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causal-gpt-rl-unity-envs / tools /AdditionalSimulationBuild.cs

kissin42

Add model-removed Hallway, GridWorld, Sorter and WallJump simulations

546d427 verified 4 days ago

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using System;
using System.IO;
using System.Linq;
using UnityEditor;
using UnityEditor.Build.Reporting;
using UnityEditor.SceneManagement;
using UnityEngine;
using Unity.MLAgents.Policies;

// Install in an isolated release-23 Project/Assets/Editor, then invoke
// -executeMethod AdditionalSimulationBuild.Build -simulationOutput <directory>.
public static class AdditionalSimulationBuild
{
    [Serializable] public class BehaviorInfo
    {
        public string name;
        public int team;
        public string stockPolicy;
        public int continuous;
        public int[] branches;
    }
    [Serializable] public class Manifest
    {
        public string environment;
        public string sourceScene;
        public string unityVersion;
        public string platform;
        public bool modelRemoved;
        public BehaviorInfo[] behaviors;
        public string[] packedPolicies;
    }

    public static void Build()
    {
        try
        {
            var args = Environment.GetCommandLineArgs();
            int idx = Array.IndexOf(args, "-simulationOutput");
            if (idx < 0 || idx + 1 >= args.Length)
                throw new ArgumentException("-simulationOutput is required");
            string output = Path.GetFullPath(args[idx + 1]);
            int targetIndex = Array.IndexOf(args, "-simulationTarget");
            var target = targetIndex < 0 ? BuildTarget.StandaloneWindows64 :
                (BuildTarget)Enum.Parse(typeof(BuildTarget), args[targetIndex + 1]);
            if (target != BuildTarget.StandaloneWindows64 && target != BuildTarget.StandaloneLinux64)
                throw new ArgumentException("Only Windows64 and Linux64 are supported");
            string[] allNames = { "PushBlockCollab", "FoodCollector", "StrikersVsGoalie",
                "Hallway", "GridWorld", "Sorter", "WallJump" };
            string[] allScenes = {
                "PushBlock/Scenes/PushBlockCollab.unity",
                "FoodCollector/Scenes/FoodCollector.unity",
                "Soccer/Scenes/StrikersVsGoalie.unity",
                "Hallway/Scenes/Hallway.unity", "GridWorld/Scenes/GridWorld.unity",
                "Sorter/Scenes/Sorter.unity", "WallJump/Scenes/WallJump.unity"
            };
            int selectionIndex = Array.IndexOf(args, "-simulationEnvironments");
            string[] names = selectionIndex < 0 ? allNames : args[selectionIndex + 1].Split(',');
            foreach (var name in names)
                if (!allNames.Contains(name)) throw new ArgumentException("Unknown scene: " + name);
            Directory.CreateDirectory("Assets/SimulationBuildScenes");
            AssetDatabase.Refresh();
            for (int i = 0; i < names.Length; i++)
            {
                string source = "Assets/ML-Agents/Examples/" + allScenes[Array.IndexOf(allNames, names[i])];
                var scene = EditorSceneManager.OpenScene(source, OpenSceneMode.Single);
                // Unpack copies so prefab model references cannot enter the build.
                foreach (var root in scene.GetRootGameObjects())
                    if (PrefabUtility.IsPartOfPrefabInstance(root))
                        PrefabUtility.UnpackPrefabInstance(root, PrefabUnpackMode.Completely,
                            InteractionMode.AutomatedAction);
                var behaviors = scene.GetRootGameObjects()
                    .SelectMany(r => r.GetComponentsInChildren<BehaviorParameters>(true)).ToArray();
                var info = behaviors.Select(b => new BehaviorInfo {
                    name = b.BehaviorName, team = b.TeamId,
                    stockPolicy = StockPolicyPath(b),
                    continuous = b.BrainParameters.ActionSpec.NumContinuousActions,
                    branches = b.BrainParameters.ActionSpec.BranchSizes
                }).GroupBy(b => b.name + "?team=" + b.team).Select(g => g.First()).ToArray();
                if (names[i] == "WallJump")
                    info = new[] { "SmallWallJump", "BigWallJump" }.Select(name => new BehaviorInfo {
                        name = name, team = info[0].team,
                        stockPolicy = "Assets/ML-Agents/Examples/WallJump/TFModels/" + name + ".onnx",
                        continuous = info[0].continuous, branches = info[0].branches
                    }).ToArray();
                foreach (var b in behaviors)
                {
                    b.Model = null;
                    b.BehaviorType = BehaviorType.Default;
                    EditorUtility.SetDirty(b);
                }
                // Remove any other serialized ONNX/NN references on scene components.
                foreach (var component in scene.GetRootGameObjects()
                    .SelectMany(r => r.GetComponentsInChildren<MonoBehaviour>(true)))
                {
                    if (component == null) continue;
                    var serialized = new SerializedObject(component);
                    var property = serialized.GetIterator();
                    bool changed = false;
                    while (property.Next(true))
                    {
                        if (property.propertyType != SerializedPropertyType.ObjectReference) continue;
                        string path = AssetDatabase.GetAssetPath(property.objectReferenceValue);
                        if (path.EndsWith(".onnx", StringComparison.OrdinalIgnoreCase) ||
                            path.EndsWith(".nn", StringComparison.OrdinalIgnoreCase))
                        {
                            property.objectReferenceValue = null;
                            changed = true;
                        }
                    }
                    if (changed) serialized.ApplyModifiedPropertiesWithoutUndo();
                }
                string staged = "Assets/SimulationBuildScenes/" + names[i] + ".unity";
                if (!EditorSceneManager.SaveScene(scene, staged))
                    throw new Exception("Could not save " + staged);
                string envOutput = Path.Combine(output, names[i]);
                Directory.CreateDirectory(envOutput);
                foreach (var policy in info.Select(b => b.stockPolicy).Where(p => !string.IsNullOrEmpty(p)).Distinct())
                {
                    string policies = Path.Combine(output, "policies", names[i]);
                    Directory.CreateDirectory(policies);
                    File.Copy(policy, Path.Combine(policies, Path.GetFileName(policy)), true);
                }
                var report = BuildPipeline.BuildPlayer(new BuildPlayerOptions {
                    scenes = new[] { staged },
                    locationPathName = Path.Combine(envOutput, names[i] +
                        (target == BuildTarget.StandaloneWindows64 ? ".exe" : ".x86_64")),
                    target = target,
                    options = BuildOptions.StrictMode
                });
                if (report.summary.result != BuildResult.Succeeded)
                    throw new Exception(names[i] + " build failed: " + report.summary.result);
                var packed = report.packedAssets.SelectMany(p => p.contents)
                    .Select(a => a.sourceAssetPath).Where(p => p.EndsWith(".onnx") || p.EndsWith(".nn"))
                    .Distinct().ToArray();
                var manifest = new Manifest {
                    environment = names[i], sourceScene = source,
                    unityVersion = Application.unityVersion, platform = target.ToString(),
                    modelRemoved = packed.Length == 0,
                    behaviors = info, packedPolicies = packed
                };
                File.WriteAllText(Path.Combine(envOutput, "simulation-build.json"), JsonUtility.ToJson(manifest, true));
                if (packed.Length > 0)
                    throw new Exception("Baked policies found: " + string.Join(", ", packed));
                Debug.Log("SIMULATION_BUILD_OK " + names[i] + " " + report.summary.totalSize);
            }
            EditorApplication.Exit(0);
        }
        catch (Exception error)
        {
            Debug.LogException(error);
            EditorApplication.Exit(1);
        }
    }

    static string StockPolicyPath(BehaviorParameters behavior)
    {
        string path = AssetDatabase.GetAssetPath(behavior.Model);
        if (!string.IsNullOrEmpty(path)) return path;
        // Some older scene prefabs still reference the obsolete Barracuda GUID.
        if (behavior.BehaviorName == "PushBlockCollab")
            return "Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx";
        if (behavior.BehaviorName == "Hallway" || behavior.BehaviorName == "GridWorld")
            return "Assets/ML-Agents/Examples/" + behavior.BehaviorName + "/TFModels/" +
                behavior.BehaviorName + ".onnx";
        throw new Exception("No stock policy mapped for " + behavior.BehaviorName);
    }
}

	using System;
	using System.IO;
	using System.Linq;
	using UnityEditor;
	using UnityEditor.Build.Reporting;
	using UnityEditor.SceneManagement;
	using UnityEngine;
	using Unity.MLAgents.Policies;

	// Install in an isolated release-23 Project/Assets/Editor, then invoke
	// -executeMethod AdditionalSimulationBuild.Build -simulationOutput <directory>.
	public static class AdditionalSimulationBuild
	{
	[Serializable] public class BehaviorInfo
	{
	public string name;
	public int team;
	public string stockPolicy;
	public int continuous;
	public int[] branches;
	}
	[Serializable] public class Manifest
	{
	public string environment;
	public string sourceScene;
	public string unityVersion;
	public string platform;
	public bool modelRemoved;
	public BehaviorInfo[] behaviors;
	public string[] packedPolicies;
	}

	public static void Build()
	{
	try
	{
	var args = Environment.GetCommandLineArgs();
	int idx = Array.IndexOf(args, "-simulationOutput");
	if (idx < 0 \|\| idx + 1 >= args.Length)
	throw new ArgumentException("-simulationOutput is required");
	string output = Path.GetFullPath(args[idx + 1]);
	int targetIndex = Array.IndexOf(args, "-simulationTarget");
	var target = targetIndex < 0 ? BuildTarget.StandaloneWindows64 :
	(BuildTarget)Enum.Parse(typeof(BuildTarget), args[targetIndex + 1]);
	if (target != BuildTarget.StandaloneWindows64 && target != BuildTarget.StandaloneLinux64)
	throw new ArgumentException("Only Windows64 and Linux64 are supported");
	string[] allNames = { "PushBlockCollab", "FoodCollector", "StrikersVsGoalie",
	"Hallway", "GridWorld", "Sorter", "WallJump" };
	string[] allScenes = {
	"PushBlock/Scenes/PushBlockCollab.unity",
	"FoodCollector/Scenes/FoodCollector.unity",
	"Soccer/Scenes/StrikersVsGoalie.unity",
	"Hallway/Scenes/Hallway.unity", "GridWorld/Scenes/GridWorld.unity",
	"Sorter/Scenes/Sorter.unity", "WallJump/Scenes/WallJump.unity"
	};
	int selectionIndex = Array.IndexOf(args, "-simulationEnvironments");
	string[] names = selectionIndex < 0 ? allNames : args[selectionIndex + 1].Split(',');
	foreach (var name in names)
	if (!allNames.Contains(name)) throw new ArgumentException("Unknown scene: " + name);
	Directory.CreateDirectory("Assets/SimulationBuildScenes");
	AssetDatabase.Refresh();
	for (int i = 0; i < names.Length; i++)
	{
	string source = "Assets/ML-Agents/Examples/" + allScenes[Array.IndexOf(allNames, names[i])];
	var scene = EditorSceneManager.OpenScene(source, OpenSceneMode.Single);
	// Unpack copies so prefab model references cannot enter the build.
	foreach (var root in scene.GetRootGameObjects())
	if (PrefabUtility.IsPartOfPrefabInstance(root))
	PrefabUtility.UnpackPrefabInstance(root, PrefabUnpackMode.Completely,
	InteractionMode.AutomatedAction);
	var behaviors = scene.GetRootGameObjects()
	.SelectMany(r => r.GetComponentsInChildren<BehaviorParameters>(true)).ToArray();
	var info = behaviors.Select(b => new BehaviorInfo {
	name = b.BehaviorName, team = b.TeamId,
	stockPolicy = StockPolicyPath(b),
	continuous = b.BrainParameters.ActionSpec.NumContinuousActions,
	branches = b.BrainParameters.ActionSpec.BranchSizes
	}).GroupBy(b => b.name + "?team=" + b.team).Select(g => g.First()).ToArray();
	if (names[i] == "WallJump")
	info = new[] { "SmallWallJump", "BigWallJump" }.Select(name => new BehaviorInfo {
	name = name, team = info[0].team,
	stockPolicy = "Assets/ML-Agents/Examples/WallJump/TFModels/" + name + ".onnx",
	continuous = info[0].continuous, branches = info[0].branches
	}).ToArray();
	foreach (var b in behaviors)
	{
	b.Model = null;
	b.BehaviorType = BehaviorType.Default;
	EditorUtility.SetDirty(b);
	}
	// Remove any other serialized ONNX/NN references on scene components.
	foreach (var component in scene.GetRootGameObjects()
	.SelectMany(r => r.GetComponentsInChildren<MonoBehaviour>(true)))
	{
	if (component == null) continue;
	var serialized = new SerializedObject(component);
	var property = serialized.GetIterator();
	bool changed = false;
	while (property.Next(true))
	{
	if (property.propertyType != SerializedPropertyType.ObjectReference) continue;
	string path = AssetDatabase.GetAssetPath(property.objectReferenceValue);
	if (path.EndsWith(".onnx", StringComparison.OrdinalIgnoreCase) \|\|
	path.EndsWith(".nn", StringComparison.OrdinalIgnoreCase))
	{
	property.objectReferenceValue = null;
	changed = true;
	}
	}
	if (changed) serialized.ApplyModifiedPropertiesWithoutUndo();
	}
	string staged = "Assets/SimulationBuildScenes/" + names[i] + ".unity";
	if (!EditorSceneManager.SaveScene(scene, staged))
	throw new Exception("Could not save " + staged);
	string envOutput = Path.Combine(output, names[i]);
	Directory.CreateDirectory(envOutput);
	foreach (var policy in info.Select(b => b.stockPolicy).Where(p => !string.IsNullOrEmpty(p)).Distinct())
	{
	string policies = Path.Combine(output, "policies", names[i]);
	Directory.CreateDirectory(policies);
	File.Copy(policy, Path.Combine(policies, Path.GetFileName(policy)), true);
	}
	var report = BuildPipeline.BuildPlayer(new BuildPlayerOptions {
	scenes = new[] { staged },
	locationPathName = Path.Combine(envOutput, names[i] +
	(target == BuildTarget.StandaloneWindows64 ? ".exe" : ".x86_64")),
	target = target,
	options = BuildOptions.StrictMode
	});
	if (report.summary.result != BuildResult.Succeeded)
	throw new Exception(names[i] + " build failed: " + report.summary.result);
	var packed = report.packedAssets.SelectMany(p => p.contents)
	.Select(a => a.sourceAssetPath).Where(p => p.EndsWith(".onnx") \|\| p.EndsWith(".nn"))
	.Distinct().ToArray();
	var manifest = new Manifest {
	environment = names[i], sourceScene = source,
	unityVersion = Application.unityVersion, platform = target.ToString(),
	modelRemoved = packed.Length == 0,
	behaviors = info, packedPolicies = packed
	};
	File.WriteAllText(Path.Combine(envOutput, "simulation-build.json"), JsonUtility.ToJson(manifest, true));
	if (packed.Length > 0)
	throw new Exception("Baked policies found: " + string.Join(", ", packed));
	Debug.Log("SIMULATION_BUILD_OK " + names[i] + " " + report.summary.totalSize);
	}
	EditorApplication.Exit(0);
	}
	catch (Exception error)
	{
	Debug.LogException(error);
	EditorApplication.Exit(1);
	}
	}

	static string StockPolicyPath(BehaviorParameters behavior)
	{
	string path = AssetDatabase.GetAssetPath(behavior.Model);
	if (!string.IsNullOrEmpty(path)) return path;
	// Some older scene prefabs still reference the obsolete Barracuda GUID.
	if (behavior.BehaviorName == "PushBlockCollab")
	return "Assets/ML-Agents/Examples/PushBlock/TFModels/PushBlockCollab.onnx";
	if (behavior.BehaviorName == "Hallway" \|\| behavior.BehaviorName == "GridWorld")
	return "Assets/ML-Agents/Examples/" + behavior.BehaviorName + "/TFModels/" +
	behavior.BehaviorName + ".onnx";
	throw new Exception("No stock policy mapped for " + behavior.BehaviorName);
	}
	}