetObservationShape()
{
return new[] { BasicController.k_Extents };
}
}

/// <summary>
Expand Down
4 changes: 2 additions & 2 deletions Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/SensorBase.cs
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Expand Up @@ -9,7 +9,7 @@ public abstract class SensorBase : ISensor
{
/// <summary>
/// Write the observations to the output buffer. This size of the buffer will be product
/// of the sizes returned by <see cref="GetObservationShape"/>.
/// of the Shape array values returned by <see cref="ObservationSpec"/>.
/// </summary>
/// <param name="output"></param>
public abstract void WriteObservation(float[] output);
Expand All @@ -28,7 +28,7 @@ public abstract class SensorBase : ISensor
/// <returns>The number of elements written.</returns>
public virtual int Write(ObservationWriter writer)
{
// TODO reuse buffer for similar agents, don't call GetObservationShape()
// TODO reuse buffer for similar agents
var numFloats = this.ObservationSize();
float[] buffer = new float[numFloats];
WriteObservation(buffer);
Expand Down
16 changes: 0 additions & 16 deletions Project/Assets/ML-Agents/TestScenes/TestCompressedTexture/TestTextureSensorComponent.cs
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Expand Up @@ -32,21 +32,5 @@ public override ISensor CreateSensor()
}
return m_Sensor;
}

/// <inheritdoc/>
public override int[] GetObservationShape()
{
var width = TestTexture.width;
var height = TestTexture.height;
var observationShape = new[] { height, width, 3 };

var stacks = ObservationStacks > 1 ? ObservationStacks : 1;
if (stacks > 1)
{
observationShape[2] *= stacks;
}

return observationShape;
}
}

14 changes: 0 additions & 14 deletions com.unity.ml-agents.extensions/Runtime/Match3/Match3SensorComponent.cs
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Expand Up @@ -27,19 +27,5 @@ public override ISensor CreateSensor()
return new Match3Sensor(board, ObservationType, SensorName);
}

/// <inheritdoc/>
public override int[] GetObservationShape()
{
var board = GetComponent<AbstractBoard>();
if (board == null)
{
return System.Array.Empty<int>();
}

var specialSize = board.NumSpecialTypes == 0 ? 0 : board.NumSpecialTypes + 1;
return ObservationType == Match3ObservationType.Vector ?
new[] { board.Rows * board.Columns * (board.NumCellTypes + specialSize) } :
new[] { board.Rows, board.Columns, board.NumCellTypes + specialSize };
}
}
}
20 changes: 0 additions & 20 deletions com.unity.ml-agents.extensions/Runtime/Sensors/ArticulationBodySensorComponent.cs
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Expand Up @@ -21,26 +21,6 @@ public override ISensor CreateSensor()
return new PhysicsBodySensor(RootBody, Settings, sensorName);
}

/// <inheritdoc/>
public override int[] GetObservationShape()
{
if (RootBody == null)
{
return new[] { 0 };
}

// TODO static method in PhysicsBodySensor?
// TODO only update PoseExtractor when body changes?
var poseExtractor = new ArticulationBodyPoseExtractor(RootBody);
var numPoseObservations = poseExtractor.GetNumPoseObservations(Settings);
var numJointObservations = 0;

foreach(var articBody in poseExtractor.GetEnabledArticulationBodies())
{
numJointObservations += ArticulationBodyJointExtractor.NumObservations(articBody, Settings);
}
return new[] { numPoseObservations + numJointObservations };
}
}

}
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7 changes: 0 additions & 7 deletions com.unity.ml-agents.extensions/Runtime/Sensors/GridSensor.cs
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Expand Up @@ -917,13 +917,6 @@ public ObservationSpec GetObservationSpec()
return m_ObservationSpec;
}

/// <inheritdoc/>
public override int[] GetObservationShape()
{
var shape = m_ObservationSpec.Shape;
return new int[] { shape[0], shape[1], shape[2] };
}

/// <inheritdoc/>
public int Write(ObservationWriter writer)
{
Expand Down
6 changes: 3 additions & 3 deletions com.unity.ml-agents.extensions/Runtime/Sensors/PhysicsBodySensor.cs
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Expand Up @@ -48,7 +48,7 @@ string sensorName
}

#if UNITY_2020_1_OR_NEWER
public PhysicsBodySensor(ArticulationBody rootBody, PhysicsSensorSettings settings, string sensorName=null)
public PhysicsBodySensor(ArticulationBody rootBody, PhysicsSensorSettings settings, string sensorName = null)
{
var poseExtractor = new ArticulationBodyPoseExtractor(rootBody);
m_PoseExtractor = poseExtractor;
Expand All @@ -57,7 +57,7 @@ public PhysicsBodySensor(ArticulationBody rootBody, PhysicsSensorSettings settin

var numJointExtractorObservations = 0;
m_JointExtractors = new List<IJointExtractor>(poseExtractor.NumEnabledPoses);
foreach(var articBody in poseExtractor.GetEnabledArticulationBodies())
foreach (var articBody in poseExtractor.GetEnabledArticulationBodies())
{
var jointExtractor = new ArticulationBodyJointExtractor(articBody);
numJointExtractorObservations += jointExtractor.NumObservations(settings);
Expand All @@ -67,6 +67,7 @@ public PhysicsBodySensor(ArticulationBody rootBody, PhysicsSensorSettings settin
var numTransformObservations = m_PoseExtractor.GetNumPoseObservations(settings);
m_ObservationSpec = ObservationSpec.Vector(numTransformObservations + numJointExtractorObservations);
}

#endif

/// <inheritdoc/>
Expand Down Expand Up @@ -126,6 +127,5 @@ public BuiltInSensorType GetBuiltInSensorType()
{
return BuiltInSensorType.PhysicsBodySensor;
}

}
}
20 changes: 0 additions & 20 deletions com.unity.ml-agents.extensions/Runtime/Sensors/RigidBodySensorComponent.cs
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Expand Up @@ -45,26 +45,6 @@ public override ISensor CreateSensor()
return new PhysicsBodySensor(GetPoseExtractor(), Settings, _sensorName);
}

/// <inheritdoc/>
public override int[] GetObservationShape()
{
if (RootBody == null)
{
return new[] { 0 };
}

var poseExtractor = GetPoseExtractor();
var numPoseObservations = poseExtractor.GetNumPoseObservations(Settings);

var numJointObservations = 0;
foreach (var rb in poseExtractor.GetEnabledRigidbodies())
{
var joint = rb.GetComponent<Joint>();
numJointObservations += RigidBodyJointExtractor.NumObservations(rb, joint, Settings);
}
return new[] { numPoseObservations + numJointObservations };
}

/// <summary>
/// Get the DisplayNodes of the hierarchy.
/// </summary>
Expand Down
35 changes: 12 additions & 23 deletions com.unity.ml-agents.extensions/Tests/Editor/Match3/Match3SensorTests.cs
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Expand Up @@ -29,9 +29,8 @@ public void TestVectorObservations()
sensorComponent.ObservationType = Match3ObservationType.Vector;
var sensor = sensorComponent.CreateSensor();

var expectedShape = new[] { 3 * 3 * 2 };
Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
var expectedShape = new InplaceArray<int>(3 * 3 * 2);
Assert.AreEqual(expectedShape, sensor.GetObservationSpec().Shape);

var expectedObs = new float[]
{
Expand Down Expand Up @@ -63,9 +62,8 @@ public void TestVectorObservationsSpecial()
sensorComponent.ObservationType = Match3ObservationType.Vector;
var sensor = sensorComponent.CreateSensor();

var expectedShape = new[] { 3 * 3 * (2 + 3) };
Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
var expectedShape = new InplaceArray<int>(3 * 3 * (2 + 3));
Assert.AreEqual(expectedShape, sensor.GetObservationSpec().Shape);

var expectedObs = new float[]
{
Expand All @@ -76,7 +74,6 @@ public void TestVectorObservationsSpecial()
SensorTestHelper.CompareObservation(sensor, expectedObs);
}


[Test]
public void TestVisualObservations()
{
Expand All @@ -92,9 +89,8 @@ public void TestVisualObservations()
sensorComponent.ObservationType = Match3ObservationType.UncompressedVisual;
var sensor = sensorComponent.CreateSensor();

var expectedShape = new[] { 3, 3, 2 };
Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
var expectedShape = new InplaceArray<int>(3, 3, 2);
Assert.AreEqual(expectedShape, sensor.GetObservationSpec().Shape);

Assert.AreEqual(SensorCompressionType.None, sensor.GetCompressionSpec().SensorCompressionType);

Expand Down Expand Up @@ -136,9 +132,8 @@ public void TestVisualObservationsSpecial()
sensorComponent.ObservationType = Match3ObservationType.UncompressedVisual;
var sensor = sensorComponent.CreateSensor();

var expectedShape = new[] { 3, 3, 2 + 3 };
Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
var expectedShape = new InplaceArray<int>(3, 3, 2 + 3);
Assert.AreEqual(expectedShape, sensor.GetObservationSpec().Shape);

Assert.AreEqual(SensorCompressionType.None, sensor.GetCompressionSpec().SensorCompressionType);

Expand Down Expand Up @@ -174,9 +169,8 @@ public void TestCompressedVisualObservations()
sensorComponent.ObservationType = Match3ObservationType.CompressedVisual;
var sensor = sensorComponent.CreateSensor();

var expectedShape = new[] { 3, 3, 2 };
Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
var expectedShape = new InplaceArray<int>(3, 3, 2);
Assert.AreEqual(expectedShape, sensor.GetObservationSpec().Shape);

Assert.AreEqual(SensorCompressionType.PNG, sensor.GetCompressionSpec().SensorCompressionType);

Expand All @@ -191,8 +185,6 @@ public void TestCompressedVisualObservations()
Assert.AreEqual(expectedPng, pngData);
}



[Test]
public void TestCompressedVisualObservationsSpecial()
{
Expand All @@ -214,9 +206,8 @@ public void TestCompressedVisualObservationsSpecial()
sensorComponent.ObservationType = Match3ObservationType.CompressedVisual;
var sensor = sensorComponent.CreateSensor();

var expectedShape = new[] { 3, 3, 2 + 3 };
Assert.AreEqual(expectedShape, sensorComponent.GetObservationShape());
Assert.AreEqual(InplaceArray<int>.FromList(expectedShape), sensor.GetObservationSpec().Shape);
var expectedShape = new InplaceArray<int>(3, 3, 2 + 3);
Assert.AreEqual(expectedShape, sensor.GetObservationSpec().Shape);

Assert.AreEqual(SensorCompressionType.PNG, sensor.GetCompressionSpec().SensorCompressionType);

Expand All @@ -229,7 +220,6 @@ public void TestCompressedVisualObservationsSpecial()
}
var expectedPng = LoadPNGs(pathPrefix, 2);
Assert.AreEqual(expectedPng, concatenatedPngData);

}

/// <summary>
Expand Down Expand Up @@ -306,7 +296,6 @@ byte[] LoadPNGs(string pathPrefix, int numExpected)
}

return bytesOut.ToArray();

}
}
}
19 changes: 8 additions & 11 deletions com.unity.ml-agents.extensions/Tests/Editor/Sensors/ChannelHotShapeTests.cs
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Expand Up @@ -34,9 +34,8 @@ public void OneChannelDepthOne()
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();

int[] expectedShape = { 10, 10, 1 };
GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());

var expectedShape = new InplaceArray<int>(10, 10, 1);
Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);
}


Expand All @@ -51,9 +50,8 @@ public void OneChannelDepthTwo()
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();

int[] expectedShape = { 10, 10, 2 };
GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());

var expectedShape = new InplaceArray<int>(10, 10, 2);
Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);
}

[Test]
Expand All @@ -66,8 +64,8 @@ public void TwoChannelsDepthTwoOne()
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();

int[] expectedShape = { 10, 10, 3 };
GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
var expectedShape = new InplaceArray<int>(10, 10, 3);
Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);

}

Expand All @@ -81,9 +79,8 @@ public void TwoChannelsDepthThreeThree()
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();

int[] expectedShape = { 10, 10, 6 };
GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());

var expectedShape = new InplaceArray<int>(10, 10, 6);
Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);
}

}
Expand Down
15 changes: 9 additions & 6 deletions com.unity.ml-agents.extensions/Tests/Editor/Sensors/ChannelShapeTests.cs
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Expand Up @@ -34,8 +34,9 @@ public void OneChannel()
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();

int[] expectedShape = { 10, 10, 1 };
GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
var expectedShape = new InplaceArray<int>(10, 10, 1);
Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);

}

[Test]
Expand All @@ -48,8 +49,9 @@ public void TwoChannel()
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();

int[] expectedShape = { 10, 10, 2 };
GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
var expectedShape = new InplaceArray<int>(10, 10, 2);
Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);

}

[Test]
Expand All @@ -62,8 +64,9 @@ public void SevenChannel()
1f, 1f, 10, 10, LayerMask.GetMask("Default"), false, colors);
gridSensor.Start();

int[] expectedShape = { 10, 10, 7 };
GridObsTestUtils.AssertArraysAreEqual(expectedShape, gridSensor.GetObservationShape());
var expectedShape = new InplaceArray<int>(10, 10, 7);
Assert.AreEqual(expectedShape, gridSensor.GetObservationSpec().Shape);

}
}
}
27 changes: 0 additions & 27 deletions com.unity.ml-agents.extensions/Tests/Editor/Sensors/GridSensorTestUtils.cs
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Expand Up @@ -66,33 +66,6 @@ public static float[][] DuplicateArray(float[] array, int numCopies)
return duplicated;
}

/// <summary>
/// Asserts that 2 int arrays are the same
/// </summary>
/// <param name="expected">The expected array</param>
/// <param name="actual">The actual array</param>
public static void AssertArraysAreEqual(int[] expected, int[] actual)
{
Assert.AreEqual(expected.Length, actual.Length, "Lengths are not the same");
for (int i = 0; i < actual.Length; i++)
{
Assert.AreEqual(expected[i], actual[i], "Got " + Array2Str(actual) + ", expected " + Array2Str(expected));
}
}

/// <summary>
/// Asserts that 2 float arrays are the same
/// </summary>
/// <param name="expected">The expected array</param>
/// <param name="actual">The actual array</param>
public static void AssertArraysAreEqual(float[] expected, float[] actual)
{
Assert.AreEqual(expected.Length, actual.Length, "Lengths are not the same");
for (int i = 0; i < actual.Length; i++)
{
Assert.AreEqual(expected[i], actual[i], "Got " + Array2Str(actual) + ", expected " + Array2Str(expected));
}
}

/// <summary>
/// Asserts that the sub-arrays of the total array are equal to specific subarrays at specific subarray indicies and equal to a default everywhere else.
Expand Down
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