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BallChase.csproj ADDED
@@ -0,0 +1,12 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <Project Sdk="Godot.NET.Sdk/4.0.2">
2
+ <PropertyGroup>
3
+ <TargetFramework>net6.0</TargetFramework>
4
+ <EnableDynamicLoading>true</EnableDynamicLoading>
5
+ </PropertyGroup>
6
+ <ItemGroup>
7
+ <PackageReference Include="Microsoft.ML.OnnxRuntime" Version="1.14.1" />
8
+ <PackageReference Include="Microsoft.ML.OnnxRuntime.DirectML" Version="1.14.1" />
9
+ <PackageReference Include="Microsoft.ML.OnnxRuntime.Gpu" Version="1.14.1" />
10
+ <PackageReference Include="System.Numerics.Tensors" Version="0.1.0" />
11
+ </ItemGroup>
12
+ </Project>
BallChase.onnx ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
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+ oid sha256:9396d2bfad557df48afb8f57318acc9e9801ca9161e3e6bcb8c6a2194f773217
3
+ size 24525
BallChase.sln ADDED
@@ -0,0 +1,19 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ Microsoft Visual Studio Solution File, Format Version 12.00
2
+ # Visual Studio 2012
3
+ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BallChase", "BallChase.csproj", "{93377219-5E54-4378-A437-B8BBD9825AA5}"
4
+ EndProject
5
+ Global
6
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
7
+ Debug|Any CPU = Debug|Any CPU
8
+ ExportDebug|Any CPU = ExportDebug|Any CPU
9
+ ExportRelease|Any CPU = ExportRelease|Any CPU
10
+ EndGlobalSection
11
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
12
+ {93377219-5E54-4378-A437-B8BBD9825AA5}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
13
+ {93377219-5E54-4378-A437-B8BBD9825AA5}.Debug|Any CPU.Build.0 = Debug|Any CPU
14
+ {93377219-5E54-4378-A437-B8BBD9825AA5}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU
15
+ {93377219-5E54-4378-A437-B8BBD9825AA5}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU
16
+ {93377219-5E54-4378-A437-B8BBD9825AA5}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU
17
+ {93377219-5E54-4378-A437-B8BBD9825AA5}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU
18
+ EndGlobalSection
19
+ EndGlobal
BallChase.tscn CHANGED
@@ -50,6 +50,7 @@ shape = SubResource("1")
50
 
51
  [node name="RaycastSensor2D" type="Node2D" parent="Player"]
52
  script = ExtResource("2")
 
53
 
54
  [node name="Sprite2D" type="Sprite2D" parent="Player"]
55
  scale = Vector2(0.9, 0.9)
 
50
 
51
  [node name="RaycastSensor2D" type="Node2D" parent="Player"]
52
  script = ExtResource("2")
53
+ collide_with_areas = true
54
 
55
  [node name="Sprite2D" type="Sprite2D" parent="Player"]
56
  scale = Vector2(0.9, 0.9)
addons/godot_rl_agents/controller/ai_controller.gd ADDED
@@ -0,0 +1,77 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ extends Node
2
+ class_name AIController
3
+
4
+ # ------------------ Godot RL Agents Logic ------------------------------------#
5
+ @export var reset_after := 1000
6
+
7
+ var heuristic := "human"
8
+ var done := false
9
+ var reward := 0.0
10
+ var n_steps := 0
11
+
12
+ var needs_reset := false
13
+
14
+ func _ready():
15
+ add_to_group("AGENT")
16
+
17
+ #-- Methods that need implementing using the "extend script" option in Godot --#
18
+ func get_obs() -> Dictionary:
19
+ assert(false, "the get_obs method is not implemented when extending from ai_controller")
20
+ return {"obs":[]}
21
+
22
+ func get_reward() -> float:
23
+ assert(false, "the get_reward method is not implemented when extending from ai_controller")
24
+ return 0.0
25
+
26
+ func get_action_space() -> Dictionary:
27
+ assert(false, "the get get_action_space method is not implemented when extending from ai_controller")
28
+ return {
29
+ "example_actions_continous" : {
30
+ "size": 2,
31
+ "action_type": "continuous"
32
+ },
33
+ "example_actions_discrete" : {
34
+ "size": 2,
35
+ "action_type": "discrete"
36
+ },
37
+ }
38
+
39
+ func set_action(action) -> void:
40
+ assert(false, "the get set_action method is not implemented when extending from ai_controller")
41
+ # -----------------------------------------------------------------------------#
42
+
43
+ func _physics_process(delta):
44
+ n_steps += 1
45
+ if n_steps > reset_after:
46
+ needs_reset = true
47
+
48
+ func get_obs_space():
49
+ # may need overriding if the obs space is complex
50
+ var obs = get_obs()
51
+ return {
52
+ "obs": {
53
+ "size": [len(obs["obs"])],
54
+ "space": "box"
55
+ },
56
+ }
57
+
58
+ func reset():
59
+ n_steps = 0
60
+ needs_reset = false
61
+
62
+ func reset_if_done():
63
+ if done:
64
+ reset()
65
+
66
+ func set_heuristic(h):
67
+ # sets the heuristic from "human" or "model" nothing to change here
68
+ heuristic = h
69
+
70
+ func get_done():
71
+ return done
72
+
73
+ func set_done_false():
74
+ done = false
75
+
76
+ func zero_reward():
77
+ reward = 0.0
addons/godot_rl_agents/controller/ai_controller_2d.gd ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ extends AIController
2
+ class_name AIController2D
3
+
4
+ # ------------------ Godot RL Agents Logic ------------------------------------#
5
+ var _player: Node2D
6
+
7
+ func init(player: Node2D):
8
+ _player = player
addons/godot_rl_agents/controller/ai_controller_3d.gd ADDED
@@ -0,0 +1,8 @@
 
 
 
 
 
 
 
 
 
1
+ extends AIController
2
+ class_name AIController3D
3
+
4
+ # ------------------ Godot RL Agents Logic ------------------------------------#
5
+ var _player: Node3D
6
+
7
+ func init(player: Node3D):
8
+ _player = player
addons/godot_rl_agents/icon.png.import CHANGED
@@ -2,7 +2,7 @@
2
 
3
  importer="texture"
4
  type="CompressedTexture2D"
5
- uid="uid://b7lwg3uk8v3pr"
6
  path="res://.godot/imported/icon.png-45a871b53434e556222f5901d598ab34.ctex"
7
  metadata={
8
  "vram_texture": false
 
2
 
3
  importer="texture"
4
  type="CompressedTexture2D"
5
+ uid="uid://dn7mfntm1bfv4"
6
  path="res://.godot/imported/icon.png-45a871b53434e556222f5901d598ab34.ctex"
7
  metadata={
8
  "vram_texture": false
addons/godot_rl_agents/onnx/csharp/ONNXInference.cs ADDED
@@ -0,0 +1,93 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ using Godot;
2
+ using System.Collections.Generic;
3
+ using System.Linq;
4
+ using Microsoft.ML.OnnxRuntime;
5
+ using Microsoft.ML.OnnxRuntime.Tensors;
6
+
7
+ namespace GodotONNX{
8
+ /// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/ONNXInference/*'/>
9
+ public partial class ONNXInference : Node
10
+ {
11
+
12
+ private InferenceSession session;
13
+ /// <summary>
14
+ /// Path to the ONNX model. Use Initialize to change it.
15
+ /// </summary>
16
+ private string modelPath;
17
+ private int batchSize;
18
+
19
+ private SessionOptions SessionOpt;
20
+
21
+ //init function
22
+ /// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Initialize/*'/>
23
+ public void Initialize(string Path, int BatchSize)
24
+ {
25
+ modelPath = Path;
26
+ batchSize = BatchSize;
27
+ SessionConfigurator.SystemCheck();
28
+ SessionOpt = SessionConfigurator.GetSessionOptions();
29
+ session = LoadModel(modelPath);
30
+
31
+ }
32
+ /// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Run/*'/>
33
+ public Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> RunInference(Godot.Collections.Array<float> obs, int state_ins)
34
+ {
35
+ //Current model: Any (Godot Rl Agents)
36
+ //Expects a tensor of shape [batch_size, input_size] type float named obs and a tensor of shape [batch_size] type float named state_ins
37
+
38
+ //Fill the input tensors
39
+ // create span from inputSize
40
+ var span = new float[obs.Count]; //There's probably a better way to do this
41
+ for (int i = 0; i < obs.Count; i++)
42
+ {
43
+ span[i] = obs[i];
44
+ }
45
+
46
+ IReadOnlyCollection<NamedOnnxValue> inputs = new List<NamedOnnxValue>
47
+ {
48
+ NamedOnnxValue.CreateFromTensor("obs", new DenseTensor<float>(span, new int[] { batchSize, obs.Count })),
49
+ NamedOnnxValue.CreateFromTensor("state_ins", new DenseTensor<float>(new float[] { state_ins }, new int[] { batchSize }))
50
+ };
51
+ IReadOnlyCollection<string> outputNames = new List<string> { "output", "state_outs" }; //ONNX is sensible to these names, as well as the input names
52
+
53
+ IDisposableReadOnlyCollection<DisposableNamedOnnxValue> results;
54
+
55
+ try{
56
+ results = session.Run(inputs, outputNames);
57
+ }
58
+ catch (OnnxRuntimeException e) {
59
+ //This error usually means that the model is not compatible with the input, beacause of the input shape (size)
60
+ GD.Print("Error at inference: ", e);
61
+ return null;
62
+ }
63
+ //Can't convert IEnumerable<float> to Variant, so we have to convert it to an array or something
64
+ Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> output = new Godot.Collections.Dictionary<string, Godot.Collections.Array<float>>();
65
+ DisposableNamedOnnxValue output1 = results.First();
66
+ DisposableNamedOnnxValue output2 = results.Last();
67
+ Godot.Collections.Array<float> output1Array = new Godot.Collections.Array<float>();
68
+ Godot.Collections.Array<float> output2Array = new Godot.Collections.Array<float>();
69
+
70
+ foreach (float f in output1.AsEnumerable<float>()) {
71
+ output1Array.Add(f);
72
+ }
73
+
74
+ foreach (float f in output2.AsEnumerable<float>()) {
75
+ output2Array.Add(f);
76
+ }
77
+
78
+ output.Add(output1.Name, output1Array);
79
+ output.Add(output2.Name, output2Array);
80
+
81
+ //Output is a dictionary of arrays, ex: { "output" : [0.1, 0.2, 0.3, 0.4, ...], "state_outs" : [0.5, ...]}
82
+ return output;
83
+ }
84
+ /// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Load/*'/>
85
+ public InferenceSession LoadModel(string Path)
86
+ {
87
+ Godot.FileAccess file = FileAccess.Open(Path, Godot.FileAccess.ModeFlags.Read);
88
+ byte[] model = file.GetBuffer((int)file.GetLength());
89
+ file.Close();
90
+ return new InferenceSession(model, SessionOpt); //Load the model
91
+ }
92
+ }
93
+ }
addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs ADDED
@@ -0,0 +1,106 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ using Godot;
2
+ using Microsoft.ML.OnnxRuntime;
3
+
4
+ namespace GodotONNX{
5
+ /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SessionConfigurator/*'/>
6
+
7
+ public static class SessionConfigurator {
8
+
9
+ private static SessionOptions options = new SessionOptions();
10
+
11
+ /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/GetSessionOptions/*'/>
12
+ public static SessionOptions GetSessionOptions() {
13
+ options = new SessionOptions();
14
+ options.LogSeverityLevel = OrtLoggingLevel.ORT_LOGGING_LEVEL_WARNING;
15
+ // see warnings
16
+ SystemCheck();
17
+ return options;
18
+ }
19
+ /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SystemCheck/*'/>
20
+
21
+ static public void SystemCheck()
22
+ {
23
+ //Most code for this function is verbose only, the only reason it exists is to track
24
+ //implementation progress of the different compute APIs.
25
+
26
+ //December 2022: CUDA is not working.
27
+
28
+ string OSName = OS.GetName(); //Get OS Name
29
+ int ComputeAPIID = ComputeCheck(); //Get Compute API
30
+ //TODO: Get CPU architecture
31
+
32
+ //Linux can use OpenVINO (C#) on x64 and ROCm on x86 (GDNative/C++)
33
+ //Windows can use OpenVINO (C#) on x64
34
+ //TODO: try TensorRT instead of CUDA
35
+ //TODO: Use OpenVINO for Intel Graphics
36
+
37
+ string [] ComputeNames = {"CUDA", "DirectML/ROCm", "DirectML", "CoreML", "CPU"};
38
+ //match OS and Compute API
39
+ options.AppendExecutionProvider_CPU(0); // Always use CPU
40
+ GD.Print("OS: " + OSName, " | Compute API: " + ComputeNames[ComputeAPIID]);
41
+
42
+ switch (OSName)
43
+ {
44
+ case "Windows": //Can use CUDA, DirectML
45
+ if (ComputeAPIID == 0)
46
+ {
47
+ //CUDA
48
+ //options.AppendExecutionProvider_CUDA(0);
49
+ options.AppendExecutionProvider_DML(0);
50
+ }
51
+ else if (ComputeAPIID == 1)
52
+ {
53
+ //DirectML
54
+ options.AppendExecutionProvider_DML(0);
55
+ }
56
+ break;
57
+ case "X11": //Can use CUDA, ROCm
58
+ if (ComputeAPIID == 0)
59
+ {
60
+ //CUDA
61
+ //options.AppendExecutionProvider_CUDA(0);
62
+ }
63
+ if (ComputeAPIID == 1)
64
+ {
65
+ //ROCm, only works on x86
66
+ //Research indicates that this has to be compiled as a GDNative plugin
67
+ GD.Print("ROCm not supported yet, using CPU.");
68
+ options.AppendExecutionProvider_CPU(0);
69
+ }
70
+
71
+ break;
72
+ case "OSX": //Can use CoreML
73
+ if (ComputeAPIID == 0) { //CoreML
74
+ //TODO: Needs testing
75
+ options.AppendExecutionProvider_CoreML(0);
76
+ //CoreML on ARM64, out of the box, on x64 needs .tar file from GitHub
77
+ }
78
+ break;
79
+ default:
80
+ GD.Print("OS not Supported.");
81
+ break;
82
+ }
83
+ }
84
+ /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/ComputeCheck/*'/>
85
+
86
+ public static int ComputeCheck()
87
+ {
88
+ string adapterName = Godot.RenderingServer.GetVideoAdapterName();
89
+ //string adapterVendor = Godot.RenderingServer.GetVideoAdapterVendor();
90
+ adapterName = adapterName.ToUpper(new System.Globalization.CultureInfo(""));
91
+ //TODO: GPU vendors for MacOS, what do they even use these days?
92
+ if (adapterName.Contains("INTEL")) {
93
+ //Return 2, should use DirectML only
94
+ return 2;}
95
+ if (adapterName.Contains("AMD")) {
96
+ //Return 1, should use DirectML, check later for ROCm
97
+ return 1;}
98
+ if (adapterName.Contains("NVIDIA")){
99
+ //Return 0, should use CUDA
100
+ return 0;}
101
+
102
+ GD.Print("Graphics Card not recognized."); //Return -1, should use CPU
103
+ return -1;
104
+ }
105
+ }
106
+ }
addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml ADDED
@@ -0,0 +1,31 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <docs>
2
+ <members name="ONNXInference">
3
+ <ONNXInference>
4
+ <summary>
5
+ The main <c>ONNXInference</c> Class that handles the inference process.
6
+ </summary>
7
+ </ONNXInference>
8
+ <Initialize>
9
+ <summary>
10
+ Starts the inference process.
11
+ </summary>
12
+ <param name="Path">Path to the ONNX model, expects a path inside resources.</param>
13
+ <param name="BatchSize">How many observations will the model recieve.</param>
14
+ </Initialize>
15
+ <Run>
16
+ <summary>
17
+ Runs the given input through the model and returns the output.
18
+ </summary>
19
+ <param name="obs">Dictionary containing all observations.</param>
20
+ <param name="state_ins">How many different agents are creating these observations.</param>
21
+ <returns>A Dictionary of arrays, containing instructions based on the observations.</returns>
22
+ </Run>
23
+ <Load>
24
+ <summary>
25
+ Loads the given model into the inference process, using the best Execution provider available.
26
+ </summary>
27
+ <param name="Path">Path to the ONNX model, expects a path inside resources.</param>
28
+ <returns>InferenceSession ready to run.</returns>
29
+ </Load>
30
+ </members>
31
+ </docs>
addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml ADDED
@@ -0,0 +1,29 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <docs>
2
+ <members name="SessionConfigurator">
3
+ <SessionConfigurator>
4
+ <summary>
5
+ The main <c>SessionConfigurator</c> Class that handles the execution options and providers for the inference process.
6
+ </summary>
7
+ </SessionConfigurator>
8
+ <GetSessionOptions>
9
+ <summary>
10
+ Creates a SessionOptions with all available execution providers.
11
+ </summary>
12
+ <returns>SessionOptions with all available execution providers.</returns>
13
+ </GetSessionOptions>
14
+ <SystemCheck>
15
+ <summary>
16
+ Appends any execution provider available in the current system.
17
+ </summary>
18
+ <remarks>
19
+ This function is mainly verbose for tracking implementation progress of different compute APIs.
20
+ </remarks>
21
+ </SystemCheck>
22
+ <ComputeCheck>
23
+ <summary>
24
+ Checks for available GPUs.
25
+ </summary>
26
+ <returns>An integer identifier for each compute platform.</returns>
27
+ </ComputeCheck>
28
+ </members>
29
+ </docs>
addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd ADDED
@@ -0,0 +1,19 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ extends Node
2
+ class_name ONNXModel
3
+ var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInference.cs")
4
+
5
+ var inferencer = null
6
+
7
+ # Must provide the path to the model and the batch size
8
+ func _init(model_path, batch_size):
9
+ inferencer = inferencer_script.new()
10
+ inferencer.Initialize(model_path, batch_size)
11
+
12
+ # This function is the one that will be called from the game,
13
+ # requires the observation as an array and the state_ins as an int
14
+ # returns an Array containing the action the model takes.
15
+ func run_inference(obs : Array, state_ins : int) -> Dictionary:
16
+ if inferencer == null:
17
+ printerr("Inferencer not initialized")
18
+ return {}
19
+ return inferencer.RunInference(obs, state_ins)
addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn CHANGED
@@ -1,8 +1,8 @@
1
- [gd_scene load_steps=5 format=2]
2
 
3
- [ext_resource path="res://sensors/sensors_2d/RaycastSensor2D.gd" type="Script" id=1]
4
 
5
- [sub_resource type="GDScript" id=2]
6
  script/source = "extends Node2D
7
 
8
 
@@ -12,7 +12,7 @@ func _physics_process(delta: float) -> void:
12
 
13
  "
14
 
15
- [sub_resource type="GDScript" id=1]
16
  script/source = "extends RayCast2D
17
 
18
  var steps = 1
@@ -26,23 +26,23 @@ func _physics_process(delta: float) -> void:
26
  print(is_colliding())
27
  "
28
 
29
- [sub_resource type="CircleShape2D" id=3]
30
 
31
  [node name="ExampleRaycastSensor2D" type="Node2D"]
32
- script = SubResource( 2 )
33
 
34
  [node name="ExampleAgent" type="Node2D" parent="."]
35
- position = Vector2( 573, 314 )
36
  rotation = 0.286234
37
 
38
  [node name="RaycastSensor2D" type="Node2D" parent="ExampleAgent"]
39
- script = ExtResource( 1 )
40
 
41
  [node name="TestRayCast2D" type="RayCast2D" parent="."]
42
- script = SubResource( 1 )
43
 
44
  [node name="StaticBody2D" type="StaticBody2D" parent="."]
45
- position = Vector2( 1, 52 )
46
 
47
  [node name="CollisionShape2D" type="CollisionShape2D" parent="StaticBody2D"]
48
- shape = SubResource( 3 )
 
1
+ [gd_scene load_steps=5 format=3 uid="uid://ddeq7mn1ealyc"]
2
 
3
+ [ext_resource type="Script" path="res://sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
4
 
5
+ [sub_resource type="GDScript" id="2"]
6
  script/source = "extends Node2D
7
 
8
 
 
12
 
13
  "
14
 
15
+ [sub_resource type="GDScript" id="1"]
16
  script/source = "extends RayCast2D
17
 
18
  var steps = 1
 
26
  print(is_colliding())
27
  "
28
 
29
+ [sub_resource type="CircleShape2D" id="3"]
30
 
31
  [node name="ExampleRaycastSensor2D" type="Node2D"]
32
+ script = SubResource("2")
33
 
34
  [node name="ExampleAgent" type="Node2D" parent="."]
35
+ position = Vector2(573, 314)
36
  rotation = 0.286234
37
 
38
  [node name="RaycastSensor2D" type="Node2D" parent="ExampleAgent"]
39
+ script = ExtResource("1")
40
 
41
  [node name="TestRayCast2D" type="RayCast2D" parent="."]
42
+ script = SubResource("1")
43
 
44
  [node name="StaticBody2D" type="StaticBody2D" parent="."]
45
+ position = Vector2(1, 52)
46
 
47
  [node name="CollisionShape2D" type="CollisionShape2D" parent="StaticBody2D"]
48
+ shape = SubResource("3")
addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd CHANGED
@@ -1,7 +1,7 @@
1
  extends Node2D
2
  class_name ISensor2D
3
 
4
- var _obs : Array
5
  var _active := false
6
 
7
  func get_observation():
 
1
  extends Node2D
2
  class_name ISensor2D
3
 
4
+ var _obs : Array = []
5
  var _active := false
6
 
7
  func get_observation():
addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd CHANGED
@@ -2,24 +2,42 @@
2
  extends ISensor2D
3
  class_name RaycastSensor2D
4
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
5
  @export var n_rays := 16.0:
6
  get: return n_rays
7
  set(value):
8
  n_rays = value
9
  _update()
10
 
11
- @export var ray_length := 200:# (float,5,200,5.0)
12
  get: return ray_length
13
  set(value):
14
  ray_length = value
15
  _update()
16
- @export var cone_width := 360.0:# (float,5,360,5.0)
17
  get: return cone_width
18
  set(value):
19
  cone_width = value
20
  _update()
21
 
22
- @export var debug_draw := false :
23
  get: return debug_draw
24
  set(value):
25
  debug_draw = value
@@ -31,12 +49,16 @@ var rays := []
31
 
32
  func _update():
33
  if Engine.is_editor_hint():
34
- _spawn_nodes()
 
 
 
 
 
35
 
36
  func _ready() -> void:
37
  _spawn_nodes()
38
 
39
-
40
  func _spawn_nodes():
41
  for ray in rays:
42
  ray.queue_free()
@@ -55,7 +77,9 @@ func _spawn_nodes():
55
  ))
56
  ray.set_name("node_"+str(i))
57
  ray.enabled = true
58
- ray.collide_with_areas = true
 
 
59
  add_child(ray)
60
  rays.append(ray)
61
 
 
2
  extends ISensor2D
3
  class_name RaycastSensor2D
4
 
5
+ @export_flags_2d_physics var collision_mask := 1:
6
+ get: return collision_mask
7
+ set(value):
8
+ collision_mask = value
9
+ _update()
10
+
11
+ @export var collide_with_areas := false:
12
+ get: return collide_with_areas
13
+ set(value):
14
+ collide_with_areas = value
15
+ _update()
16
+
17
+ @export var collide_with_bodies := true:
18
+ get: return collide_with_bodies
19
+ set(value):
20
+ collide_with_bodies = value
21
+ _update()
22
+
23
  @export var n_rays := 16.0:
24
  get: return n_rays
25
  set(value):
26
  n_rays = value
27
  _update()
28
 
29
+ @export_range(5,200,5.0) var ray_length := 200:
30
  get: return ray_length
31
  set(value):
32
  ray_length = value
33
  _update()
34
+ @export_range(5,360,5.0) var cone_width := 360.0:
35
  get: return cone_width
36
  set(value):
37
  cone_width = value
38
  _update()
39
 
40
+ @export var debug_draw := true :
41
  get: return debug_draw
42
  set(value):
43
  debug_draw = value
 
49
 
50
  func _update():
51
  if Engine.is_editor_hint():
52
+ if debug_draw:
53
+ _spawn_nodes()
54
+ else:
55
+ for ray in get_children():
56
+ if ray is RayCast2D:
57
+ remove_child(ray)
58
 
59
  func _ready() -> void:
60
  _spawn_nodes()
61
 
 
62
  func _spawn_nodes():
63
  for ray in rays:
64
  ray.queue_free()
 
77
  ))
78
  ray.set_name("node_"+str(i))
79
  ray.enabled = true
80
+ ray.collide_with_areas = collide_with_areas
81
+ ray.collide_with_bodies = collide_with_bodies
82
+ ray.collision_mask = collision_mask
83
  add_child(ray)
84
  rays.append(ray)
85
 
addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn CHANGED
@@ -1,6 +1,7 @@
1
- [gd_scene load_steps=2 format=2]
2
 
3
- [ext_resource path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" type="Script" id=1]
4
 
5
  [node name="RaycastSensor2D" type="Node2D"]
6
- script = ExtResource( 1 )
 
 
1
+ [gd_scene load_steps=2 format=3 uid="uid://drvfihk5esgmv"]
2
 
3
+ [ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
4
 
5
  [node name="RaycastSensor2D" type="Node2D"]
6
+ script = ExtResource("1")
7
+ n_rays = 17.0
addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd CHANGED
@@ -1,7 +1,7 @@
1
  extends Node3D
2
  class_name ISensor3D
3
 
4
- var _obs : Array
5
  var _active := false
6
 
7
  func get_observation():
 
1
  extends Node3D
2
  class_name ISensor3D
3
 
4
+ var _obs : Array = []
5
  var _active := false
6
 
7
  func get_observation():
addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd CHANGED
@@ -10,7 +10,7 @@ class_name RayCastSensor3D
10
  get: return boolean_class_mask
11
  set(value):
12
  boolean_class_mask = value
13
- _update()
14
 
15
  @export var n_rays_width := 6.0:
16
  get: return n_rays_width
@@ -42,18 +42,18 @@ class_name RayCastSensor3D
42
  cone_height = value
43
  _update()
44
 
45
- @export var collide_with_bodies := true:
46
- get: return collide_with_bodies
47
- set(value):
48
- collide_with_bodies = value
49
- _update()
50
-
51
  @export var collide_with_areas := false:
52
  get: return collide_with_areas
53
  set(value):
54
  collide_with_areas = value
55
  _update()
56
 
 
 
 
 
 
 
57
  @export var class_sensor := false
58
 
59
  var rays := []
 
10
  get: return boolean_class_mask
11
  set(value):
12
  boolean_class_mask = value
13
+ _update()
14
 
15
  @export var n_rays_width := 6.0:
16
  get: return n_rays_width
 
42
  cone_height = value
43
  _update()
44
 
 
 
 
 
 
 
45
  @export var collide_with_areas := false:
46
  get: return collide_with_areas
47
  set(value):
48
  collide_with_areas = value
49
  _update()
50
 
51
+ @export var collide_with_bodies := true:
52
+ get: return collide_with_bodies
53
+ set(value):
54
+ collide_with_bodies = value
55
+ _update()
56
+
57
  @export var class_sensor := false
58
 
59
  var rays := []
addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn CHANGED
@@ -1,49 +1,33 @@
1
- [gd_scene load_steps=2 format=2]
2
 
3
- [ext_resource path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" type="Script" id=1]
4
 
5
  [node name="RaycastSensor3D" type="Node3D"]
6
- script = ExtResource( 1 )
7
  n_rays_width = 4.0
8
  n_rays_height = 2.0
9
  ray_length = 11.0
10
 
11
- [node name="node_0 2" type="RayCast3D" parent="."]
12
- enabled = true
13
- cast_to = Vector3( -4.06608, -2.84701, 9.81639 )
14
- collide_with_areas = true
15
-
16
- [node name="node_0 3" type="RayCast3D" parent="."]
17
- enabled = true
18
- cast_to = Vector3( -4.06608, 2.84701, 9.81639 )
19
- collide_with_areas = true
20
-
21
- [node name="node_1 0" type="RayCast3D" parent="."]
22
- enabled = true
23
- cast_to = Vector3( -1.38686, -2.84701, 10.5343 )
24
- collide_with_areas = true
25
-
26
- [node name="node_1 1" type="RayCast3D" parent="."]
27
- enabled = true
28
- cast_to = Vector3( -1.38686, 2.84701, 10.5343 )
29
- collide_with_areas = true
30
-
31
- [node name="node_2 0" type="RayCast3D" parent="."]
32
- enabled = true
33
- cast_to = Vector3( 1.38686, -2.84701, 10.5343 )
34
- collide_with_areas = true
35
-
36
- [node name="node_2 1" type="RayCast3D" parent="."]
37
- enabled = true
38
- cast_to = Vector3( 1.38686, 2.84701, 10.5343 )
39
- collide_with_areas = true
40
-
41
- [node name="node_3 0" type="RayCast3D" parent="."]
42
- enabled = true
43
- cast_to = Vector3( 4.06608, -2.84701, 9.81639 )
44
- collide_with_areas = true
45
-
46
- [node name="node_3 1" type="RayCast3D" parent="."]
47
- enabled = true
48
- cast_to = Vector3( 4.06608, 2.84701, 9.81639 )
49
- collide_with_areas = true
 
1
+ [gd_scene load_steps=2 format=3 uid="uid://b803cbh1fmy66"]
2
 
3
+ [ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" id="1"]
4
 
5
  [node name="RaycastSensor3D" type="Node3D"]
6
+ script = ExtResource("1")
7
  n_rays_width = 4.0
8
  n_rays_height = 2.0
9
  ray_length = 11.0
10
 
11
+ [node name="@node_0 0@18991" type="RayCast3D" parent="."]
12
+ target_position = Vector3(-4.06608, -2.84701, 9.81639)
13
+
14
+ [node name="node_0 1" type="RayCast3D" parent="."]
15
+ target_position = Vector3(-4.06608, 2.84701, 9.81639)
16
+
17
+ [node name="@node_1 0@18992" type="RayCast3D" parent="."]
18
+ target_position = Vector3(-1.38686, -2.84701, 10.5343)
19
+
20
+ [node name="@node_1 1@18993" type="RayCast3D" parent="."]
21
+ target_position = Vector3(-1.38686, 2.84701, 10.5343)
22
+
23
+ [node name="@node_2 0@18994" type="RayCast3D" parent="."]
24
+ target_position = Vector3(1.38686, -2.84701, 10.5343)
25
+
26
+ [node name="@node_2 1@18995" type="RayCast3D" parent="."]
27
+ target_position = Vector3(1.38686, 2.84701, 10.5343)
28
+
29
+ [node name="@node_3 0@18996" type="RayCast3D" parent="."]
30
+ target_position = Vector3(4.06608, -2.84701, 9.81639)
31
+
32
+ [node name="@node_3 1@18997" type="RayCast3D" parent="."]
33
+ target_position = Vector3(4.06608, 2.84701, 9.81639)
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
addons/godot_rl_agents/sync.gd CHANGED
@@ -2,7 +2,9 @@ extends Node
2
  # --fixed-fps 2000 --disable-render-loop
3
  @export var action_repeat := 8
4
  @export var speed_up = 1
5
- var n_action_steps = 0
 
 
6
 
7
  const MAJOR_VERSION := "0"
8
  const MINOR_VERSION := "3"
@@ -16,21 +18,122 @@ var should_connect = true
16
  var agents
17
  var need_to_send_obs = false
18
  var args = null
19
- @onready var start_time = Time.get_ticks_msec()
20
  var initialized = false
21
  var just_reset = false
 
 
22
 
 
 
23
 
24
  # Called when the node enters the scene tree for the first time.
25
 
26
  func _ready():
27
-
28
  await get_tree().root.ready
29
  get_tree().set_pause(true)
30
  _initialize()
31
  await get_tree().create_timer(1.0).timeout
32
  get_tree().set_pause(false)
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
33
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
34
  func _get_agents():
35
  agents = get_tree().get_nodes_in_group("AGENT")
36
 
@@ -75,17 +178,16 @@ func _send_dict_as_json_message(dict):
75
  func _send_env_info():
76
  var json_dict = _get_dict_json_message()
77
  assert(json_dict["type"] == "env_info")
78
-
 
79
  var message = {
80
  "type" : "env_info",
81
- #"obs_size": agents[0].get_obs_size(),
82
- "observation_space": agents[0].get_obs_space(),
83
- "action_space":agents[0].get_action_space(),
84
  "n_agents": len(agents)
85
  }
86
  _send_dict_as_json_message(message)
87
 
88
-
89
  func connect_to_server():
90
  print("Waiting for one second to allow server to start")
91
  OS.delay_msec(1000)
@@ -98,17 +200,13 @@ func connect_to_server():
98
  var connect = stream.connect_to_host(ip, port)
99
  stream.set_no_delay(true) # TODO check if this improves performance or not
100
  stream.poll()
 
 
 
101
  return stream.get_status() == 2
102
 
103
  func _get_args():
104
  print("getting command line arguments")
105
- # var arguments = {}
106
- # for argument in OS.get_cmdline_args():
107
- # # Parse valid command-line arguments into a dictionary
108
- # if argument.find("=") > -1:
109
- # var key_value = argument.split("=")
110
- # arguments[key_value[0].lstrip("--")] = key_value[1]
111
-
112
  var arguments = {}
113
  for argument in OS.get_cmdline_args():
114
  print(argument)
@@ -139,70 +237,7 @@ func _set_action_repeat():
139
  func disconnect_from_server():
140
  stream.disconnect_from_host()
141
 
142
- func _initialize():
143
- _get_agents()
144
-
145
- args = _get_args()
146
- Engine.physics_ticks_per_second = _get_speedup() * 60 # Replace with function body.
147
- Engine.time_scale = _get_speedup() * 1.0
148
- prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up)
149
-
150
- connected = connect_to_server()
151
- if connected:
152
- _set_heuristic("model")
153
- _handshake()
154
- _send_env_info()
155
- else:
156
- _set_heuristic("human")
157
-
158
- _set_seed()
159
- _set_action_repeat()
160
- initialized = true
161
-
162
- func _physics_process(delta):
163
- # two modes, human control, agent control
164
- # pause tree, send obs, get actions, set actions, unpause tree
165
- if n_action_steps % action_repeat != 0:
166
- n_action_steps += 1
167
- return
168
 
169
- n_action_steps += 1
170
-
171
- if connected:
172
- get_tree().set_pause(true)
173
-
174
- if just_reset:
175
- just_reset = false
176
- var obs = _get_obs_from_agents()
177
-
178
- var reply = {
179
- "type": "reset",
180
- "obs": obs
181
- }
182
- _send_dict_as_json_message(reply)
183
- # this should go straight to getting the action and setting it checked the agent, no need to perform one phyics tick
184
- get_tree().set_pause(false)
185
- return
186
-
187
- if need_to_send_obs:
188
- need_to_send_obs = false
189
- var reward = _get_reward_from_agents()
190
- var done = _get_done_from_agents()
191
- #_reset_agents_if_done() # this ensures the new observation is from the next env instance : NEEDS REFACTOR
192
-
193
- var obs = _get_obs_from_agents()
194
-
195
- var reply = {
196
- "type": "step",
197
- "obs": obs,
198
- "reward": reward,
199
- "done": done
200
- }
201
- _send_dict_as_json_message(reply)
202
-
203
- var handled = handle_message()
204
- else:
205
- _reset_agents_if_done()
206
 
207
  func handle_message() -> bool:
208
  # get json message: reset, step, close
@@ -272,6 +307,7 @@ func _get_obs_from_agents():
272
  var obs = []
273
  for agent in agents:
274
  obs.append(agent.get_obs())
 
275
  return obs
276
 
277
  func _get_reward_from_agents():
@@ -293,3 +329,8 @@ func _set_agent_actions(actions):
293
  for i in range(len(actions)):
294
  agents[i].set_action(actions[i])
295
 
 
 
 
 
 
 
2
  # --fixed-fps 2000 --disable-render-loop
3
  @export var action_repeat := 8
4
  @export var speed_up = 1
5
+ @export var onnx_model_path := ""
6
+
7
+ @onready var start_time = Time.get_ticks_msec()
8
 
9
  const MAJOR_VERSION := "0"
10
  const MINOR_VERSION := "3"
 
18
  var agents
19
  var need_to_send_obs = false
20
  var args = null
 
21
  var initialized = false
22
  var just_reset = false
23
+ var onnx_model = null
24
+ var n_action_steps = 0
25
 
26
+ var _action_space : Dictionary
27
+ var _obs_space : Dictionary
28
 
29
  # Called when the node enters the scene tree for the first time.
30
 
31
  func _ready():
 
32
  await get_tree().root.ready
33
  get_tree().set_pause(true)
34
  _initialize()
35
  await get_tree().create_timer(1.0).timeout
36
  get_tree().set_pause(false)
37
+
38
+ func _initialize():
39
+ _get_agents()
40
+ _obs_space = agents[0].get_obs_space()
41
+ _action_space = agents[0].get_action_space()
42
+ args = _get_args()
43
+ Engine.physics_ticks_per_second = _get_speedup() * 60 # Replace with function body.
44
+ Engine.time_scale = _get_speedup() * 1.0
45
+ prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up)
46
+
47
+
48
+ connected = connect_to_server()
49
+ if connected:
50
+ _set_heuristic("model")
51
+ _handshake()
52
+ _send_env_info()
53
+ elif onnx_model_path != "":
54
+ onnx_model = ONNXModel.new(onnx_model_path, 1)
55
+ _set_heuristic("model")
56
+ else:
57
+ _set_heuristic("human")
58
+
59
+ _set_seed()
60
+ _set_action_repeat()
61
+ initialized = true
62
+
63
+ func _physics_process(delta):
64
+ # two modes, human control, agent control
65
+ # pause tree, send obs, get actions, set actions, unpause tree
66
+ if n_action_steps % action_repeat != 0:
67
+ n_action_steps += 1
68
+ return
69
+
70
+ n_action_steps += 1
71
+
72
+ if connected:
73
+ get_tree().set_pause(true)
74
+
75
+ if just_reset:
76
+ just_reset = false
77
+ var obs = _get_obs_from_agents()
78
+
79
+ var reply = {
80
+ "type": "reset",
81
+ "obs": obs
82
+ }
83
+ _send_dict_as_json_message(reply)
84
+ # this should go straight to getting the action and setting it checked the agent, no need to perform one phyics tick
85
+ get_tree().set_pause(false)
86
+ return
87
+
88
+ if need_to_send_obs:
89
+ need_to_send_obs = false
90
+ var reward = _get_reward_from_agents()
91
+ var done = _get_done_from_agents()
92
+ #_reset_agents_if_done() # this ensures the new observation is from the next env instance : NEEDS REFACTOR
93
+
94
+ var obs = _get_obs_from_agents()
95
+
96
+ var reply = {
97
+ "type": "step",
98
+ "obs": obs,
99
+ "reward": reward,
100
+ "done": done
101
+ }
102
+ _send_dict_as_json_message(reply)
103
+
104
+ var handled = handle_message()
105
+
106
+ elif onnx_model != null:
107
+ var obs : Array = _get_obs_from_agents()
108
+
109
+ var actions = []
110
+ for o in obs:
111
+ var action = onnx_model.run_inference(o["obs"], 1.0)
112
+ action["output"] = clamp_array(action["output"], -1.0, 1.0)
113
+ var action_dict = _extract_action_dict(action["output"])
114
+ actions.append(action_dict)
115
+
116
+ _set_agent_actions(actions)
117
+ need_to_send_obs = true
118
+ get_tree().set_pause(false)
119
+ _reset_agents_if_done()
120
 
121
+ else:
122
+ _reset_agents_if_done()
123
+
124
+ func _extract_action_dict(action_array: Array):
125
+ var index = 0
126
+ var result = {}
127
+ for key in _action_space.keys():
128
+ var size = _action_space[key]["size"]
129
+ if _action_space[key]["action_type"] == "discrete":
130
+ result[key] = round(action_array[index])
131
+ else:
132
+ result[key] = action_array.slice(index,index+size)
133
+ index += size
134
+
135
+ return result
136
+
137
  func _get_agents():
138
  agents = get_tree().get_nodes_in_group("AGENT")
139
 
 
178
  func _send_env_info():
179
  var json_dict = _get_dict_json_message()
180
  assert(json_dict["type"] == "env_info")
181
+
182
+
183
  var message = {
184
  "type" : "env_info",
185
+ "observation_space": _obs_space,
186
+ "action_space":_action_space,
 
187
  "n_agents": len(agents)
188
  }
189
  _send_dict_as_json_message(message)
190
 
 
191
  func connect_to_server():
192
  print("Waiting for one second to allow server to start")
193
  OS.delay_msec(1000)
 
200
  var connect = stream.connect_to_host(ip, port)
201
  stream.set_no_delay(true) # TODO check if this improves performance or not
202
  stream.poll()
203
+ # Fetch the status until it is either connected (2) or failed to connect (3)
204
+ while stream.get_status() < 2:
205
+ stream.poll()
206
  return stream.get_status() == 2
207
 
208
  func _get_args():
209
  print("getting command line arguments")
 
 
 
 
 
 
 
210
  var arguments = {}
211
  for argument in OS.get_cmdline_args():
212
  print(argument)
 
237
  func disconnect_from_server():
238
  stream.disconnect_from_host()
239
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
240
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
241
 
242
  func handle_message() -> bool:
243
  # get json message: reset, step, close
 
307
  var obs = []
308
  for agent in agents:
309
  obs.append(agent.get_obs())
310
+
311
  return obs
312
 
313
  func _get_reward_from_agents():
 
329
  for i in range(len(actions)):
330
  agents[i].set_action(actions[i])
331
 
332
+ func clamp_array(arr : Array, min:float, max:float):
333
+ var output : Array = []
334
+ for a in arr:
335
+ output.append(clamp(a, min, max))
336
+ return output
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Binary files a/bin/BallChase.pck and b/bin/BallChase.pck differ
 
bin/BallChase.sh ADDED
@@ -0,0 +1,4 @@
 
 
 
 
 
1
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2
+ echo -ne '\033c\033]0;BallChase\a'
3
+ base_path="$(dirname "$(realpath "$0")")"
4
+ "$base_path/BallChase.x86_64" "$@"
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- ssh_remote_deploy/enabled=false
92
- ssh_remote_deploy/host="user@host_ip"
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- ssh_remote_deploy/port="22"
94
- ssh_remote_deploy/extra_args_ssh=""
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- ssh_remote_deploy/extra_args_scp=""
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- ssh_remote_deploy/run_script="#!/usr/bin/env bash
97
- unzip -o -q \"{temp_dir}/{archive_name}\" -d \"{temp_dir}\"
98
- open \"{temp_dir}/{exe_name}.app\" --args {cmd_args}"
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- ssh_remote_deploy/cleanup_script="#!/usr/bin/env bash
100
- kill $(pgrep -x -f \"{temp_dir}/{exe_name}.app/Contents/MacOS/{exe_name} {cmd_args}\")
101
- rm -rf \"{temp_dir}\""
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29
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30
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39
  kill $(pgrep -x -f \"{temp_dir}/{exe_name} {cmd_args}\")
40
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42
+ [preset.1]
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project.godot CHANGED
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13
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21
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48
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49
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50
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51
 
52
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@@ -55,6 +21,10 @@ window/stretch/mode="2d"
55
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56
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57
 
 
 
 
 
58
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59
 
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9
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10
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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12
 
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14
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15
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16
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17
 
18
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21
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22
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24
+ [dotnet]
25
+
26
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30
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42
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47
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48
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49
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50
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51
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52
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53
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54
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55
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56
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57
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62
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64
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78
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79
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