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  1. .gitattributes +35 -0
  2. FlyBy.csproj +2 -4
  3. FlyBy.csproj.old +3 -5
  4. FlyBy.sln +18 -12
  5. addons/godot_rl_agents/controller/ai_controller_2d.gd +61 -30
  6. addons/godot_rl_agents/controller/ai_controller_3d.gd +62 -28
  7. addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd +6 -3
  8. addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd +235 -0
  9. addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd +9 -4
  10. addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd +40 -40
  11. addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd +258 -0
  12. addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd +9 -4
  13. addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd +13 -3
  14. addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn +14 -15
  15. addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd +56 -37
  16. addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn +6 -12
  17. addons/godot_rl_agents/sync.gd +331 -129
  18. bin/FlyBy.pck +2 -2
  19. bin/data_FlyBy_linuxbsd_x86_64/FlyBy.deps.json +2980 -0
  20. bin/data_FlyBy_linuxbsd_x86_64/FlyBy.dll +0 -0
  21. bin/data_FlyBy_linuxbsd_x86_64/FlyBy.pdb +0 -0
  22. bin/data_FlyBy_linuxbsd_x86_64/FlyBy.runtimeconfig.json +14 -0
  23. bin/data_FlyBy_linuxbsd_x86_64/GodotSharp.dll +3 -0
  24. bin/data_FlyBy_linuxbsd_x86_64/Microsoft.CSharp.dll +0 -0
  25. bin/data_FlyBy_linuxbsd_x86_64/Microsoft.ML.OnnxRuntime.dll +0 -0
  26. bin/data_FlyBy_linuxbsd_x86_64/Microsoft.VisualBasic.Core.dll +3 -0
  27. bin/data_FlyBy_linuxbsd_x86_64/Microsoft.VisualBasic.dll +0 -0
  28. bin/data_FlyBy_linuxbsd_x86_64/Microsoft.Win32.Primitives.dll +0 -0
  29. bin/data_FlyBy_linuxbsd_x86_64/Microsoft.Win32.Registry.dll +0 -0
  30. bin/data_FlyBy_linuxbsd_x86_64/System.AppContext.dll +0 -0
  31. bin/data_FlyBy_linuxbsd_x86_64/System.Buffers.dll +0 -0
  32. bin/data_FlyBy_linuxbsd_x86_64/System.Collections.Concurrent.dll +0 -0
  33. bin/data_FlyBy_linuxbsd_x86_64/System.Collections.Immutable.dll +0 -0
  34. bin/data_FlyBy_linuxbsd_x86_64/System.Collections.NonGeneric.dll +0 -0
  35. bin/data_FlyBy_linuxbsd_x86_64/System.Collections.Specialized.dll +0 -0
  36. bin/data_FlyBy_linuxbsd_x86_64/System.Collections.dll +0 -0
  37. bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.Annotations.dll +0 -0
  38. bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.DataAnnotations.dll +0 -0
  39. bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.EventBasedAsync.dll +0 -0
  40. bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.Primitives.dll +0 -0
  41. bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.TypeConverter.dll +0 -0
  42. bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.dll +0 -0
  43. bin/data_FlyBy_linuxbsd_x86_64/System.Configuration.dll +0 -0
  44. bin/data_FlyBy_linuxbsd_x86_64/System.Console.dll +0 -0
  45. bin/data_FlyBy_linuxbsd_x86_64/System.Core.dll +0 -0
  46. bin/data_FlyBy_linuxbsd_x86_64/System.Data.Common.dll +3 -0
  47. bin/data_FlyBy_linuxbsd_x86_64/System.Data.DataSetExtensions.dll +0 -0
  48. bin/data_FlyBy_linuxbsd_x86_64/System.Data.dll +0 -0
  49. bin/data_FlyBy_linuxbsd_x86_64/System.Diagnostics.Contracts.dll +0 -0
  50. bin/data_FlyBy_linuxbsd_x86_64/System.Diagnostics.Debug.dll +0 -0
.gitattributes CHANGED
@@ -67,3 +67,38 @@ bin/FlyBy.x86_64 filter=lfs diff=lfs merge=lfs -text
67
  bin/FlyBy.exe filter=lfs diff=lfs merge=lfs -text
68
  bin/FlyBy.pck filter=lfs diff=lfs merge=lfs -text
69
  .godot/imported/alps_field_2k.hdr-3700cd621ede9e1814580eb21c62fe71.bptc.ctex filter=lfs diff=lfs merge=lfs -text
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
67
  bin/FlyBy.exe filter=lfs diff=lfs merge=lfs -text
68
  bin/FlyBy.pck filter=lfs diff=lfs merge=lfs -text
69
  .godot/imported/alps_field_2k.hdr-3700cd621ede9e1814580eb21c62fe71.bptc.ctex filter=lfs diff=lfs merge=lfs -text
70
+ bin/data_FlyBy_linuxbsd_x86_64/GodotSharp.dll filter=lfs diff=lfs merge=lfs -text
71
+ bin/data_FlyBy_linuxbsd_x86_64/Microsoft.VisualBasic.Core.dll filter=lfs diff=lfs merge=lfs -text
72
+ bin/data_FlyBy_linuxbsd_x86_64/System.Data.Common.dll filter=lfs diff=lfs merge=lfs -text
73
+ bin/data_FlyBy_linuxbsd_x86_64/System.Linq.Expressions.dll filter=lfs diff=lfs merge=lfs -text
74
+ bin/data_FlyBy_linuxbsd_x86_64/System.Net.Http.dll filter=lfs diff=lfs merge=lfs -text
75
+ bin/data_FlyBy_linuxbsd_x86_64/System.Private.CoreLib.dll filter=lfs diff=lfs merge=lfs -text
76
+ bin/data_FlyBy_linuxbsd_x86_64/System.Private.DataContractSerialization.dll filter=lfs diff=lfs merge=lfs -text
77
+ bin/data_FlyBy_linuxbsd_x86_64/System.Private.Xml.dll filter=lfs diff=lfs merge=lfs -text
78
+ bin/data_FlyBy_linuxbsd_x86_64/System.Reflection.Metadata.dll filter=lfs diff=lfs merge=lfs -text
79
+ bin/data_FlyBy_linuxbsd_x86_64/System.Text.Json.dll filter=lfs diff=lfs merge=lfs -text
80
+ bin/data_FlyBy_linuxbsd_x86_64/libclrjit.so filter=lfs diff=lfs merge=lfs -text
81
+ bin/data_FlyBy_linuxbsd_x86_64/libcoreclr.so filter=lfs diff=lfs merge=lfs -text
82
+ bin/data_FlyBy_linuxbsd_x86_64/libmscordaccore.so filter=lfs diff=lfs merge=lfs -text
83
+ bin/data_FlyBy_linuxbsd_x86_64/libmscordbi.so filter=lfs diff=lfs merge=lfs -text
84
+ bin/data_FlyBy_linuxbsd_x86_64/libonnxruntime.so filter=lfs diff=lfs merge=lfs -text
85
+ bin/data_FlyBy_linuxbsd_x86_64/onnxruntime.dll filter=lfs diff=lfs merge=lfs -text
86
+ bin/data_FlyBy_windows_x86_64/GodotSharp.dll filter=lfs diff=lfs merge=lfs -text
87
+ bin/data_FlyBy_windows_x86_64/Microsoft.CSharp.dll filter=lfs diff=lfs merge=lfs -text
88
+ bin/data_FlyBy_windows_x86_64/Microsoft.DiaSymReader.Native.amd64.dll filter=lfs diff=lfs merge=lfs -text
89
+ bin/data_FlyBy_windows_x86_64/Microsoft.VisualBasic.Core.dll filter=lfs diff=lfs merge=lfs -text
90
+ bin/data_FlyBy_windows_x86_64/System.Data.Common.dll filter=lfs diff=lfs merge=lfs -text
91
+ bin/data_FlyBy_windows_x86_64/System.Linq.Expressions.dll filter=lfs diff=lfs merge=lfs -text
92
+ bin/data_FlyBy_windows_x86_64/System.Net.Http.dll filter=lfs diff=lfs merge=lfs -text
93
+ bin/data_FlyBy_windows_x86_64/System.Private.CoreLib.dll filter=lfs diff=lfs merge=lfs -text
94
+ bin/data_FlyBy_windows_x86_64/System.Private.DataContractSerialization.dll filter=lfs diff=lfs merge=lfs -text
95
+ bin/data_FlyBy_windows_x86_64/System.Private.Xml.dll filter=lfs diff=lfs merge=lfs -text
96
+ bin/data_FlyBy_windows_x86_64/System.Reflection.Metadata.dll filter=lfs diff=lfs merge=lfs -text
97
+ bin/data_FlyBy_windows_x86_64/System.Text.Json.dll filter=lfs diff=lfs merge=lfs -text
98
+ bin/data_FlyBy_windows_x86_64/clrjit.dll filter=lfs diff=lfs merge=lfs -text
99
+ bin/data_FlyBy_windows_x86_64/coreclr.dll filter=lfs diff=lfs merge=lfs -text
100
+ bin/data_FlyBy_windows_x86_64/mscordaccore.dll filter=lfs diff=lfs merge=lfs -text
101
+ bin/data_FlyBy_windows_x86_64/mscordaccore_amd64_amd64_6.0.2724.6912.dll filter=lfs diff=lfs merge=lfs -text
102
+ bin/data_FlyBy_windows_x86_64/mscordbi.dll filter=lfs diff=lfs merge=lfs -text
103
+ bin/data_FlyBy_windows_x86_64/onnxruntime.dll filter=lfs diff=lfs merge=lfs -text
104
+ bin/data_FlyBy_windows_x86_64/ucrtbase.dll filter=lfs diff=lfs merge=lfs -text
FlyBy.csproj CHANGED
@@ -2,11 +2,9 @@
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>
 
2
  <PropertyGroup>
3
  <TargetFramework>net6.0</TargetFramework>
4
  <EnableDynamicLoading>true</EnableDynamicLoading>
5
+ <RootNamespace>GodotRLAgents</RootNamespace>
6
  </PropertyGroup>
7
  <ItemGroup>
8
+ <PackageReference Include="Microsoft.ML.OnnxRuntime" Version="1.15.1" />
 
 
 
9
  </ItemGroup>
10
  </Project>
FlyBy.csproj.old CHANGED
@@ -1,12 +1,10 @@
1
- <Project Sdk="Godot.NET.Sdk/4.1.3">
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>
 
1
+ <Project Sdk="Godot.NET.Sdk/4.0.3">
2
  <PropertyGroup>
3
  <TargetFramework>net6.0</TargetFramework>
4
  <EnableDynamicLoading>true</EnableDynamicLoading>
5
+ <RootNamespace>GodotRLAgents</RootNamespace>
6
  </PropertyGroup>
7
  <ItemGroup>
8
+ <PackageReference Include="Microsoft.ML.OnnxRuntime" Version="1.15.1" />
 
 
 
9
  </ItemGroup>
10
  </Project>
FlyBy.sln CHANGED
@@ -1,19 +1,25 @@
1
- Microsoft Visual Studio Solution File, Format Version 12.00
2
- # Visual Studio 2012
3
- Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlyBy", "FlyBy.csproj", "{7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}"
 
 
 
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
- {7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
13
- {7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}.Debug|Any CPU.Build.0 = Debug|Any CPU
14
- {7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU
15
- {7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU
16
- {7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU
17
- {7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU
 
 
 
18
  EndGlobalSection
19
  EndGlobal
 
1
+ 
2
+ Microsoft Visual Studio Solution File, Format Version 12.00
3
+ # Visual Studio Version 17
4
+ VisualStudioVersion = 17.5.33530.505
5
+ MinimumVisualStudioVersion = 10.0.40219.1
6
+ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Godot RL Agents", "Godot RL Agents.csproj", "{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}"
7
  EndProject
8
  Global
9
  GlobalSection(SolutionConfigurationPlatforms) = preSolution
10
+ Debug|Any CPU = Debug|Any CPU
11
+ ExportDebug|Any CPU = ExportDebug|Any CPU
12
+ ExportRelease|Any CPU = ExportRelease|Any CPU
13
  EndGlobalSection
14
  GlobalSection(ProjectConfigurationPlatforms) = postSolution
15
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
16
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.Debug|Any CPU.Build.0 = Debug|Any CPU
17
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU
18
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU
19
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU
20
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU
21
+ EndGlobalSection
22
+ GlobalSection(SolutionProperties) = preSolution
23
+ HideSolutionNode = FALSE
24
  EndGlobalSection
25
  EndGlobal
addons/godot_rl_agents/controller/ai_controller_2d.gd CHANGED
@@ -1,8 +1,23 @@
1
  extends Node2D
2
  class_name AIController2D
3
 
 
 
 
4
  @export var reset_after := 1000
5
 
 
 
 
 
 
 
 
 
 
 
 
 
6
  var heuristic := "human"
7
  var done := false
8
  var reward := 0.0
@@ -11,72 +26,88 @@ var needs_reset := false
11
 
12
  var _player: Node2D
13
 
 
14
  func _ready():
15
  add_to_group("AGENT")
16
-
 
17
  func init(player: Node2D):
18
  _player = player
19
-
 
20
  #-- Methods that need implementing using the "extend script" option in Godot --#
21
  func get_obs() -> Dictionary:
22
- assert(false, "the get_obs method is not implemented when extending from ai_controller")
23
- return {"obs":[]}
 
24
 
25
- func get_reward() -> float:
26
- assert(false, "the get_reward method is not implemented when extending from ai_controller")
27
  return 0.0
28
-
 
29
  func get_action_space() -> Dictionary:
30
- assert(false, "the get get_action_space method is not implemented when extending from ai_controller")
 
 
 
31
  return {
32
- "example_actions_continous" : {
33
- "size": 2,
34
- "action_type": "continuous"
35
- },
36
- "example_actions_discrete" : {
37
- "size": 2,
38
- "action_type": "discrete"
39
- },
40
- }
41
-
42
- func set_action(action) -> void:
43
- assert(false, "the get set_action method is not implemented when extending from ai_controller")
 
 
 
 
 
 
44
  # -----------------------------------------------------------------------------#
45
-
46
  func _physics_process(delta):
47
  n_steps += 1
48
  if n_steps > reset_after:
49
  needs_reset = true
50
-
 
51
  func get_obs_space():
52
  # may need overriding if the obs space is complex
53
  var obs = get_obs()
54
  return {
55
- "obs": {
56
- "size": [len(obs["obs"])],
57
- "space": "box"
58
- },
59
  }
60
 
 
61
  func reset():
62
  n_steps = 0
63
  needs_reset = false
64
 
 
65
  func reset_if_done():
66
  if done:
67
  reset()
68
-
 
69
  func set_heuristic(h):
70
  # sets the heuristic from "human" or "model" nothing to change here
71
  heuristic = h
72
 
 
73
  func get_done():
74
  return done
75
-
 
76
  func set_done_false():
77
  done = false
78
 
 
79
  func zero_reward():
80
  reward = 0.0
81
-
82
-
 
1
  extends Node2D
2
  class_name AIController2D
3
 
4
+ enum ControlModes { INHERIT_FROM_SYNC, HUMAN, TRAINING, ONNX_INFERENCE, RECORD_EXPERT_DEMOS }
5
+ @export var control_mode: ControlModes = ControlModes.INHERIT_FROM_SYNC
6
+ @export var onnx_model_path := ""
7
  @export var reset_after := 1000
8
 
9
+ @export_group("Record expert demos mode options")
10
+ ## Path where the demos will be saved. The file can later be used for imitation learning.
11
+ @export var expert_demo_save_path: String
12
+ ## The action that erases the last recorded episode from the currently recorded data.
13
+ @export var remove_last_episode_key: InputEvent
14
+ ## Action will be repeated for n frames. Will introduce control lag if larger than 1.
15
+ ## Can be used to ensure that action_repeat on inference and training matches
16
+ ## the recorded demonstrations.
17
+ @export var action_repeat: int = 1
18
+
19
+ var onnx_model: ONNXModel
20
+
21
  var heuristic := "human"
22
  var done := false
23
  var reward := 0.0
 
26
 
27
  var _player: Node2D
28
 
29
+
30
  func _ready():
31
  add_to_group("AGENT")
32
+
33
+
34
  func init(player: Node2D):
35
  _player = player
36
+
37
+
38
  #-- Methods that need implementing using the "extend script" option in Godot --#
39
  func get_obs() -> Dictionary:
40
+ assert(false, "the get_obs method is not implemented when extending from ai_controller")
41
+ return {"obs": []}
42
+
43
 
44
+ func get_reward() -> float:
45
+ assert(false, "the get_reward method is not implemented when extending from ai_controller")
46
  return 0.0
47
+
48
+
49
  func get_action_space() -> Dictionary:
50
+ assert(
51
+ false,
52
+ "the get get_action_space method is not implemented when extending from ai_controller"
53
+ )
54
  return {
55
+ "example_actions_continous": {"size": 2, "action_type": "continuous"},
56
+ "example_actions_discrete": {"size": 2, "action_type": "discrete"},
57
+ }
58
+
59
+
60
+ func set_action(action) -> void:
61
+ assert(false, "the get set_action method is not implemented when extending from ai_controller")
62
+
63
+
64
+ #-----------------------------------------------------------------------------#
65
+
66
+
67
+ #-- Methods that sometimes need implementing using the "extend script" option in Godot --#
68
+ # Only needed if you are recording expert demos with this AIController
69
+ func get_action() -> Array:
70
+ assert(false, "the get set_action method is not implemented in extended AIController but demo_recorder is used")
71
+ return []
72
+
73
  # -----------------------------------------------------------------------------#
74
+
75
  func _physics_process(delta):
76
  n_steps += 1
77
  if n_steps > reset_after:
78
  needs_reset = true
79
+
80
+
81
  func get_obs_space():
82
  # may need overriding if the obs space is complex
83
  var obs = get_obs()
84
  return {
85
+ "obs": {"size": [len(obs["obs"])], "space": "box"},
 
 
 
86
  }
87
 
88
+
89
  func reset():
90
  n_steps = 0
91
  needs_reset = false
92
 
93
+
94
  func reset_if_done():
95
  if done:
96
  reset()
97
+
98
+
99
  func set_heuristic(h):
100
  # sets the heuristic from "human" or "model" nothing to change here
101
  heuristic = h
102
 
103
+
104
  func get_done():
105
  return done
106
+
107
+
108
  func set_done_false():
109
  done = false
110
 
111
+
112
  func zero_reward():
113
  reward = 0.0
 
 
addons/godot_rl_agents/controller/ai_controller_3d.gd CHANGED
@@ -1,8 +1,23 @@
1
  extends Node3D
2
  class_name AIController3D
3
 
 
 
 
4
  @export var reset_after := 1000
5
 
 
 
 
 
 
 
 
 
 
 
 
 
6
  var heuristic := "human"
7
  var done := false
8
  var reward := 0.0
@@ -11,70 +26,89 @@ var needs_reset := false
11
 
12
  var _player: Node3D
13
 
 
14
  func _ready():
15
  add_to_group("AGENT")
16
-
 
17
  func init(player: Node3D):
18
  _player = player
19
-
 
20
  #-- Methods that need implementing using the "extend script" option in Godot --#
21
  func get_obs() -> Dictionary:
22
- assert(false, "the get_obs method is not implemented when extending from ai_controller")
23
- return {"obs":[]}
 
24
 
25
- func get_reward() -> float:
26
- assert(false, "the get_reward method is not implemented when extending from ai_controller")
27
  return 0.0
28
-
 
29
  func get_action_space() -> Dictionary:
30
- assert(false, "the get get_action_space method is not implemented when extending from ai_controller")
 
 
 
31
  return {
32
- "example_actions_continous" : {
33
- "size": 2,
34
- "action_type": "continuous"
35
- },
36
- "example_actions_discrete" : {
37
- "size": 2,
38
- "action_type": "discrete"
39
- },
40
- }
41
-
42
- func set_action(action) -> void:
43
- assert(false, "the get set_action method is not implemented when extending from ai_controller")
 
 
 
 
 
 
44
  # -----------------------------------------------------------------------------#
45
-
 
46
  func _physics_process(delta):
47
  n_steps += 1
48
  if n_steps > reset_after:
49
  needs_reset = true
50
-
 
51
  func get_obs_space():
52
  # may need overriding if the obs space is complex
53
  var obs = get_obs()
54
  return {
55
- "obs": {
56
- "size": [len(obs["obs"])],
57
- "space": "box"
58
- },
59
  }
60
 
 
61
  func reset():
62
  n_steps = 0
63
  needs_reset = false
64
 
 
65
  func reset_if_done():
66
  if done:
67
  reset()
68
-
 
69
  func set_heuristic(h):
70
  # sets the heuristic from "human" or "model" nothing to change here
71
  heuristic = h
72
 
 
73
  func get_done():
74
  return done
75
-
 
76
  func set_done_false():
77
  done = false
78
 
 
79
  func zero_reward():
80
  reward = 0.0
 
1
  extends Node3D
2
  class_name AIController3D
3
 
4
+ enum ControlModes { INHERIT_FROM_SYNC, HUMAN, TRAINING, ONNX_INFERENCE, RECORD_EXPERT_DEMOS }
5
+ @export var control_mode: ControlModes = ControlModes.INHERIT_FROM_SYNC
6
+ @export var onnx_model_path := ""
7
  @export var reset_after := 1000
8
 
9
+ @export_group("Record expert demos mode options")
10
+ ## Path where the demos will be saved. The file can later be used for imitation learning.
11
+ @export var expert_demo_save_path: String
12
+ ## The action that erases the last recorded episode from the currently recorded data.
13
+ @export var remove_last_episode_key: InputEvent
14
+ ## Action will be repeated for n frames. Will introduce control lag if larger than 1.
15
+ ## Can be used to ensure that action_repeat on inference and training matches
16
+ ## the recorded demonstrations.
17
+ @export var action_repeat: int = 1
18
+
19
+ var onnx_model: ONNXModel
20
+
21
  var heuristic := "human"
22
  var done := false
23
  var reward := 0.0
 
26
 
27
  var _player: Node3D
28
 
29
+
30
  func _ready():
31
  add_to_group("AGENT")
32
+
33
+
34
  func init(player: Node3D):
35
  _player = player
36
+
37
+
38
  #-- Methods that need implementing using the "extend script" option in Godot --#
39
  func get_obs() -> Dictionary:
40
+ assert(false, "the get_obs method is not implemented when extending from ai_controller")
41
+ return {"obs": []}
42
+
43
 
44
+ func get_reward() -> float:
45
+ assert(false, "the get_reward method is not implemented when extending from ai_controller")
46
  return 0.0
47
+
48
+
49
  func get_action_space() -> Dictionary:
50
+ assert(
51
+ false,
52
+ "the get get_action_space method is not implemented when extending from ai_controller"
53
+ )
54
  return {
55
+ "example_actions_continous": {"size": 2, "action_type": "continuous"},
56
+ "example_actions_discrete": {"size": 2, "action_type": "discrete"},
57
+ }
58
+
59
+
60
+ func set_action(action) -> void:
61
+ assert(false, "the get set_action method is not implemented when extending from ai_controller")
62
+
63
+
64
+ #-----------------------------------------------------------------------------#
65
+
66
+
67
+ #-- Methods that sometimes need implementing using the "extend script" option in Godot --#
68
+ # Only needed if you are recording expert demos with this AIController
69
+ func get_action() -> Array:
70
+ assert(false, "the get set_action method is not implemented in extended AIController but demo_recorder is used")
71
+ return []
72
+
73
  # -----------------------------------------------------------------------------#
74
+
75
+
76
  func _physics_process(delta):
77
  n_steps += 1
78
  if n_steps > reset_after:
79
  needs_reset = true
80
+
81
+
82
  func get_obs_space():
83
  # may need overriding if the obs space is complex
84
  var obs = get_obs()
85
  return {
86
+ "obs": {"size": [len(obs["obs"])], "space": "box"},
 
 
 
87
  }
88
 
89
+
90
  func reset():
91
  n_steps = 0
92
  needs_reset = false
93
 
94
+
95
  func reset_if_done():
96
  if done:
97
  reset()
98
+
99
+
100
  func set_heuristic(h):
101
  # sets the heuristic from "human" or "model" nothing to change here
102
  heuristic = h
103
 
104
+
105
  func get_done():
106
  return done
107
+
108
+
109
  func set_done_false():
110
  done = false
111
 
112
+
113
  func zero_reward():
114
  reward = 0.0
addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd CHANGED
@@ -4,20 +4,23 @@ var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInfer
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)
20
 
 
21
  func _notification(what):
22
  if what == NOTIFICATION_PREDELETE:
23
  inferencer.FreeDisposables()
 
4
 
5
  var inferencer = null
6
 
7
+
8
  # Must provide the path to the model and the batch size
9
  func _init(model_path, batch_size):
10
  inferencer = inferencer_script.new()
11
  inferencer.Initialize(model_path, batch_size)
12
 
13
+
14
+ # This function is the one that will be called from the game,
15
  # requires the observation as an array and the state_ins as an int
16
+ # returns an Array containing the action the model takes.
17
+ func run_inference(obs: Array, state_ins: int) -> Dictionary:
18
  if inferencer == null:
19
  printerr("Inferencer not initialized")
20
  return {}
21
  return inferencer.RunInference(obs, state_ins)
22
 
23
+
24
  func _notification(what):
25
  if what == NOTIFICATION_PREDELETE:
26
  inferencer.FreeDisposables()
addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd ADDED
@@ -0,0 +1,235 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ @tool
2
+ extends ISensor2D
3
+ class_name GridSensor2D
4
+
5
+ @export var debug_view := false:
6
+ get:
7
+ return debug_view
8
+ set(value):
9
+ debug_view = value
10
+ _update()
11
+
12
+ @export_flags_2d_physics var detection_mask := 0:
13
+ get:
14
+ return detection_mask
15
+ set(value):
16
+ detection_mask = value
17
+ _update()
18
+
19
+ @export var collide_with_areas := false:
20
+ get:
21
+ return collide_with_areas
22
+ set(value):
23
+ collide_with_areas = value
24
+ _update()
25
+
26
+ @export var collide_with_bodies := true:
27
+ get:
28
+ return collide_with_bodies
29
+ set(value):
30
+ collide_with_bodies = value
31
+ _update()
32
+
33
+ @export_range(1, 200, 0.1) var cell_width := 20.0:
34
+ get:
35
+ return cell_width
36
+ set(value):
37
+ cell_width = value
38
+ _update()
39
+
40
+ @export_range(1, 200, 0.1) var cell_height := 20.0:
41
+ get:
42
+ return cell_height
43
+ set(value):
44
+ cell_height = value
45
+ _update()
46
+
47
+ @export_range(1, 21, 2, "or_greater") var grid_size_x := 3:
48
+ get:
49
+ return grid_size_x
50
+ set(value):
51
+ grid_size_x = value
52
+ _update()
53
+
54
+ @export_range(1, 21, 2, "or_greater") var grid_size_y := 3:
55
+ get:
56
+ return grid_size_y
57
+ set(value):
58
+ grid_size_y = value
59
+ _update()
60
+
61
+ var _obs_buffer: PackedFloat64Array
62
+ var _rectangle_shape: RectangleShape2D
63
+ var _collision_mapping: Dictionary
64
+ var _n_layers_per_cell: int
65
+
66
+ var _highlighted_cell_color: Color
67
+ var _standard_cell_color: Color
68
+
69
+
70
+ func get_observation():
71
+ return _obs_buffer
72
+
73
+
74
+ func _update():
75
+ if Engine.is_editor_hint():
76
+ if is_node_ready():
77
+ _spawn_nodes()
78
+
79
+
80
+ func _ready() -> void:
81
+ _set_colors()
82
+
83
+ if Engine.is_editor_hint():
84
+ if get_child_count() == 0:
85
+ _spawn_nodes()
86
+ else:
87
+ _spawn_nodes()
88
+
89
+
90
+ func _set_colors() -> void:
91
+ _standard_cell_color = Color(100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0)
92
+ _highlighted_cell_color = Color(255.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0)
93
+
94
+
95
+ func _get_collision_mapping() -> Dictionary:
96
+ # defines which layer is mapped to which cell obs index
97
+ var total_bits = 0
98
+ var collision_mapping = {}
99
+ for i in 32:
100
+ var bit_mask = 2 ** i
101
+ if (detection_mask & bit_mask) > 0:
102
+ collision_mapping[i] = total_bits
103
+ total_bits += 1
104
+
105
+ return collision_mapping
106
+
107
+
108
+ func _spawn_nodes():
109
+ for cell in get_children():
110
+ cell.name = "_%s" % cell.name # Otherwise naming below will fail
111
+ cell.queue_free()
112
+
113
+ _collision_mapping = _get_collision_mapping()
114
+ #prints("collision_mapping", _collision_mapping, len(_collision_mapping))
115
+ # allocate memory for the observations
116
+ _n_layers_per_cell = len(_collision_mapping)
117
+ _obs_buffer = PackedFloat64Array()
118
+ _obs_buffer.resize(grid_size_x * grid_size_y * _n_layers_per_cell)
119
+ _obs_buffer.fill(0)
120
+ #prints(len(_obs_buffer), _obs_buffer )
121
+
122
+ _rectangle_shape = RectangleShape2D.new()
123
+ _rectangle_shape.set_size(Vector2(cell_width, cell_height))
124
+
125
+ var shift := Vector2(
126
+ -(grid_size_x / 2) * cell_width,
127
+ -(grid_size_y / 2) * cell_height,
128
+ )
129
+
130
+ for i in grid_size_x:
131
+ for j in grid_size_y:
132
+ var cell_position = Vector2(i * cell_width, j * cell_height) + shift
133
+ _create_cell(i, j, cell_position)
134
+
135
+
136
+ func _create_cell(i: int, j: int, position: Vector2):
137
+ var cell := Area2D.new()
138
+ cell.position = position
139
+ cell.name = "GridCell %s %s" % [i, j]
140
+ cell.modulate = _standard_cell_color
141
+
142
+ if collide_with_areas:
143
+ cell.area_entered.connect(_on_cell_area_entered.bind(i, j))
144
+ cell.area_exited.connect(_on_cell_area_exited.bind(i, j))
145
+
146
+ if collide_with_bodies:
147
+ cell.body_entered.connect(_on_cell_body_entered.bind(i, j))
148
+ cell.body_exited.connect(_on_cell_body_exited.bind(i, j))
149
+
150
+ cell.collision_layer = 0
151
+ cell.collision_mask = detection_mask
152
+ cell.monitorable = true
153
+ add_child(cell)
154
+ cell.set_owner(get_tree().edited_scene_root)
155
+
156
+ var col_shape := CollisionShape2D.new()
157
+ col_shape.shape = _rectangle_shape
158
+ col_shape.name = "CollisionShape2D"
159
+ cell.add_child(col_shape)
160
+ col_shape.set_owner(get_tree().edited_scene_root)
161
+
162
+ if debug_view:
163
+ var quad = MeshInstance2D.new()
164
+ quad.name = "MeshInstance2D"
165
+ var quad_mesh = QuadMesh.new()
166
+
167
+ quad_mesh.set_size(Vector2(cell_width, cell_height))
168
+
169
+ quad.mesh = quad_mesh
170
+ cell.add_child(quad)
171
+ quad.set_owner(get_tree().edited_scene_root)
172
+
173
+
174
+ func _update_obs(cell_i: int, cell_j: int, collision_layer: int, entered: bool):
175
+ for key in _collision_mapping:
176
+ var bit_mask = 2 ** key
177
+ if (collision_layer & bit_mask) > 0:
178
+ var collison_map_index = _collision_mapping[key]
179
+
180
+ var obs_index = (
181
+ (cell_i * grid_size_x * _n_layers_per_cell)
182
+ + (cell_j * _n_layers_per_cell)
183
+ + collison_map_index
184
+ )
185
+ #prints(obs_index, cell_i, cell_j)
186
+ if entered:
187
+ _obs_buffer[obs_index] += 1
188
+ else:
189
+ _obs_buffer[obs_index] -= 1
190
+
191
+
192
+ func _toggle_cell(cell_i: int, cell_j: int):
193
+ var cell = get_node_or_null("GridCell %s %s" % [cell_i, cell_j])
194
+
195
+ if cell == null:
196
+ print("cell not found, returning")
197
+
198
+ var n_hits = 0
199
+ var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell)
200
+ for i in _n_layers_per_cell:
201
+ n_hits += _obs_buffer[start_index + i]
202
+
203
+ if n_hits > 0:
204
+ cell.modulate = _highlighted_cell_color
205
+ else:
206
+ cell.modulate = _standard_cell_color
207
+
208
+
209
+ func _on_cell_area_entered(area: Area2D, cell_i: int, cell_j: int):
210
+ #prints("_on_cell_area_entered", cell_i, cell_j)
211
+ _update_obs(cell_i, cell_j, area.collision_layer, true)
212
+ if debug_view:
213
+ _toggle_cell(cell_i, cell_j)
214
+ #print(_obs_buffer)
215
+
216
+
217
+ func _on_cell_area_exited(area: Area2D, cell_i: int, cell_j: int):
218
+ #prints("_on_cell_area_exited", cell_i, cell_j)
219
+ _update_obs(cell_i, cell_j, area.collision_layer, false)
220
+ if debug_view:
221
+ _toggle_cell(cell_i, cell_j)
222
+
223
+
224
+ func _on_cell_body_entered(body: Node2D, cell_i: int, cell_j: int):
225
+ #prints("_on_cell_body_entered", cell_i, cell_j)
226
+ _update_obs(cell_i, cell_j, body.collision_layer, true)
227
+ if debug_view:
228
+ _toggle_cell(cell_i, cell_j)
229
+
230
+
231
+ func _on_cell_body_exited(body: Node2D, cell_i: int, cell_j: int):
232
+ #prints("_on_cell_body_exited", cell_i, cell_j)
233
+ _update_obs(cell_i, cell_j, body.collision_layer, false)
234
+ if debug_view:
235
+ _toggle_cell(cell_i, cell_j)
addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd CHANGED
@@ -1,20 +1,25 @@
1
  extends Node2D
2
  class_name ISensor2D
3
 
4
- var _obs : Array = []
5
  var _active := false
6
 
 
7
  func get_observation():
8
  pass
9
-
 
10
  func activate():
11
  _active = true
12
-
 
13
  func deactivate():
14
  _active = false
15
 
 
16
  func _update_observation():
17
  pass
18
-
 
19
  func reset():
20
  pass
 
1
  extends Node2D
2
  class_name ISensor2D
3
 
4
+ var _obs: Array = []
5
  var _active := false
6
 
7
+
8
  func get_observation():
9
  pass
10
+
11
+
12
  func activate():
13
  _active = true
14
+
15
+
16
  func deactivate():
17
  _active = false
18
 
19
+
20
  func _update_observation():
21
  pass
22
+
23
+
24
  func reset():
25
  pass
addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd CHANGED
@@ -3,50 +3,57 @@ 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
44
- _update()
45
-
46
 
47
  var _angles = []
48
  var rays := []
49
 
 
50
  func _update():
51
  if Engine.is_editor_hint():
52
  if debug_draw:
@@ -56,63 +63,56 @@ func _update():
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()
65
  rays = []
66
-
67
  _angles = []
68
  var step = cone_width / (n_rays)
69
- var start = step/2 - cone_width/2
70
-
71
  for i in n_rays:
72
  var angle = start + i * step
73
  var ray = RayCast2D.new()
74
- ray.set_target_position(Vector2(
75
- ray_length*cos(deg_to_rad(angle)),
76
- ray_length*sin(deg_to_rad(angle))
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
-
86
-
87
  _angles.append(start + i * step)
88
-
89
 
90
- func _physics_process(delta: float) -> void:
91
- if self._active:
92
- self._obs = calculate_raycasts()
93
-
94
  func get_observation() -> Array:
95
- if len(self._obs) == 0:
96
- print("obs was null, forcing raycast update")
97
- return self.calculate_raycasts()
98
- return self._obs
99
-
100
 
101
  func calculate_raycasts() -> Array:
102
  var result = []
103
  for ray in rays:
 
104
  ray.force_raycast_update()
105
  var distance = _get_raycast_distance(ray)
106
  result.append(distance)
 
107
  return result
108
 
109
- func _get_raycast_distance(ray : RayCast2D) -> float :
 
110
  if !ray.is_colliding():
111
  return 0.0
112
-
113
  var distance = (global_position - ray.get_collision_point()).length()
114
  distance = clamp(distance, 0.0, ray_length)
115
  return (ray_length - distance) / ray_length
116
-
117
-
118
-
 
3
  class_name RaycastSensor2D
4
 
5
  @export_flags_2d_physics var collision_mask := 1:
6
+ get:
7
+ return collision_mask
8
  set(value):
9
  collision_mask = value
10
  _update()
11
 
12
  @export var collide_with_areas := false:
13
+ get:
14
+ return collide_with_areas
15
  set(value):
16
  collide_with_areas = value
17
  _update()
18
 
19
  @export var collide_with_bodies := true:
20
+ get:
21
+ return collide_with_bodies
22
  set(value):
23
  collide_with_bodies = value
24
  _update()
25
 
26
  @export var n_rays := 16.0:
27
+ get:
28
+ return n_rays
29
  set(value):
30
  n_rays = value
31
  _update()
32
+
33
+ @export_range(5, 3000, 5.0) var ray_length := 200:
34
+ get:
35
+ return ray_length
36
  set(value):
37
  ray_length = value
38
  _update()
39
+ @export_range(5, 360, 5.0) var cone_width := 360.0:
40
+ get:
41
+ return cone_width
42
  set(value):
43
  cone_width = value
44
  _update()
45
+
46
+ @export var debug_draw := true:
47
+ get:
48
+ return debug_draw
49
  set(value):
50
  debug_draw = value
51
+ _update()
 
52
 
53
  var _angles = []
54
  var rays := []
55
 
56
+
57
  func _update():
58
  if Engine.is_editor_hint():
59
  if debug_draw:
 
63
  if ray is RayCast2D:
64
  remove_child(ray)
65
 
66
+
67
  func _ready() -> void:
68
  _spawn_nodes()
69
 
70
+
71
  func _spawn_nodes():
72
  for ray in rays:
73
  ray.queue_free()
74
  rays = []
75
+
76
  _angles = []
77
  var step = cone_width / (n_rays)
78
+ var start = step / 2 - cone_width / 2
79
+
80
  for i in n_rays:
81
  var angle = start + i * step
82
  var ray = RayCast2D.new()
83
+ ray.set_target_position(
84
+ Vector2(ray_length * cos(deg_to_rad(angle)), ray_length * sin(deg_to_rad(angle)))
85
+ )
86
+ ray.set_name("node_" + str(i))
87
+ ray.enabled = false
 
88
  ray.collide_with_areas = collide_with_areas
89
  ray.collide_with_bodies = collide_with_bodies
90
  ray.collision_mask = collision_mask
91
  add_child(ray)
92
  rays.append(ray)
93
+
 
94
  _angles.append(start + i * step)
 
95
 
96
+
 
 
 
97
  func get_observation() -> Array:
98
+ return self.calculate_raycasts()
99
+
 
 
 
100
 
101
  func calculate_raycasts() -> Array:
102
  var result = []
103
  for ray in rays:
104
+ ray.enabled = true
105
  ray.force_raycast_update()
106
  var distance = _get_raycast_distance(ray)
107
  result.append(distance)
108
+ ray.enabled = false
109
  return result
110
 
111
+
112
+ func _get_raycast_distance(ray: RayCast2D) -> float:
113
  if !ray.is_colliding():
114
  return 0.0
115
+
116
  var distance = (global_position - ray.get_collision_point()).length()
117
  distance = clamp(distance, 0.0, ray_length)
118
  return (ray_length - distance) / ray_length
 
 
 
addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd ADDED
@@ -0,0 +1,258 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ @tool
2
+ extends ISensor3D
3
+ class_name GridSensor3D
4
+
5
+ @export var debug_view := false:
6
+ get:
7
+ return debug_view
8
+ set(value):
9
+ debug_view = value
10
+ _update()
11
+
12
+ @export_flags_3d_physics var detection_mask := 0:
13
+ get:
14
+ return detection_mask
15
+ set(value):
16
+ detection_mask = value
17
+ _update()
18
+
19
+ @export var collide_with_areas := false:
20
+ get:
21
+ return collide_with_areas
22
+ set(value):
23
+ collide_with_areas = value
24
+ _update()
25
+
26
+ @export var collide_with_bodies := false:
27
+ # NOTE! The sensor will not detect StaticBody3D, add an area to static bodies to detect them
28
+ get:
29
+ return collide_with_bodies
30
+ set(value):
31
+ collide_with_bodies = value
32
+ _update()
33
+
34
+ @export_range(0.1, 2, 0.1) var cell_width := 1.0:
35
+ get:
36
+ return cell_width
37
+ set(value):
38
+ cell_width = value
39
+ _update()
40
+
41
+ @export_range(0.1, 2, 0.1) var cell_height := 1.0:
42
+ get:
43
+ return cell_height
44
+ set(value):
45
+ cell_height = value
46
+ _update()
47
+
48
+ @export_range(1, 21, 2, "or_greater") var grid_size_x := 3:
49
+ get:
50
+ return grid_size_x
51
+ set(value):
52
+ grid_size_x = value
53
+ _update()
54
+
55
+ @export_range(1, 21, 2, "or_greater") var grid_size_z := 3:
56
+ get:
57
+ return grid_size_z
58
+ set(value):
59
+ grid_size_z = value
60
+ _update()
61
+
62
+ var _obs_buffer: PackedFloat64Array
63
+ var _box_shape: BoxShape3D
64
+ var _collision_mapping: Dictionary
65
+ var _n_layers_per_cell: int
66
+
67
+ var _highlighted_box_material: StandardMaterial3D
68
+ var _standard_box_material: StandardMaterial3D
69
+
70
+
71
+ func get_observation():
72
+ return _obs_buffer
73
+
74
+
75
+ func reset():
76
+ _obs_buffer.fill(0)
77
+
78
+
79
+ func _update():
80
+ if Engine.is_editor_hint():
81
+ if is_node_ready():
82
+ _spawn_nodes()
83
+
84
+
85
+ func _ready() -> void:
86
+ _make_materials()
87
+
88
+ if Engine.is_editor_hint():
89
+ if get_child_count() == 0:
90
+ _spawn_nodes()
91
+ else:
92
+ _spawn_nodes()
93
+
94
+
95
+ func _make_materials() -> void:
96
+ if _highlighted_box_material != null and _standard_box_material != null:
97
+ return
98
+
99
+ _standard_box_material = StandardMaterial3D.new()
100
+ _standard_box_material.set_transparency(1) # ALPHA
101
+ _standard_box_material.albedo_color = Color(
102
+ 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0
103
+ )
104
+
105
+ _highlighted_box_material = StandardMaterial3D.new()
106
+ _highlighted_box_material.set_transparency(1) # ALPHA
107
+ _highlighted_box_material.albedo_color = Color(
108
+ 255.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0
109
+ )
110
+
111
+
112
+ func _get_collision_mapping() -> Dictionary:
113
+ # defines which layer is mapped to which cell obs index
114
+ var total_bits = 0
115
+ var collision_mapping = {}
116
+ for i in 32:
117
+ var bit_mask = 2 ** i
118
+ if (detection_mask & bit_mask) > 0:
119
+ collision_mapping[i] = total_bits
120
+ total_bits += 1
121
+
122
+ return collision_mapping
123
+
124
+
125
+ func _spawn_nodes():
126
+ for cell in get_children():
127
+ cell.name = "_%s" % cell.name # Otherwise naming below will fail
128
+ cell.queue_free()
129
+
130
+ _collision_mapping = _get_collision_mapping()
131
+ #prints("collision_mapping", _collision_mapping, len(_collision_mapping))
132
+ # allocate memory for the observations
133
+ _n_layers_per_cell = len(_collision_mapping)
134
+ _obs_buffer = PackedFloat64Array()
135
+ _obs_buffer.resize(grid_size_x * grid_size_z * _n_layers_per_cell)
136
+ _obs_buffer.fill(0)
137
+ #prints(len(_obs_buffer), _obs_buffer )
138
+
139
+ _box_shape = BoxShape3D.new()
140
+ _box_shape.set_size(Vector3(cell_width, cell_height, cell_width))
141
+
142
+ var shift := Vector3(
143
+ -(grid_size_x / 2) * cell_width,
144
+ 0,
145
+ -(grid_size_z / 2) * cell_width,
146
+ )
147
+
148
+ for i in grid_size_x:
149
+ for j in grid_size_z:
150
+ var cell_position = Vector3(i * cell_width, 0.0, j * cell_width) + shift
151
+ _create_cell(i, j, cell_position)
152
+
153
+
154
+ func _create_cell(i: int, j: int, position: Vector3):
155
+ var cell := Area3D.new()
156
+ cell.position = position
157
+ cell.name = "GridCell %s %s" % [i, j]
158
+
159
+ if collide_with_areas:
160
+ cell.area_entered.connect(_on_cell_area_entered.bind(i, j))
161
+ cell.area_exited.connect(_on_cell_area_exited.bind(i, j))
162
+
163
+ if collide_with_bodies:
164
+ cell.body_entered.connect(_on_cell_body_entered.bind(i, j))
165
+ cell.body_exited.connect(_on_cell_body_exited.bind(i, j))
166
+
167
+ # cell.body_shape_entered.connect(_on_cell_body_shape_entered.bind(i, j))
168
+ # cell.body_shape_exited.connect(_on_cell_body_shape_exited.bind(i, j))
169
+
170
+ cell.collision_layer = 0
171
+ cell.collision_mask = detection_mask
172
+ cell.monitorable = true
173
+ cell.input_ray_pickable = false
174
+ add_child(cell)
175
+ cell.set_owner(get_tree().edited_scene_root)
176
+
177
+ var col_shape := CollisionShape3D.new()
178
+ col_shape.shape = _box_shape
179
+ col_shape.name = "CollisionShape3D"
180
+ cell.add_child(col_shape)
181
+ col_shape.set_owner(get_tree().edited_scene_root)
182
+
183
+ if debug_view:
184
+ var box = MeshInstance3D.new()
185
+ box.name = "MeshInstance3D"
186
+ var box_mesh = BoxMesh.new()
187
+
188
+ box_mesh.set_size(Vector3(cell_width, cell_height, cell_width))
189
+ box_mesh.material = _standard_box_material
190
+
191
+ box.mesh = box_mesh
192
+ cell.add_child(box)
193
+ box.set_owner(get_tree().edited_scene_root)
194
+
195
+
196
+ func _update_obs(cell_i: int, cell_j: int, collision_layer: int, entered: bool):
197
+ for key in _collision_mapping:
198
+ var bit_mask = 2 ** key
199
+ if (collision_layer & bit_mask) > 0:
200
+ var collison_map_index = _collision_mapping[key]
201
+
202
+ var obs_index = (
203
+ (cell_i * grid_size_x * _n_layers_per_cell)
204
+ + (cell_j * _n_layers_per_cell)
205
+ + collison_map_index
206
+ )
207
+ #prints(obs_index, cell_i, cell_j)
208
+ if entered:
209
+ _obs_buffer[obs_index] += 1
210
+ else:
211
+ _obs_buffer[obs_index] -= 1
212
+
213
+
214
+ func _toggle_cell(cell_i: int, cell_j: int):
215
+ var cell = get_node_or_null("GridCell %s %s" % [cell_i, cell_j])
216
+
217
+ if cell == null:
218
+ print("cell not found, returning")
219
+
220
+ var n_hits = 0
221
+ var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell)
222
+ for i in _n_layers_per_cell:
223
+ n_hits += _obs_buffer[start_index + i]
224
+
225
+ var cell_mesh = cell.get_node_or_null("MeshInstance3D")
226
+ if n_hits > 0:
227
+ cell_mesh.mesh.material = _highlighted_box_material
228
+ else:
229
+ cell_mesh.mesh.material = _standard_box_material
230
+
231
+
232
+ func _on_cell_area_entered(area: Area3D, cell_i: int, cell_j: int):
233
+ #prints("_on_cell_area_entered", cell_i, cell_j)
234
+ _update_obs(cell_i, cell_j, area.collision_layer, true)
235
+ if debug_view:
236
+ _toggle_cell(cell_i, cell_j)
237
+ #print(_obs_buffer)
238
+
239
+
240
+ func _on_cell_area_exited(area: Area3D, cell_i: int, cell_j: int):
241
+ #prints("_on_cell_area_exited", cell_i, cell_j)
242
+ _update_obs(cell_i, cell_j, area.collision_layer, false)
243
+ if debug_view:
244
+ _toggle_cell(cell_i, cell_j)
245
+
246
+
247
+ func _on_cell_body_entered(body: Node3D, cell_i: int, cell_j: int):
248
+ #prints("_on_cell_body_entered", cell_i, cell_j)
249
+ _update_obs(cell_i, cell_j, body.collision_layer, true)
250
+ if debug_view:
251
+ _toggle_cell(cell_i, cell_j)
252
+
253
+
254
+ func _on_cell_body_exited(body: Node3D, cell_i: int, cell_j: int):
255
+ #prints("_on_cell_body_exited", cell_i, cell_j)
256
+ _update_obs(cell_i, cell_j, body.collision_layer, false)
257
+ if debug_view:
258
+ _toggle_cell(cell_i, cell_j)
addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd CHANGED
@@ -1,20 +1,25 @@
1
  extends Node3D
2
  class_name ISensor3D
3
 
4
- var _obs : Array = []
5
  var _active := false
6
 
 
7
  func get_observation():
8
  pass
9
-
 
10
  func activate():
11
  _active = true
12
-
 
13
  func deactivate():
14
  _active = false
15
 
 
16
  func _update_observation():
17
  pass
18
-
 
19
  func reset():
20
  pass
 
1
  extends Node3D
2
  class_name ISensor3D
3
 
4
+ var _obs: Array = []
5
  var _active := false
6
 
7
+
8
  func get_observation():
9
  pass
10
+
11
+
12
  func activate():
13
  _active = true
14
+
15
+
16
  func deactivate():
17
  _active = false
18
 
19
+
20
  func _update_observation():
21
  pass
22
+
23
+
24
  func reset():
25
  pass
addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd CHANGED
@@ -3,9 +3,19 @@ class_name RGBCameraSensor3D
3
  var camera_pixels = null
4
 
5
  @onready var camera_texture := $Control/TextureRect/CameraTexture as Sprite2D
 
 
6
 
7
  func get_camera_pixel_encoding():
8
- return camera_texture.get_texture().get_data().data["data"].hex_encode()
 
9
 
10
- func get_camera_shape()-> Array:
11
- return [$SubViewport.size[0], $SubViewport.size[1], 4]
 
 
 
 
 
 
 
 
3
  var camera_pixels = null
4
 
5
  @onready var camera_texture := $Control/TextureRect/CameraTexture as Sprite2D
6
+ @onready var sub_viewport := $SubViewport as SubViewport
7
+
8
 
9
  func get_camera_pixel_encoding():
10
+ return camera_texture.get_texture().get_image().get_data().hex_encode()
11
+
12
 
13
+ func get_camera_shape() -> Array:
14
+ assert(
15
+ sub_viewport.size.x >= 36 and sub_viewport.size.y >= 36,
16
+ "SubViewport size must be 36x36 or larger."
17
+ )
18
+ if sub_viewport.transparent_bg:
19
+ return [4, sub_viewport.size.y, sub_viewport.size.x]
20
+ else:
21
+ return [3, sub_viewport.size.y, sub_viewport.size.x]
addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn CHANGED
@@ -1,42 +1,41 @@
1
- [gd_scene load_steps=3 format=2]
2
 
3
- [ext_resource path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" type="Script" id=1]
4
 
5
- [sub_resource type="ViewportTexture" id=1]
6
  viewport_path = NodePath("SubViewport")
7
 
8
  [node name="RGBCameraSensor3D" type="Node3D"]
9
- script = ExtResource( 1 )
10
 
11
  [node name="RemoteTransform3D" type="RemoteTransform3D" parent="."]
12
  remote_path = NodePath("../SubViewport/Camera3D")
13
 
14
  [node name="SubViewport" type="SubViewport" parent="."]
15
- size = Vector2( 32, 32 )
16
  render_target_update_mode = 3
17
 
18
  [node name="Camera3D" type="Camera3D" parent="SubViewport"]
19
  near = 0.5
20
 
21
  [node name="Control" type="Control" parent="."]
 
 
22
  anchor_right = 1.0
23
  anchor_bottom = 1.0
24
- __meta__ = {
25
- "_edit_use_anchors_": false
26
- }
27
 
28
  [node name="TextureRect" type="ColorRect" parent="Control"]
 
29
  offset_left = 1096.0
30
  offset_top = 534.0
31
  offset_right = 1114.0
32
  offset_bottom = 552.0
33
- scale = Vector2( 10, 10 )
34
- color = Color( 0.00784314, 0.00784314, 0.00784314, 1 )
35
- __meta__ = {
36
- "_edit_use_anchors_": false
37
- }
38
 
39
  [node name="CameraTexture" type="Sprite2D" parent="Control/TextureRect"]
40
- texture = SubResource( 1 )
41
- offset = Vector2( 9, 9 )
42
  flip_v = true
 
1
+ [gd_scene load_steps=3 format=3 uid="uid://baaywi3arsl2m"]
2
 
3
+ [ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" id="1"]
4
 
5
+ [sub_resource type="ViewportTexture" id="1"]
6
  viewport_path = NodePath("SubViewport")
7
 
8
  [node name="RGBCameraSensor3D" type="Node3D"]
9
+ script = ExtResource("1")
10
 
11
  [node name="RemoteTransform3D" type="RemoteTransform3D" parent="."]
12
  remote_path = NodePath("../SubViewport/Camera3D")
13
 
14
  [node name="SubViewport" type="SubViewport" parent="."]
15
+ size = Vector2i(32, 32)
16
  render_target_update_mode = 3
17
 
18
  [node name="Camera3D" type="Camera3D" parent="SubViewport"]
19
  near = 0.5
20
 
21
  [node name="Control" type="Control" parent="."]
22
+ layout_mode = 3
23
+ anchors_preset = 15
24
  anchor_right = 1.0
25
  anchor_bottom = 1.0
26
+ grow_horizontal = 2
27
+ grow_vertical = 2
 
28
 
29
  [node name="TextureRect" type="ColorRect" parent="Control"]
30
+ layout_mode = 0
31
  offset_left = 1096.0
32
  offset_top = 534.0
33
  offset_right = 1114.0
34
  offset_bottom = 552.0
35
+ scale = Vector2(10, 10)
36
+ color = Color(0.00784314, 0.00784314, 0.00784314, 1)
 
 
 
37
 
38
  [node name="CameraTexture" type="Sprite2D" parent="Control/TextureRect"]
39
+ texture = SubResource("1")
40
+ offset = Vector2(9, 9)
41
  flip_v = true
addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd CHANGED
@@ -2,75 +2,87 @@
2
  extends ISensor3D
3
  class_name RayCastSensor3D
4
  @export_flags_3d_physics var collision_mask = 1:
5
- get: return collision_mask
 
6
  set(value):
7
  collision_mask = value
8
  _update()
9
  @export_flags_3d_physics var boolean_class_mask = 1:
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
 
17
  set(value):
18
  n_rays_width = value
19
  _update()
20
-
21
  @export var n_rays_height := 6.0:
22
- get: return n_rays_height
 
23
  set(value):
24
  n_rays_height = value
25
  _update()
26
 
27
  @export var ray_length := 10.0:
28
- get: return ray_length
 
29
  set(value):
30
  ray_length = value
31
  _update()
32
-
33
  @export var cone_width := 60.0:
34
- get: return cone_width
 
35
  set(value):
36
  cone_width = value
37
  _update()
38
-
39
  @export var cone_height := 60.0:
40
- get: return cone_height
 
41
  set(value):
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 := []
60
  var geo = null
61
 
 
62
  func _update():
63
  if Engine.is_editor_hint():
64
  if is_node_ready():
65
- _spawn_nodes()
 
66
 
67
  func _ready() -> void:
68
- if Engine.is_editor_hint():
69
  if get_child_count() == 0:
70
  _spawn_nodes()
71
  else:
72
  _spawn_nodes()
73
 
 
74
  func _spawn_nodes():
75
  print("spawning nodes")
76
  for ray in get_children():
@@ -79,15 +91,15 @@ func _spawn_nodes():
79
  geo.clear()
80
  #$Lines.remove_points()
81
  rays = []
82
-
83
  var horizontal_step = cone_width / (n_rays_width)
84
  var vertical_step = cone_height / (n_rays_height)
85
-
86
- var horizontal_start = horizontal_step/2 - cone_width/2
87
- var vertical_start = vertical_step/2 - cone_height/2
88
 
89
  var points = []
90
-
91
  for i in n_rays_width:
92
  for j in n_rays_height:
93
  var angle_w = horizontal_start + i * horizontal_step
@@ -98,9 +110,9 @@ func _spawn_nodes():
98
  ray.set_target_position(cast_to)
99
 
100
  points.append(cast_to)
101
-
102
- ray.set_name("node_"+str(i)+" "+str(j))
103
- ray.enabled = true
104
  ray.collide_with_bodies = collide_with_bodies
105
  ray.collide_with_areas = collide_with_areas
106
  ray.collision_mask = collision_mask
@@ -108,15 +120,17 @@ func _spawn_nodes():
108
  ray.set_owner(get_tree().edited_scene_root)
109
  rays.append(ray)
110
  ray.force_raycast_update()
111
-
 
112
  # if Engine.editor_hint:
113
  # _create_debug_lines(points)
114
-
 
115
  func _create_debug_lines(points):
116
- if not geo:
117
  geo = ImmediateMesh.new()
118
  add_child(geo)
119
-
120
  geo.clear()
121
  geo.begin(Mesh.PRIMITIVE_LINES)
122
  for point in points:
@@ -125,20 +139,24 @@ func _create_debug_lines(points):
125
  geo.add_vertex(point)
126
  geo.end()
127
 
 
128
  func display():
129
  if geo:
130
  geo.display()
131
-
 
132
  func to_spherical_coords(r, inc, azimuth) -> Vector3:
133
  return Vector3(
134
- r*sin(deg_to_rad(inc))*cos(deg_to_rad(azimuth)),
135
- r*sin(deg_to_rad(azimuth)),
136
- r*cos(deg_to_rad(inc))*cos(deg_to_rad(azimuth))
137
  )
138
-
 
139
  func get_observation() -> Array:
140
  return self.calculate_raycasts()
141
 
 
142
  func calculate_raycasts() -> Array:
143
  var result = []
144
  for ray in rays:
@@ -148,19 +166,20 @@ func calculate_raycasts() -> Array:
148
 
149
  result.append(distance)
150
  if class_sensor:
151
- var hit_class = 0
152
  if ray.get_collider():
153
  var hit_collision_layer = ray.get_collider().collision_layer
154
  hit_collision_layer = hit_collision_layer & collision_mask
155
  hit_class = (hit_collision_layer & boolean_class_mask) > 0
156
- result.append(hit_class)
157
  ray.set_enabled(false)
158
  return result
159
 
160
- func _get_raycast_distance(ray : RayCast3D) -> float :
 
161
  if !ray.is_colliding():
162
  return 0.0
163
-
164
  var distance = (global_transform.origin - ray.get_collision_point()).length()
165
  distance = clamp(distance, 0.0, ray_length)
166
  return (ray_length - distance) / ray_length
 
2
  extends ISensor3D
3
  class_name RayCastSensor3D
4
  @export_flags_3d_physics var collision_mask = 1:
5
+ get:
6
+ return collision_mask
7
  set(value):
8
  collision_mask = value
9
  _update()
10
  @export_flags_3d_physics var boolean_class_mask = 1:
11
+ get:
12
+ return boolean_class_mask
13
  set(value):
14
  boolean_class_mask = value
15
  _update()
16
 
17
  @export var n_rays_width := 6.0:
18
+ get:
19
+ return n_rays_width
20
  set(value):
21
  n_rays_width = value
22
  _update()
23
+
24
  @export var n_rays_height := 6.0:
25
+ get:
26
+ return n_rays_height
27
  set(value):
28
  n_rays_height = value
29
  _update()
30
 
31
  @export var ray_length := 10.0:
32
+ get:
33
+ return ray_length
34
  set(value):
35
  ray_length = value
36
  _update()
37
+
38
  @export var cone_width := 60.0:
39
+ get:
40
+ return cone_width
41
  set(value):
42
  cone_width = value
43
  _update()
44
+
45
  @export var cone_height := 60.0:
46
+ get:
47
+ return cone_height
48
  set(value):
49
  cone_height = value
50
  _update()
51
 
52
  @export var collide_with_areas := false:
53
+ get:
54
+ return collide_with_areas
55
  set(value):
56
  collide_with_areas = value
57
  _update()
58
+
59
  @export var collide_with_bodies := true:
60
+ get:
61
+ return collide_with_bodies
62
  set(value):
63
  collide_with_bodies = value
64
  _update()
65
 
66
  @export var class_sensor := false
67
+
68
  var rays := []
69
  var geo = null
70
 
71
+
72
  func _update():
73
  if Engine.is_editor_hint():
74
  if is_node_ready():
75
+ _spawn_nodes()
76
+
77
 
78
  func _ready() -> void:
79
+ if Engine.is_editor_hint():
80
  if get_child_count() == 0:
81
  _spawn_nodes()
82
  else:
83
  _spawn_nodes()
84
 
85
+
86
  func _spawn_nodes():
87
  print("spawning nodes")
88
  for ray in get_children():
 
91
  geo.clear()
92
  #$Lines.remove_points()
93
  rays = []
94
+
95
  var horizontal_step = cone_width / (n_rays_width)
96
  var vertical_step = cone_height / (n_rays_height)
97
+
98
+ var horizontal_start = horizontal_step / 2 - cone_width / 2
99
+ var vertical_start = vertical_step / 2 - cone_height / 2
100
 
101
  var points = []
102
+
103
  for i in n_rays_width:
104
  for j in n_rays_height:
105
  var angle_w = horizontal_start + i * horizontal_step
 
110
  ray.set_target_position(cast_to)
111
 
112
  points.append(cast_to)
113
+
114
+ ray.set_name("node_" + str(i) + " " + str(j))
115
+ ray.enabled = true
116
  ray.collide_with_bodies = collide_with_bodies
117
  ray.collide_with_areas = collide_with_areas
118
  ray.collision_mask = collision_mask
 
120
  ray.set_owner(get_tree().edited_scene_root)
121
  rays.append(ray)
122
  ray.force_raycast_update()
123
+
124
+
125
  # if Engine.editor_hint:
126
  # _create_debug_lines(points)
127
+
128
+
129
  func _create_debug_lines(points):
130
+ if not geo:
131
  geo = ImmediateMesh.new()
132
  add_child(geo)
133
+
134
  geo.clear()
135
  geo.begin(Mesh.PRIMITIVE_LINES)
136
  for point in points:
 
139
  geo.add_vertex(point)
140
  geo.end()
141
 
142
+
143
  func display():
144
  if geo:
145
  geo.display()
146
+
147
+
148
  func to_spherical_coords(r, inc, azimuth) -> Vector3:
149
  return Vector3(
150
+ r * sin(deg_to_rad(inc)) * cos(deg_to_rad(azimuth)),
151
+ r * sin(deg_to_rad(azimuth)),
152
+ r * cos(deg_to_rad(inc)) * cos(deg_to_rad(azimuth))
153
  )
154
+
155
+
156
  func get_observation() -> Array:
157
  return self.calculate_raycasts()
158
 
159
+
160
  func calculate_raycasts() -> Array:
161
  var result = []
162
  for ray in rays:
 
166
 
167
  result.append(distance)
168
  if class_sensor:
169
+ var hit_class: float = 0
170
  if ray.get_collider():
171
  var hit_collision_layer = ray.get_collider().collision_layer
172
  hit_collision_layer = hit_collision_layer & collision_mask
173
  hit_class = (hit_collision_layer & boolean_class_mask) > 0
174
+ result.append(float(hit_class))
175
  ray.set_enabled(false)
176
  return result
177
 
178
+
179
+ func _get_raycast_distance(ray: RayCast3D) -> float:
180
  if !ray.is_colliding():
181
  return 0.0
182
+
183
  var distance = (global_transform.origin - ray.get_collision_point()).length()
184
  distance = clamp(distance, 0.0, ray_length)
185
  return (ray_length - distance) / ray_length
addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn CHANGED
@@ -8,26 +8,20 @@ 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)
 
8
  n_rays_height = 2.0
9
  ray_length = 11.0
10
 
11
+ [node name="node_1 0" type="RayCast3D" parent="."]
 
 
 
 
 
 
12
  target_position = Vector3(-1.38686, -2.84701, 10.5343)
13
 
14
+ [node name="node_1 1" type="RayCast3D" parent="."]
15
  target_position = Vector3(-1.38686, 2.84701, 10.5343)
16
 
17
+ [node name="node_2 0" type="RayCast3D" parent="."]
18
  target_position = Vector3(1.38686, -2.84701, 10.5343)
19
 
20
+ [node name="node_2 1" type="RayCast3D" parent="."]
21
  target_position = Vector3(1.38686, 2.84701, 10.5343)
22
 
23
+ [node name="node_3 0" type="RayCast3D" parent="."]
24
  target_position = Vector3(4.06608, -2.84701, 9.81639)
25
 
26
+ [node name="node_3 1" type="RayCast3D" parent="."]
27
  target_position = Vector3(4.06608, 2.84701, 9.81639)
addons/godot_rl_agents/sync.gd CHANGED
@@ -1,20 +1,39 @@
1
  extends Node
 
2
  # --fixed-fps 2000 --disable-render-loop
 
 
 
3
  @export_range(1, 10, 1, "or_greater") var action_repeat := 8
4
- @export_range(1, 10, 1, "or_greater") 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"
11
  const DEFAULT_PORT := "11008"
12
  const DEFAULT_SEED := "1"
13
- var stream : StreamPeerTCP = null
14
  var connected = false
15
  var message_center
16
  var should_connect = true
17
- var agents
 
 
 
 
 
 
 
 
 
 
 
 
18
  var need_to_send_obs = false
19
  var args = null
20
  var initialized = false
@@ -22,141 +41,295 @@ var just_reset = false
22
  var onnx_model = null
23
  var n_action_steps = 0
24
 
25
- var _action_space : Dictionary
26
- var _obs_space : Dictionary
 
27
 
28
- # Called when the node enters the scene tree for the first time.
29
 
 
30
  func _ready():
31
  await get_tree().root.ready
32
- get_tree().set_pause(true)
33
  _initialize()
34
  await get_tree().create_timer(1.0).timeout
35
- get_tree().set_pause(false)
36
-
 
37
  func _initialize():
38
  _get_agents()
39
- _obs_space = agents[0].get_obs_space()
40
- _action_space = agents[0].get_action_space()
41
  args = _get_args()
42
- Engine.physics_ticks_per_second = _get_speedup() * 60 # Replace with function body.
43
  Engine.time_scale = _get_speedup() * 1.0
44
- prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up)
45
-
46
- # Run inference if onnx model path is set, otherwise wait for server connection
47
- var run_onnx_model_inference : bool = onnx_model_path != ""
48
- if run_onnx_model_inference:
49
- assert(FileAccess.file_exists(onnx_model_path), "Onnx Model Path set on Sync node does not exist: " + onnx_model_path)
50
- onnx_model = ONNXModel.new(onnx_model_path, 1)
51
- _set_heuristic("model")
52
- else:
 
 
 
 
 
 
 
 
 
 
 
 
 
 
53
  connected = connect_to_server()
54
  if connected:
55
- _set_heuristic("model")
56
  _handshake()
57
  _send_env_info()
58
  else:
59
- _set_heuristic("human")
60
-
61
- _set_seed()
62
- _set_action_repeat()
63
- initialized = true
64
-
65
- func _physics_process(delta):
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
66
  # two modes, human control, agent control
67
  # pause tree, send obs, get actions, set actions, unpause tree
 
 
 
68
  if n_action_steps % action_repeat != 0:
69
  n_action_steps += 1
70
  return
71
 
72
  n_action_steps += 1
73
-
 
 
 
 
 
 
74
  if connected:
75
- get_tree().set_pause(true)
76
-
77
  if just_reset:
78
  just_reset = false
79
- var obs = _get_obs_from_agents()
80
-
81
- var reply = {
82
- "type": "reset",
83
- "obs": obs
84
- }
85
  _send_dict_as_json_message(reply)
86
  # this should go straight to getting the action and setting it checked the agent, no need to perform one phyics tick
87
- get_tree().set_pause(false)
88
  return
89
-
90
  if need_to_send_obs:
91
  need_to_send_obs = false
92
  var reward = _get_reward_from_agents()
93
  var done = _get_done_from_agents()
94
  #_reset_agents_if_done() # this ensures the new observation is from the next env instance : NEEDS REFACTOR
95
-
96
- var obs = _get_obs_from_agents()
97
-
98
- var reply = {
99
- "type": "step",
100
- "obs": obs,
101
- "reward": reward,
102
- "done": done
103
- }
104
  _send_dict_as_json_message(reply)
105
-
106
  var handled = handle_message()
107
-
108
- elif onnx_model != null:
109
- var obs : Array = _get_obs_from_agents()
110
-
 
111
  var actions = []
112
- for o in obs:
113
- var action = onnx_model.run_inference(o["obs"], 1.0)
 
 
 
114
  action["output"] = clamp_array(action["output"], -1.0, 1.0)
115
- var action_dict = _extract_action_dict(action["output"])
 
 
116
  actions.append(action_dict)
117
-
118
- _set_agent_actions(actions)
119
- need_to_send_obs = true
120
- get_tree().set_pause(false)
121
- _reset_agents_if_done()
122
-
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
123
  else:
124
- _reset_agents_if_done()
 
 
 
 
 
 
 
 
 
 
 
 
 
125
 
126
- func _extract_action_dict(action_array: Array):
127
  var index = 0
128
  var result = {}
129
- for key in _action_space.keys():
130
- var size = _action_space[key]["size"]
131
- if _action_space[key]["action_type"] == "discrete":
132
  result[key] = round(action_array[index])
133
  else:
134
- result[key] = action_array.slice(index,index+size)
135
  index += size
136
-
137
  return result
138
 
139
- func _get_agents():
140
- agents = get_tree().get_nodes_in_group("AGENT")
141
 
142
- func _set_heuristic(heuristic):
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
143
  for agent in agents:
144
  agent.set_heuristic(heuristic)
145
 
 
146
  func _handshake():
147
  print("performing handshake")
148
-
149
  var json_dict = _get_dict_json_message()
150
  assert(json_dict["type"] == "handshake")
151
  var major_version = json_dict["major_version"]
152
  var minor_version = json_dict["minor_version"]
153
  if major_version != MAJOR_VERSION:
154
- print("WARNING: major verison mismatch ", major_version, " ", MAJOR_VERSION)
155
  if minor_version != MINOR_VERSION:
156
  print("WARNING: minor verison mismatch ", minor_version, " ", MINOR_VERSION)
157
-
158
  print("handshake complete")
159
 
 
160
  func _get_dict_json_message():
161
  # returns a dictionary from of the most recent message
162
  # this is not waiting
@@ -168,45 +341,48 @@ func _get_dict_json_message():
168
  return null
169
 
170
  OS.delay_usec(10)
171
-
172
  var message = stream.get_string()
173
  var json_data = JSON.parse_string(message)
174
-
175
  return json_data
176
 
 
177
  func _send_dict_as_json_message(dict):
178
- stream.put_string(JSON.stringify(dict))
 
179
 
180
  func _send_env_info():
181
  var json_dict = _get_dict_json_message()
182
  assert(json_dict["type"] == "env_info")
183
 
184
-
185
  var message = {
186
- "type" : "env_info",
187
  "observation_space": _obs_space,
188
- "action_space":_action_space,
189
- "n_agents": len(agents)
190
- }
191
  _send_dict_as_json_message(message)
192
 
 
193
  func connect_to_server():
194
  print("Waiting for one second to allow server to start")
195
  OS.delay_msec(1000)
196
  print("trying to connect to server")
197
  stream = StreamPeerTCP.new()
198
-
199
  # "localhost" was not working on windows VM, had to use the IP
200
  var ip = "127.0.0.1"
201
  var port = _get_port()
202
  var connect = stream.connect_to_host(ip, port)
203
- stream.set_no_delay(true) # TODO check if this improves performance or not
204
  stream.poll()
205
  # Fetch the status until it is either connected (2) or failed to connect (3)
206
  while stream.get_status() < 2:
207
  stream.poll()
208
  return stream.get_status() == 2
209
 
 
210
  func _get_args():
211
  print("getting command line arguments")
212
  var arguments = {}
@@ -220,41 +396,45 @@ func _get_args():
220
  # with the value set to an empty string.
221
  arguments[argument.lstrip("--")] = ""
222
 
223
- return arguments
 
224
 
225
  func _get_speedup():
226
  print(args)
227
- return args.get("speedup", str(speed_up)).to_int()
 
228
 
229
- func _get_port():
230
  return args.get("port", DEFAULT_PORT).to_int()
231
 
 
232
  func _set_seed():
233
  var _seed = args.get("env_seed", DEFAULT_SEED).to_int()
234
  seed(_seed)
235
 
 
236
  func _set_action_repeat():
237
  action_repeat = args.get("action_repeat", str(action_repeat)).to_int()
238
-
 
239
  func disconnect_from_server():
240
  stream.disconnect_from_host()
241
 
242
 
243
-
244
  func handle_message() -> bool:
245
  # get json message: reset, step, close
246
  var message = _get_dict_json_message()
247
  if message["type"] == "close":
248
  print("received close message, closing game")
249
  get_tree().quit()
250
- get_tree().set_pause(false)
251
  return true
252
-
253
  if message["type"] == "reset":
254
  print("resetting all agents")
255
- _reset_all_agents()
256
  just_reset = true
257
- get_tree().set_pause(false)
258
  #print("resetting forcing draw")
259
  # RenderingServer.force_draw()
260
  # var obs = _get_obs_from_agents()
@@ -263,76 +443,98 @@ func handle_message() -> bool:
263
  # "type": "reset",
264
  # "obs": obs
265
  # }
266
- # _send_dict_as_json_message(reply)
267
  return true
268
-
269
  if message["type"] == "call":
270
  var method = message["method"]
271
  var returns = _call_method_on_agents(method)
272
- var reply = {
273
- "type": "call",
274
- "returns": returns
275
- }
276
  print("calling method from Python")
277
- _send_dict_as_json_message(reply)
278
  return handle_message()
279
-
280
  if message["type"] == "action":
281
  var action = message["action"]
282
- _set_agent_actions(action)
283
  need_to_send_obs = true
284
- get_tree().set_pause(false)
285
  return true
286
-
287
  print("message was not handled")
288
  return false
289
 
 
290
  func _call_method_on_agents(method):
291
  var returns = []
292
- for agent in agents:
293
  returns.append(agent.call(method))
294
-
295
  return returns
296
 
297
 
298
- func _reset_agents_if_done():
299
  for agent in agents:
300
- if agent.get_done():
301
  agent.set_done_false()
302
 
303
- func _reset_all_agents():
 
304
  for agent in agents:
305
  agent.needs_reset = true
306
- #agent.reset()
 
307
 
308
- func _get_obs_from_agents():
309
  var obs = []
310
  for agent in agents:
311
  obs.append(agent.get_obs())
312
-
313
  return obs
314
-
315
- func _get_reward_from_agents():
316
- var rewards = []
 
317
  for agent in agents:
318
  rewards.append(agent.get_reward())
319
  agent.zero_reward()
320
- return rewards
321
-
322
- func _get_done_from_agents():
323
- var dones = []
 
324
  for agent in agents:
325
  var done = agent.get_done()
326
- if done: agent.set_done_false()
 
327
  dones.append(done)
328
- return dones
329
-
330
- func _set_agent_actions(actions):
 
331
  for i in range(len(actions)):
332
  agents[i].set_action(actions[i])
333
-
334
- func clamp_array(arr : Array, min:float, max:float):
335
- var output : Array = []
 
336
  for a in arr:
337
  output.append(clamp(a, min, max))
338
  return output
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
  extends Node
2
+
3
  # --fixed-fps 2000 --disable-render-loop
4
+
5
+ enum ControlModes { HUMAN, TRAINING, ONNX_INFERENCE }
6
+ @export var control_mode: ControlModes = ControlModes.TRAINING
7
  @export_range(1, 10, 1, "or_greater") var action_repeat := 8
8
+ @export_range(0, 10, 0.1, "or_greater") var speed_up := 1.0
9
  @export var onnx_model_path := ""
10
 
11
+ # Onnx model stored for each requested path
12
+ var onnx_models: Dictionary
13
+
14
  @onready var start_time = Time.get_ticks_msec()
15
 
16
  const MAJOR_VERSION := "0"
17
+ const MINOR_VERSION := "7"
18
  const DEFAULT_PORT := "11008"
19
  const DEFAULT_SEED := "1"
20
+ var stream: StreamPeerTCP = null
21
  var connected = false
22
  var message_center
23
  var should_connect = true
24
+
25
+ var all_agents: Array
26
+ var agents_training: Array
27
+ var agents_inference: Array
28
+ var agents_heuristic: Array
29
+
30
+ ## For recording expert demos
31
+ var agent_demo_record: Node
32
+ ## Stores recorded trajectories
33
+ var demo_trajectories: Array
34
+ ## A trajectory includes obs: Array, acts: Array, terminal (set in Python env instead)
35
+ var current_demo_trajectory: Array
36
+
37
  var need_to_send_obs = false
38
  var args = null
39
  var initialized = false
 
41
  var onnx_model = null
42
  var n_action_steps = 0
43
 
44
+ var _action_space: Dictionary
45
+ var _action_space_inference: Array[Dictionary] = []
46
+ var _obs_space: Dictionary
47
 
 
48
 
49
+ # Called when the node enters the scene tree for the first time.
50
  func _ready():
51
  await get_tree().root.ready
52
+ get_tree().set_pause(true)
53
  _initialize()
54
  await get_tree().create_timer(1.0).timeout
55
+ get_tree().set_pause(false)
56
+
57
+
58
  func _initialize():
59
  _get_agents()
 
 
60
  args = _get_args()
61
+ Engine.physics_ticks_per_second = _get_speedup() * 60 # Replace with function body.
62
  Engine.time_scale = _get_speedup() * 1.0
63
+ prints(
64
+ "physics ticks",
65
+ Engine.physics_ticks_per_second,
66
+ Engine.time_scale,
67
+ _get_speedup(),
68
+ speed_up
69
+ )
70
+
71
+ _set_heuristic("human", all_agents)
72
+
73
+ _initialize_training_agents()
74
+ _initialize_inference_agents()
75
+ _initialize_demo_recording()
76
+
77
+ _set_seed()
78
+ _set_action_repeat()
79
+ initialized = true
80
+
81
+
82
+ func _initialize_training_agents():
83
+ if agents_training.size() > 0:
84
+ _obs_space = agents_training[0].get_obs_space()
85
+ _action_space = agents_training[0].get_action_space()
86
  connected = connect_to_server()
87
  if connected:
88
+ _set_heuristic("model", agents_training)
89
  _handshake()
90
  _send_env_info()
91
  else:
92
+ push_warning(
93
+ "Couldn't connect to Python server, using human controls instead. ",
94
+ "Did you start the training server using e.g. `gdrl` from the console?"
95
+ )
96
+
97
+
98
+ func _initialize_inference_agents():
99
+ if agents_inference.size() > 0:
100
+ if control_mode == ControlModes.ONNX_INFERENCE:
101
+ assert(
102
+ FileAccess.file_exists(onnx_model_path),
103
+ "Onnx Model Path set on Sync node does not exist: %s" % onnx_model_path
104
+ )
105
+ onnx_models[onnx_model_path] = ONNXModel.new(onnx_model_path, 1)
106
+
107
+ for agent in agents_inference:
108
+ _action_space_inference.append(agent.get_action_space())
109
+
110
+ var agent_onnx_model: ONNXModel
111
+ if agent.onnx_model_path.is_empty():
112
+ assert(
113
+ onnx_models.has(onnx_model_path),
114
+ (
115
+ "Node %s has no onnx model path set " % agent.get_path()
116
+ + "and sync node's control mode is not set to OnnxInference. "
117
+ + "Either add the path to the AIController, "
118
+ + "or if you want to use the path set on sync node instead, "
119
+ + "set control mode to OnnxInference."
120
+ )
121
+ )
122
+ prints(
123
+ "Info: AIController %s" % agent.get_path(),
124
+ "has no onnx model path set.",
125
+ "Using path set on the sync node instead."
126
+ )
127
+ agent_onnx_model = onnx_models[onnx_model_path]
128
+ else:
129
+ if not onnx_models.has(agent.onnx_model_path):
130
+ assert(
131
+ FileAccess.file_exists(agent.onnx_model_path),
132
+ (
133
+ "Onnx Model Path set on %s node does not exist: %s"
134
+ % [agent.get_path(), agent.onnx_model_path]
135
+ )
136
+ )
137
+ onnx_models[agent.onnx_model_path] = ONNXModel.new(agent.onnx_model_path, 1)
138
+ agent_onnx_model = onnx_models[agent.onnx_model_path]
139
+
140
+ agent.onnx_model = agent_onnx_model
141
+ _set_heuristic("model", agents_inference)
142
+
143
+
144
+ func _initialize_demo_recording():
145
+ if agent_demo_record:
146
+ InputMap.add_action("RemoveLastDemoEpisode")
147
+ InputMap.action_add_event(
148
+ "RemoveLastDemoEpisode", agent_demo_record.remove_last_episode_key
149
+ )
150
+ current_demo_trajectory.resize(2)
151
+ current_demo_trajectory[0] = []
152
+ current_demo_trajectory[1] = []
153
+ agent_demo_record.heuristic = "demo_record"
154
+
155
+
156
+ func _physics_process(_delta):
157
  # two modes, human control, agent control
158
  # pause tree, send obs, get actions, set actions, unpause tree
159
+
160
+ _demo_record_process()
161
+
162
  if n_action_steps % action_repeat != 0:
163
  n_action_steps += 1
164
  return
165
 
166
  n_action_steps += 1
167
+
168
+ _training_process()
169
+ _inference_process()
170
+ _heuristic_process()
171
+
172
+
173
+ func _training_process():
174
  if connected:
175
+ get_tree().set_pause(true)
176
+
177
  if just_reset:
178
  just_reset = false
179
+ var obs = _get_obs_from_agents(agents_training)
180
+
181
+ var reply = {"type": "reset", "obs": obs}
 
 
 
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(agents_training)
194
+
195
+ var reply = {"type": "step", "obs": obs, "reward": reward, "done": done}
 
 
 
 
 
196
  _send_dict_as_json_message(reply)
197
+
198
  var handled = handle_message()
199
+
200
+
201
+ func _inference_process():
202
+ if agents_inference.size() > 0:
203
+ var obs: Array = _get_obs_from_agents(agents_inference)
204
  var actions = []
205
+
206
+ for agent_id in range(0, agents_inference.size()):
207
+ var action = agents_inference[agent_id].onnx_model.run_inference(
208
+ obs[agent_id]["obs"], 1.0
209
+ )
210
  action["output"] = clamp_array(action["output"], -1.0, 1.0)
211
+ var action_dict = _extract_action_dict(
212
+ action["output"], _action_space_inference[agent_id]
213
+ )
214
  actions.append(action_dict)
215
+
216
+ _set_agent_actions(actions, agents_inference)
217
+ _reset_agents_if_done(agents_inference)
218
+ get_tree().set_pause(false)
219
+
220
+
221
+ func _demo_record_process():
222
+ if not agent_demo_record:
223
+ return
224
+
225
+ if Input.is_action_just_pressed("RemoveLastDemoEpisode"):
226
+ print("[Sync script][Demo recorder] Removing last recorded episode.")
227
+ demo_trajectories.remove_at(demo_trajectories.size() - 1)
228
+ print("Remaining episode count: %d" % demo_trajectories.size())
229
+
230
+ if n_action_steps % agent_demo_record.action_repeat != 0:
231
+ return
232
+
233
+ var obs_dict: Dictionary = agent_demo_record.get_obs()
234
+
235
+ # Get the current obs from the agent
236
+ assert(
237
+ obs_dict.has("obs"),
238
+ "Demo recorder needs an 'obs' key in get_obs() returned dictionary to record obs from."
239
+ )
240
+ current_demo_trajectory[0].append(obs_dict.obs)
241
+
242
+ # Get the action applied for the current obs from the agent
243
+ agent_demo_record.set_action()
244
+ var acts = agent_demo_record.get_action()
245
+
246
+ var terminal = agent_demo_record.get_done()
247
+ # Record actions only for non-terminal states
248
+ if terminal:
249
+ agent_demo_record.set_done_false()
250
  else:
251
+ current_demo_trajectory[1].append(acts)
252
+
253
+ if terminal:
254
+ #current_demo_trajectory[2].append(true)
255
+ demo_trajectories.append(current_demo_trajectory.duplicate(true))
256
+ print("[Sync script][Demo recorder] Recorded episode count: %d" % demo_trajectories.size())
257
+ current_demo_trajectory[0].clear()
258
+ current_demo_trajectory[1].clear()
259
+
260
+
261
+ func _heuristic_process():
262
+ for agent in agents_heuristic:
263
+ _reset_agents_if_done(agents_heuristic)
264
+
265
 
266
+ func _extract_action_dict(action_array: Array, action_space: Dictionary):
267
  var index = 0
268
  var result = {}
269
+ for key in action_space.keys():
270
+ var size = action_space[key]["size"]
271
+ if action_space[key]["action_type"] == "discrete":
272
  result[key] = round(action_array[index])
273
  else:
274
+ result[key] = action_array.slice(index, index + size)
275
  index += size
276
+
277
  return result
278
 
 
 
279
 
280
+ ## For AIControllers that inherit mode from sync, sets the correct mode.
281
+ func _set_agent_mode(agent: Node):
282
+ var agent_inherits_mode: bool = agent.control_mode == agent.ControlModes.INHERIT_FROM_SYNC
283
+
284
+ if agent_inherits_mode:
285
+ match control_mode:
286
+ ControlModes.HUMAN:
287
+ agent.control_mode = agent.ControlModes.HUMAN
288
+ ControlModes.TRAINING:
289
+ agent.control_mode = agent.ControlModes.TRAINING
290
+ ControlModes.ONNX_INFERENCE:
291
+ agent.control_mode = agent.ControlModes.ONNX_INFERENCE
292
+
293
+
294
+ func _get_agents():
295
+ all_agents = get_tree().get_nodes_in_group("AGENT")
296
+ for agent in all_agents:
297
+ _set_agent_mode(agent)
298
+
299
+ if agent.control_mode == agent.ControlModes.TRAINING:
300
+ agents_training.append(agent)
301
+ elif agent.control_mode == agent.ControlModes.ONNX_INFERENCE:
302
+ agents_inference.append(agent)
303
+ elif agent.control_mode == agent.ControlModes.HUMAN:
304
+ agents_heuristic.append(agent)
305
+ elif agent.control_mode == agent.ControlModes.RECORD_EXPERT_DEMOS:
306
+ assert(
307
+ not agent_demo_record,
308
+ "Currently only a single AIController can be used for recording expert demos."
309
+ )
310
+ agent_demo_record = agent
311
+
312
+
313
+ func _set_heuristic(heuristic, agents: Array):
314
  for agent in agents:
315
  agent.set_heuristic(heuristic)
316
 
317
+
318
  func _handshake():
319
  print("performing handshake")
320
+
321
  var json_dict = _get_dict_json_message()
322
  assert(json_dict["type"] == "handshake")
323
  var major_version = json_dict["major_version"]
324
  var minor_version = json_dict["minor_version"]
325
  if major_version != MAJOR_VERSION:
326
+ print("WARNING: major verison mismatch ", major_version, " ", MAJOR_VERSION)
327
  if minor_version != MINOR_VERSION:
328
  print("WARNING: minor verison mismatch ", minor_version, " ", MINOR_VERSION)
329
+
330
  print("handshake complete")
331
 
332
+
333
  func _get_dict_json_message():
334
  # returns a dictionary from of the most recent message
335
  # this is not waiting
 
341
  return null
342
 
343
  OS.delay_usec(10)
344
+
345
  var message = stream.get_string()
346
  var json_data = JSON.parse_string(message)
347
+
348
  return json_data
349
 
350
+
351
  func _send_dict_as_json_message(dict):
352
+ stream.put_string(JSON.stringify(dict, "", false))
353
+
354
 
355
  func _send_env_info():
356
  var json_dict = _get_dict_json_message()
357
  assert(json_dict["type"] == "env_info")
358
 
 
359
  var message = {
360
+ "type": "env_info",
361
  "observation_space": _obs_space,
362
+ "action_space": _action_space,
363
+ "n_agents": len(agents_training)
364
+ }
365
  _send_dict_as_json_message(message)
366
 
367
+
368
  func connect_to_server():
369
  print("Waiting for one second to allow server to start")
370
  OS.delay_msec(1000)
371
  print("trying to connect to server")
372
  stream = StreamPeerTCP.new()
373
+
374
  # "localhost" was not working on windows VM, had to use the IP
375
  var ip = "127.0.0.1"
376
  var port = _get_port()
377
  var connect = stream.connect_to_host(ip, port)
378
+ stream.set_no_delay(true) # TODO check if this improves performance or not
379
  stream.poll()
380
  # Fetch the status until it is either connected (2) or failed to connect (3)
381
  while stream.get_status() < 2:
382
  stream.poll()
383
  return stream.get_status() == 2
384
 
385
+
386
  func _get_args():
387
  print("getting command line arguments")
388
  var arguments = {}
 
396
  # with the value set to an empty string.
397
  arguments[argument.lstrip("--")] = ""
398
 
399
+ return arguments
400
+
401
 
402
  func _get_speedup():
403
  print(args)
404
+ return args.get("speedup", str(speed_up)).to_float()
405
+
406
 
407
+ func _get_port():
408
  return args.get("port", DEFAULT_PORT).to_int()
409
 
410
+
411
  func _set_seed():
412
  var _seed = args.get("env_seed", DEFAULT_SEED).to_int()
413
  seed(_seed)
414
 
415
+
416
  func _set_action_repeat():
417
  action_repeat = args.get("action_repeat", str(action_repeat)).to_int()
418
+
419
+
420
  func disconnect_from_server():
421
  stream.disconnect_from_host()
422
 
423
 
 
424
  func handle_message() -> bool:
425
  # get json message: reset, step, close
426
  var message = _get_dict_json_message()
427
  if message["type"] == "close":
428
  print("received close message, closing game")
429
  get_tree().quit()
430
+ get_tree().set_pause(false)
431
  return true
432
+
433
  if message["type"] == "reset":
434
  print("resetting all agents")
435
+ _reset_agents()
436
  just_reset = true
437
+ get_tree().set_pause(false)
438
  #print("resetting forcing draw")
439
  # RenderingServer.force_draw()
440
  # var obs = _get_obs_from_agents()
 
443
  # "type": "reset",
444
  # "obs": obs
445
  # }
446
+ # _send_dict_as_json_message(reply)
447
  return true
448
+
449
  if message["type"] == "call":
450
  var method = message["method"]
451
  var returns = _call_method_on_agents(method)
452
+ var reply = {"type": "call", "returns": returns}
 
 
 
453
  print("calling method from Python")
454
+ _send_dict_as_json_message(reply)
455
  return handle_message()
456
+
457
  if message["type"] == "action":
458
  var action = message["action"]
459
+ _set_agent_actions(action, agents_training)
460
  need_to_send_obs = true
461
+ get_tree().set_pause(false)
462
  return true
463
+
464
  print("message was not handled")
465
  return false
466
 
467
+
468
  func _call_method_on_agents(method):
469
  var returns = []
470
+ for agent in all_agents:
471
  returns.append(agent.call(method))
472
+
473
  return returns
474
 
475
 
476
+ func _reset_agents_if_done(agents = all_agents):
477
  for agent in agents:
478
+ if agent.get_done():
479
  agent.set_done_false()
480
 
481
+
482
+ func _reset_agents(agents = all_agents):
483
  for agent in agents:
484
  agent.needs_reset = true
485
+ #agent.reset()
486
+
487
 
488
+ func _get_obs_from_agents(agents: Array = all_agents):
489
  var obs = []
490
  for agent in agents:
491
  obs.append(agent.get_obs())
 
492
  return obs
493
+
494
+
495
+ func _get_reward_from_agents(agents: Array = agents_training):
496
+ var rewards = []
497
  for agent in agents:
498
  rewards.append(agent.get_reward())
499
  agent.zero_reward()
500
+ return rewards
501
+
502
+
503
+ func _get_done_from_agents(agents: Array = agents_training):
504
+ var dones = []
505
  for agent in agents:
506
  var done = agent.get_done()
507
+ if done:
508
+ agent.set_done_false()
509
  dones.append(done)
510
+ return dones
511
+
512
+
513
+ func _set_agent_actions(actions, agents: Array = all_agents):
514
  for i in range(len(actions)):
515
  agents[i].set_action(actions[i])
516
+
517
+
518
+ func clamp_array(arr: Array, min: float, max: float):
519
+ var output: Array = []
520
  for a in arr:
521
  output.append(clamp(a, min, max))
522
  return output
523
+
524
+
525
+ ## Save recorded export demos on window exit (Close window instead of "Stop" button in Godot Editor)
526
+ func _notification(what):
527
+ if not agent_demo_record:
528
+ return
529
+
530
+ if what == NOTIFICATION_PREDELETE:
531
+ var json_string = JSON.stringify(demo_trajectories, "", false)
532
+ var file = FileAccess.open(agent_demo_record.expert_demo_save_path, FileAccess.WRITE)
533
+
534
+ if not file:
535
+ var error: Error = FileAccess.get_open_error()
536
+ assert(not error, "There was an error opening the file: %d" % error)
537
+
538
+ file.store_line(json_string)
539
+ var error = file.get_error()
540
+ assert(not error, "There was an error after trying to write to the file: %d" % error)
bin/FlyBy.pck CHANGED
@@ -1,3 +1,3 @@
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  version https://git-lfs.github.com/spec/v1
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- oid sha256:b9e3b0a80e0c9eac9dc780af6f3b948c787162bc756508639932709e3be9e772
3
- size 7141264
 
1
  version https://git-lfs.github.com/spec/v1
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+ oid sha256:be528ff75d41e64ecafda7738cbb181fb5dbda7b928a942fbb67c75c30ee0827
3
+ size 7229552
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1539
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1542
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1543
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1545
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1546
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1547
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1553
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1554
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1555
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1559
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1560
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1568
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1571
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1572
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1575
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1579
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1580
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1581
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1582
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1583
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1584
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1585
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1586
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1590
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1592
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1593
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1601
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1604
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1605
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1612
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1613
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1614
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1615
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1616
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1618
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1620
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1623
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1624
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1625
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1626
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1627
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1628
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1629
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1630
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1631
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1632
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1633
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1634
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1635
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1636
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1637
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1638
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1639
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1640
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1641
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1642
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1643
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1644
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1645
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1646
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1647
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1648
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1649
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1650
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1651
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1652
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1653
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1654
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1655
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1656
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1657
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1658
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1659
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1660
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1661
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1662
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1663
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1665
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1666
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1667
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1668
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1669
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1670
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1671
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1672
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1673
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1674
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1675
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1676
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1677
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1678
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1679
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1680
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1681
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1682
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1683
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1684
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1685
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1686
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1687
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1688
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1689
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1690
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1691
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1692
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1693
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1694
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1695
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1696
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1697
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1698
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1699
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1700
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1701
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1702
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1703
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1704
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1705
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1706
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1707
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1708
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1709
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1710
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1711
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1712
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1713
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1714
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1715
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1716
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1717
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1718
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1719
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1720
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1721
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1722
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1723
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1724
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1725
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1726
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1727
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1728
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1729
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1730
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1731
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1732
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1733
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1734
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1735
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1736
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1737
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1738
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1739
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1740
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1741
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1742
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1743
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1744
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1745
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1746
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1747
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1748
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1749
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1750
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1751
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1752
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1753
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1754
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1755
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1756
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1757
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1758
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1759
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1760
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1761
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1762
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1763
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1764
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1765
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1766
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1767
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1768
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1769
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1770
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1771
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1772
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1773
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1774
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1776
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1777
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1780
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1781
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1782
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1783
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1800
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1804
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1818
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1821
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1823
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1839
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1842
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1844
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1846
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1849
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1850
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1851
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1852
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1853
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1854
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1855
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1856
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1857
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1858
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1859
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1860
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1861
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1862
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1863
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1868
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1869
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1870
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1871
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1872
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1873
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1874
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1875
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1876
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1877
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1878
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1879
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1880
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1881
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1882
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1884
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1887
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1888
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1889
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1891
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1893
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1894
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1895
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1896
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1897
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1898
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1899
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1900
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1901
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1902
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1903
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1904
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1905
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1906
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1907
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1908
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1909
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1910
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1911
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1912
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1913
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1914
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1915
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1916
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1917
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1918
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1919
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1920
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1921
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1922
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1923
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1924
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1925
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1926
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1927
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1928
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1929
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1930
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1931
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1932
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1933
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1934
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1935
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1936
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1937
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1938
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1939
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1940
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1941
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1942
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1943
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1944
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1945
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1946
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1947
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1948
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1949
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1950
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1951
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1952
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1953
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1954
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1955
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1956
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1957
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1958
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1959
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1960
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1961
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1962
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1963
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1964
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1965
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1966
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1967
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1968
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1969
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1970
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1971
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1972
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1973
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1974
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1975
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1976
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1977
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1978
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1979
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1980
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1981
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1982
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1983
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1984
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1985
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1986
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1987
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1988
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1989
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1990
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1991
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1992
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1993
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1994
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1995
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1996
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1997
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1998
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1999
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2000
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2001
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2002
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2003
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2004
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2005
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2006
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2007
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2008
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2009
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2010
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2011
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2012
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2013
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2014
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2015
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2016
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2017
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2018
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2019
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2020
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2021
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2022
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2023
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2024
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2025
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2026
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2027
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2028
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2029
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2030
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2031
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2032
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2033
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2034
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2035
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2036
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2037
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2038
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2039
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2040
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2041
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2042
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2043
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2044
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2045
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2046
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2047
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2048
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2049
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2050
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2051
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2052
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2053
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2054
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2055
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2056
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2057
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2058
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2059
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2060
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2061
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2062
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2063
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2064
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2065
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2066
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2067
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2068
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2070
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2071
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2072
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2073
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2074
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2075
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2076
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2077
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2078
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2079
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2080
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2081
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2082
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2083
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2084
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2085
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2086
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2087
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2088
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2089
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2090
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2091
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2092
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2093
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2094
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2095
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2096
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2097
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2098
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2099
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2100
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2101
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