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- .gitattributes +35 -0
- FlyBy.csproj +2 -4
- FlyBy.csproj.old +3 -5
- FlyBy.sln +18 -12
- addons/godot_rl_agents/controller/ai_controller_2d.gd +61 -30
- addons/godot_rl_agents/controller/ai_controller_3d.gd +62 -28
- addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd +6 -3
- addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd +235 -0
- addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd +9 -4
- addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd +40 -40
- addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd +258 -0
- addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd +9 -4
- addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd +13 -3
- addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn +14 -15
- addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd +56 -37
- addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn +6 -12
- addons/godot_rl_agents/sync.gd +331 -129
- bin/FlyBy.pck +2 -2
- bin/data_FlyBy_linuxbsd_x86_64/FlyBy.deps.json +2980 -0
- bin/data_FlyBy_linuxbsd_x86_64/FlyBy.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/FlyBy.pdb +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/FlyBy.runtimeconfig.json +14 -0
- bin/data_FlyBy_linuxbsd_x86_64/GodotSharp.dll +3 -0
- bin/data_FlyBy_linuxbsd_x86_64/Microsoft.CSharp.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/Microsoft.ML.OnnxRuntime.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/Microsoft.VisualBasic.Core.dll +3 -0
- bin/data_FlyBy_linuxbsd_x86_64/Microsoft.VisualBasic.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/Microsoft.Win32.Primitives.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/Microsoft.Win32.Registry.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.AppContext.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.Buffers.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.Collections.Concurrent.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.Collections.Immutable.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.Collections.NonGeneric.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.Collections.Specialized.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.Collections.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.Annotations.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.DataAnnotations.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.EventBasedAsync.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.Primitives.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.TypeConverter.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.Configuration.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.Console.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.Core.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.Data.Common.dll +3 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.Data.DataSetExtensions.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.Data.dll +0 -0
- bin/data_FlyBy_linuxbsd_x86_64/System.Diagnostics.Contracts.dll +0 -0
- 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
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bin/FlyBy.exe filter=lfs diff=lfs merge=lfs -text
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bin/FlyBy.pck filter=lfs diff=lfs merge=lfs -text
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.godot/imported/alps_field_2k.hdr-3700cd621ede9e1814580eb21c62fe71.bptc.ctex filter=lfs diff=lfs merge=lfs -text
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bin/FlyBy.exe filter=lfs diff=lfs merge=lfs -text
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bin/FlyBy.pck filter=lfs diff=lfs merge=lfs -text
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.godot/imported/alps_field_2k.hdr-3700cd621ede9e1814580eb21c62fe71.bptc.ctex filter=lfs diff=lfs merge=lfs -text
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+
bin/data_FlyBy_linuxbsd_x86_64/GodotSharp.dll filter=lfs diff=lfs merge=lfs -text
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+
bin/data_FlyBy_linuxbsd_x86_64/Microsoft.VisualBasic.Core.dll filter=lfs diff=lfs merge=lfs -text
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+
bin/data_FlyBy_linuxbsd_x86_64/System.Data.Common.dll filter=lfs diff=lfs merge=lfs -text
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bin/data_FlyBy_linuxbsd_x86_64/System.Linq.Expressions.dll filter=lfs diff=lfs merge=lfs -text
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bin/data_FlyBy_linuxbsd_x86_64/System.Net.Http.dll filter=lfs diff=lfs merge=lfs -text
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bin/data_FlyBy_linuxbsd_x86_64/System.Private.CoreLib.dll filter=lfs diff=lfs merge=lfs -text
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bin/data_FlyBy_linuxbsd_x86_64/System.Private.DataContractSerialization.dll filter=lfs diff=lfs merge=lfs -text
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bin/data_FlyBy_linuxbsd_x86_64/System.Private.Xml.dll filter=lfs diff=lfs merge=lfs -text
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bin/data_FlyBy_linuxbsd_x86_64/System.Reflection.Metadata.dll filter=lfs diff=lfs merge=lfs -text
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bin/data_FlyBy_linuxbsd_x86_64/System.Text.Json.dll filter=lfs diff=lfs merge=lfs -text
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bin/data_FlyBy_linuxbsd_x86_64/libclrjit.so filter=lfs diff=lfs merge=lfs -text
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bin/data_FlyBy_linuxbsd_x86_64/libcoreclr.so filter=lfs diff=lfs merge=lfs -text
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bin/data_FlyBy_linuxbsd_x86_64/libmscordaccore.so filter=lfs diff=lfs merge=lfs -text
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bin/data_FlyBy_linuxbsd_x86_64/libmscordbi.so filter=lfs diff=lfs merge=lfs -text
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bin/data_FlyBy_linuxbsd_x86_64/libonnxruntime.so filter=lfs diff=lfs merge=lfs -text
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+
bin/data_FlyBy_linuxbsd_x86_64/onnxruntime.dll filter=lfs diff=lfs merge=lfs -text
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+
bin/data_FlyBy_windows_x86_64/GodotSharp.dll filter=lfs diff=lfs merge=lfs -text
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+
bin/data_FlyBy_windows_x86_64/Microsoft.CSharp.dll filter=lfs diff=lfs merge=lfs -text
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+
bin/data_FlyBy_windows_x86_64/Microsoft.DiaSymReader.Native.amd64.dll filter=lfs diff=lfs merge=lfs -text
|
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+
bin/data_FlyBy_windows_x86_64/Microsoft.VisualBasic.Core.dll filter=lfs diff=lfs merge=lfs -text
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+
bin/data_FlyBy_windows_x86_64/System.Data.Common.dll filter=lfs diff=lfs merge=lfs -text
|
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+
bin/data_FlyBy_windows_x86_64/System.Linq.Expressions.dll filter=lfs diff=lfs merge=lfs -text
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+
bin/data_FlyBy_windows_x86_64/System.Net.Http.dll filter=lfs diff=lfs merge=lfs -text
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+
bin/data_FlyBy_windows_x86_64/System.Private.CoreLib.dll filter=lfs diff=lfs merge=lfs -text
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+
bin/data_FlyBy_windows_x86_64/System.Private.DataContractSerialization.dll filter=lfs diff=lfs merge=lfs -text
|
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+
bin/data_FlyBy_windows_x86_64/System.Private.Xml.dll filter=lfs diff=lfs merge=lfs -text
|
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+
bin/data_FlyBy_windows_x86_64/System.Reflection.Metadata.dll filter=lfs diff=lfs merge=lfs -text
|
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+
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
|
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+
bin/data_FlyBy_windows_x86_64/ucrtbase.dll filter=lfs diff=lfs merge=lfs -text
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FlyBy.csproj
CHANGED
@@ -2,11 +2,9 @@
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2 |
<PropertyGroup>
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3 |
<TargetFramework>net6.0</TargetFramework>
|
4 |
<EnableDynamicLoading>true</EnableDynamicLoading>
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5 |
</PropertyGroup>
|
6 |
<ItemGroup>
|
7 |
-
<PackageReference Include="Microsoft.ML.OnnxRuntime" Version="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" />
|
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</ItemGroup>
|
12 |
</Project>
|
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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" />
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</ItemGroup>
|
10 |
</Project>
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FlyBy.csproj.old
CHANGED
@@ -1,12 +1,10 @@
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1 |
-
<Project Sdk="Godot.NET.Sdk/4.
|
2 |
<PropertyGroup>
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<TargetFramework>net6.0</TargetFramework>
|
4 |
<EnableDynamicLoading>true</EnableDynamicLoading>
|
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</PropertyGroup>
|
6 |
<ItemGroup>
|
7 |
-
<PackageReference Include="Microsoft.ML.OnnxRuntime" Version="1.
|
8 |
-
<PackageReference Include="Microsoft.ML.OnnxRuntime.DirectML" Version="1.14.1" />
|
9 |
-
<PackageReference Include="Microsoft.ML.OnnxRuntime.Gpu" Version="1.14.1" />
|
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-
<PackageReference Include="System.Numerics.Tensors" Version="0.1.0" />
|
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</ItemGroup>
|
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</Project>
|
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+
<Project Sdk="Godot.NET.Sdk/4.0.3">
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<PropertyGroup>
|
3 |
<TargetFramework>net6.0</TargetFramework>
|
4 |
<EnableDynamicLoading>true</EnableDynamicLoading>
|
5 |
+
<RootNamespace>GodotRLAgents</RootNamespace>
|
6 |
</PropertyGroup>
|
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<ItemGroup>
|
8 |
+
<PackageReference Include="Microsoft.ML.OnnxRuntime" Version="1.15.1" />
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</ItemGroup>
|
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</Project>
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FlyBy.sln
CHANGED
@@ -1,19 +1,25 @@
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1 |
-
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-
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-
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EndProject
|
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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
7 |
-
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-
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-
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EndGlobalSection
|
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GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
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-
{
|
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-
{
|
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-
{
|
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-
{
|
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-
{
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-
{
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EndGlobalSection
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EndGlobal
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+
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+
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}"
|
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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
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13 |
EndGlobalSection
|
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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
|
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+
{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU
|
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+
{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU
|
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+
{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU
|
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+
EndGlobalSection
|
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+
GlobalSection(SolutionProperties) = preSolution
|
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+
HideSolutionNode = FALSE
|
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EndGlobalSection
|
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EndGlobal
|
addons/godot_rl_agents/controller/ai_controller_2d.gd
CHANGED
@@ -1,8 +1,23 @@
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extends Node2D
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class_name AIController2D
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@export var reset_after := 1000
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var heuristic := "human"
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var done := false
|
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var reward := 0.0
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@@ -11,72 +26,88 @@ var needs_reset := false
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var _player: Node2D
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func _ready():
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add_to_group("AGENT")
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-
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func init(player: Node2D):
|
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_player = player
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-
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#-- Methods that need implementing using the "extend script" option in Godot --#
|
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func get_obs() -> Dictionary:
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-
assert(false, "the get_obs method is not implemented when extending from ai_controller")
|
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-
return {"obs":[]}
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-
func get_reward() -> float:
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-
assert(false, "the get_reward method is not implemented when extending from ai_controller")
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return 0.0
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-
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func get_action_space() -> Dictionary:
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-
assert(
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return {
|
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-
"example_actions_continous" :
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-
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-
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-
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-
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-
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-
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-
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-
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-
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-
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-
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# -----------------------------------------------------------------------------#
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-
|
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func _physics_process(delta):
|
47 |
n_steps += 1
|
48 |
if n_steps > reset_after:
|
49 |
needs_reset = true
|
50 |
-
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|
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func get_obs_space():
|
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# may need overriding if the obs space is complex
|
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var obs = get_obs()
|
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return {
|
55 |
-
"obs": {
|
56 |
-
"size": [len(obs["obs"])],
|
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-
"space": "box"
|
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-
},
|
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}
|
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|
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func reset():
|
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n_steps = 0
|
63 |
needs_reset = false
|
64 |
|
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|
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 |
|
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|
73 |
func get_done():
|
74 |
return done
|
75 |
-
|
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|
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func set_done_false():
|
77 |
done = false
|
78 |
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|
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func zero_reward():
|
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reward = 0.0
|
81 |
-
|
82 |
-
|
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|
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(
|
|
|
|
|
|
|
31 |
return {
|
32 |
-
"example_actions_continous" :
|
33 |
-
|
34 |
-
|
35 |
-
|
36 |
-
|
37 |
-
|
38 |
-
|
39 |
-
|
40 |
-
|
41 |
-
|
42 |
-
|
43 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
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 |
-
|
|
|
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
|
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
|
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:
|
|
|
7 |
set(value):
|
8 |
collision_mask = value
|
9 |
_update()
|
10 |
|
11 |
@export var collide_with_areas := false:
|
12 |
-
get:
|
|
|
13 |
set(value):
|
14 |
collide_with_areas = value
|
15 |
_update()
|
16 |
|
17 |
@export var collide_with_bodies := true:
|
18 |
-
get:
|
|
|
19 |
set(value):
|
20 |
collide_with_bodies = value
|
21 |
_update()
|
22 |
|
23 |
@export var n_rays := 16.0:
|
24 |
-
get:
|
|
|
25 |
set(value):
|
26 |
n_rays = value
|
27 |
_update()
|
28 |
-
|
29 |
-
@export_range(5,
|
30 |
-
get:
|
|
|
31 |
set(value):
|
32 |
ray_length = value
|
33 |
_update()
|
34 |
-
@export_range(5,360,5.0) var cone_width := 360.0:
|
35 |
-
get:
|
|
|
36 |
set(value):
|
37 |
cone_width = value
|
38 |
_update()
|
39 |
-
|
40 |
-
@export var debug_draw := true
|
41 |
-
get:
|
|
|
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(
|
75 |
-
ray_length*cos(deg_to_rad(angle)),
|
76 |
-
|
77 |
-
))
|
78 |
-
ray.
|
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 |
-
|
91 |
-
if self._active:
|
92 |
-
self._obs = calculate_raycasts()
|
93 |
-
|
94 |
func get_observation() -> Array:
|
95 |
-
|
96 |
-
|
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 |
-
|
|
|
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 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
|
|
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|
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|
|
|
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|
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|
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
|
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().
|
|
|
9 |
|
10 |
-
func get_camera_shape()-> Array:
|
11 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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 |
|
3 |
-
[ext_resource path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd"
|
4 |
|
5 |
-
[sub_resource type="ViewportTexture" id=1]
|
6 |
viewport_path = NodePath("SubViewport")
|
7 |
|
8 |
[node name="RGBCameraSensor3D" type="Node3D"]
|
9 |
-
script = ExtResource(
|
10 |
|
11 |
[node name="RemoteTransform3D" type="RemoteTransform3D" parent="."]
|
12 |
remote_path = NodePath("../SubViewport/Camera3D")
|
13 |
|
14 |
[node name="SubViewport" type="SubViewport" parent="."]
|
15 |
-
size =
|
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 |
-
|
25 |
-
|
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(
|
34 |
-
color = Color(
|
35 |
-
__meta__ = {
|
36 |
-
"_edit_use_anchors_": false
|
37 |
-
}
|
38 |
|
39 |
[node name="CameraTexture" type="Sprite2D" parent="Control/TextureRect"]
|
40 |
-
texture = SubResource(
|
41 |
-
offset = Vector2(
|
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:
|
|
|
6 |
set(value):
|
7 |
collision_mask = value
|
8 |
_update()
|
9 |
@export_flags_3d_physics var boolean_class_mask = 1:
|
10 |
-
get:
|
|
|
11 |
set(value):
|
12 |
boolean_class_mask = value
|
13 |
_update()
|
14 |
|
15 |
@export var n_rays_width := 6.0:
|
16 |
-
get:
|
|
|
17 |
set(value):
|
18 |
n_rays_width = value
|
19 |
_update()
|
20 |
-
|
21 |
@export var n_rays_height := 6.0:
|
22 |
-
get:
|
|
|
23 |
set(value):
|
24 |
n_rays_height = value
|
25 |
_update()
|
26 |
|
27 |
@export var ray_length := 10.0:
|
28 |
-
get:
|
|
|
29 |
set(value):
|
30 |
ray_length = value
|
31 |
_update()
|
32 |
-
|
33 |
@export var cone_width := 60.0:
|
34 |
-
get:
|
|
|
35 |
set(value):
|
36 |
cone_width = value
|
37 |
_update()
|
38 |
-
|
39 |
@export var cone_height := 60.0:
|
40 |
-
get:
|
|
|
41 |
set(value):
|
42 |
cone_height = value
|
43 |
_update()
|
44 |
|
45 |
@export var collide_with_areas := false:
|
46 |
-
get:
|
|
|
47 |
set(value):
|
48 |
collide_with_areas = value
|
49 |
_update()
|
50 |
-
|
51 |
@export var collide_with_bodies := true:
|
52 |
-
get:
|
|
|
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
|
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 |
-
|
|
|
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="
|
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="
|
21 |
target_position = Vector3(-1.38686, 2.84701, 10.5343)
|
22 |
|
23 |
-
[node name="
|
24 |
target_position = Vector3(1.38686, -2.84701, 10.5343)
|
25 |
|
26 |
-
[node name="
|
27 |
target_position = Vector3(1.38686, 2.84701, 10.5343)
|
28 |
|
29 |
-
[node name="
|
30 |
target_position = Vector3(4.06608, -2.84701, 9.81639)
|
31 |
|
32 |
-
[node name="
|
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(
|
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 := "
|
11 |
const DEFAULT_PORT := "11008"
|
12 |
const DEFAULT_SEED := "1"
|
13 |
-
var stream
|
14 |
var connected = false
|
15 |
var message_center
|
16 |
var should_connect = true
|
17 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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
|
26 |
-
var
|
|
|
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
|
43 |
Engine.time_scale = _get_speedup() * 1.0
|
44 |
-
prints(
|
45 |
-
|
46 |
-
|
47 |
-
|
48 |
-
|
49 |
-
|
50 |
-
|
51 |
-
|
52 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
53 |
connected = connect_to_server()
|
54 |
if connected:
|
55 |
-
_set_heuristic("model")
|
56 |
_handshake()
|
57 |
_send_env_info()
|
58 |
else:
|
59 |
-
|
60 |
-
|
61 |
-
|
62 |
-
|
63 |
-
|
64 |
-
|
65 |
-
func
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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66 |
# two modes, human control, agent control
|
67 |
# pause tree, send obs, get actions, set actions, unpause tree
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|
68 |
if n_action_steps % action_repeat != 0:
|
69 |
n_action_steps += 1
|
70 |
return
|
71 |
|
72 |
n_action_steps += 1
|
73 |
-
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|
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 |
-
|
109 |
-
|
110 |
-
|
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|
111 |
var actions = []
|
112 |
-
|
113 |
-
|
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|
114 |
action["output"] = clamp_array(action["output"], -1.0, 1.0)
|
115 |
-
var action_dict = _extract_action_dict(
|
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|
|
116 |
actions.append(action_dict)
|
117 |
-
|
118 |
-
_set_agent_actions(actions)
|
119 |
-
|
120 |
-
get_tree().set_pause(false)
|
121 |
-
|
122 |
-
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|
123 |
else:
|
124 |
-
|
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|
125 |
|
126 |
-
func _extract_action_dict(action_array: Array):
|
127 |
var index = 0
|
128 |
var result = {}
|
129 |
-
for key in
|
130 |
-
var size =
|
131 |
-
if
|
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 |
-
|
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|
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"
|
187 |
"observation_space": _obs_space,
|
188 |
-
"action_space":_action_space,
|
189 |
-
"n_agents": len(
|
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)
|
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)).
|
|
|
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 |
-
|
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
|
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 |
-
|
|
|
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 |
-
|
316 |
-
|
|
|
317 |
for agent in agents:
|
318 |
rewards.append(agent.get_reward())
|
319 |
agent.zero_reward()
|
320 |
-
return rewards
|
321 |
-
|
322 |
-
|
323 |
-
|
|
|
324 |
for agent in agents:
|
325 |
var done = agent.get_done()
|
326 |
-
if done:
|
|
|
327 |
dones.append(done)
|
328 |
-
return dones
|
329 |
-
|
330 |
-
|
|
|
331 |
for i in range(len(actions)):
|
332 |
agents[i].set_action(actions[i])
|
333 |
-
|
334 |
-
|
335 |
-
|
|
|
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 @@
|
|
1 |
version https://git-lfs.github.com/spec/v1
|
2 |
-
oid sha256:
|
3 |
-
size
|
|
|
1 |
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:be528ff75d41e64ecafda7738cbb181fb5dbda7b928a942fbb67c75c30ee0827
|
3 |
+
size 7229552
|
bin/data_FlyBy_linuxbsd_x86_64/FlyBy.deps.json
ADDED
@@ -0,0 +1,2980 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
1128 |
+
"alpine.3.9",
|
1129 |
+
"alpine.3.8-x64",
|
1130 |
+
"alpine.3.8",
|
1131 |
+
"alpine.3.7-x64",
|
1132 |
+
"alpine.3.7",
|
1133 |
+
"alpine.3.6-x64",
|
1134 |
+
"alpine.3.6",
|
1135 |
+
"alpine-x64",
|
1136 |
+
"alpine",
|
1137 |
+
"linux-musl-x64",
|
1138 |
+
"linux-musl",
|
1139 |
+
"linux-x64",
|
1140 |
+
"linux",
|
1141 |
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"unix-x64",
|
1142 |
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"unix",
|
1143 |
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"any",
|
1144 |
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"base"
|
1145 |
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],
|
1146 |
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|
1147 |
+
"android",
|
1148 |
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"linux-x64",
|
1149 |
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"linux",
|
1150 |
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"unix-x64",
|
1151 |
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"unix",
|
1152 |
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"any",
|
1153 |
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"base"
|
1154 |
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],
|
1155 |
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|
1156 |
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"android.21",
|
1157 |
+
"android-x64",
|
1158 |
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"android",
|
1159 |
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"linux-x64",
|
1160 |
+
"linux",
|
1161 |
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"unix-x64",
|
1162 |
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"unix",
|
1163 |
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"any",
|
1164 |
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"base"
|
1165 |
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],
|
1166 |
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|
1167 |
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"android.22",
|
1168 |
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"android.21-x64",
|
1169 |
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"android.21",
|
1170 |
+
"android-x64",
|
1171 |
+
"android",
|
1172 |
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"linux-x64",
|
1173 |
+
"linux",
|
1174 |
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"unix-x64",
|
1175 |
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"unix",
|
1176 |
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"any",
|
1177 |
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"base"
|
1178 |
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],
|
1179 |
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|
1180 |
+
"android.23",
|
1181 |
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"android.22-x64",
|
1182 |
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"android.22",
|
1183 |
+
"android.21-x64",
|
1184 |
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"android.21",
|
1185 |
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"android-x64",
|
1186 |
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"android",
|
1187 |
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"linux-x64",
|
1188 |
+
"linux",
|
1189 |
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"unix-x64",
|
1190 |
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"unix",
|
1191 |
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"any",
|
1192 |
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"base"
|
1193 |
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],
|
1194 |
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|
1195 |
+
"android.24",
|
1196 |
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"android.23-x64",
|
1197 |
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"android.23",
|
1198 |
+
"android.22-x64",
|
1199 |
+
"android.22",
|
1200 |
+
"android.21-x64",
|
1201 |
+
"android.21",
|
1202 |
+
"android-x64",
|
1203 |
+
"android",
|
1204 |
+
"linux-x64",
|
1205 |
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"linux",
|
1206 |
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"unix-x64",
|
1207 |
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"unix",
|
1208 |
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"any",
|
1209 |
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"base"
|
1210 |
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],
|
1211 |
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|
1212 |
+
"android.25",
|
1213 |
+
"android.24-x64",
|
1214 |
+
"android.24",
|
1215 |
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"android.23-x64",
|
1216 |
+
"android.23",
|
1217 |
+
"android.22-x64",
|
1218 |
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"android.22",
|
1219 |
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"android.21-x64",
|
1220 |
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"android.21",
|
1221 |
+
"android-x64",
|
1222 |
+
"android",
|
1223 |
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"linux-x64",
|
1224 |
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"linux",
|
1225 |
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"unix-x64",
|
1226 |
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"unix",
|
1227 |
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"any",
|
1228 |
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"base"
|
1229 |
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],
|
1230 |
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|
1231 |
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"android.26",
|
1232 |
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"android.25-x64",
|
1233 |
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"android.25",
|
1234 |
+
"android.24-x64",
|
1235 |
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"android.24",
|
1236 |
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"android.23-x64",
|
1237 |
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"android.23",
|
1238 |
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"android.22-x64",
|
1239 |
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"android.22",
|
1240 |
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"android.21-x64",
|
1241 |
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"android.21",
|
1242 |
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"android-x64",
|
1243 |
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"android",
|
1244 |
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"linux-x64",
|
1245 |
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"linux",
|
1246 |
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"unix-x64",
|
1247 |
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"unix",
|
1248 |
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"any",
|
1249 |
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"base"
|
1250 |
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],
|
1251 |
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|
1252 |
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"android.27",
|
1253 |
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"android.26-x64",
|
1254 |
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"android.26",
|
1255 |
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"android.25-x64",
|
1256 |
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"android.25",
|
1257 |
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"android.24-x64",
|
1258 |
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"android.24",
|
1259 |
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"android.23-x64",
|
1260 |
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"android.23",
|
1261 |
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"android.22-x64",
|
1262 |
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"android.22",
|
1263 |
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"android.21-x64",
|
1264 |
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"android.21",
|
1265 |
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"android-x64",
|
1266 |
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"android",
|
1267 |
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"linux-x64",
|
1268 |
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"linux",
|
1269 |
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"unix-x64",
|
1270 |
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"unix",
|
1271 |
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"any",
|
1272 |
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"base"
|
1273 |
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],
|
1274 |
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|
1275 |
+
"android.28",
|
1276 |
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"android.27-x64",
|
1277 |
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"android.27",
|
1278 |
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"android.26-x64",
|
1279 |
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"android.26",
|
1280 |
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"android.25-x64",
|
1281 |
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"android.25",
|
1282 |
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"android.24-x64",
|
1283 |
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"android.24",
|
1284 |
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"android.23-x64",
|
1285 |
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"android.23",
|
1286 |
+
"android.22-x64",
|
1287 |
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"android.22",
|
1288 |
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"android.21-x64",
|
1289 |
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"android.21",
|
1290 |
+
"android-x64",
|
1291 |
+
"android",
|
1292 |
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"linux-x64",
|
1293 |
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"linux",
|
1294 |
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"unix-x64",
|
1295 |
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"unix",
|
1296 |
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"any",
|
1297 |
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"base"
|
1298 |
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],
|
1299 |
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|
1300 |
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"android.29",
|
1301 |
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"android.28-x64",
|
1302 |
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"android.28",
|
1303 |
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"android.27-x64",
|
1304 |
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"android.27",
|
1305 |
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"android.26-x64",
|
1306 |
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"android.26",
|
1307 |
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"android.25-x64",
|
1308 |
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"android.25",
|
1309 |
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"android.24-x64",
|
1310 |
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"android.24",
|
1311 |
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"android.23-x64",
|
1312 |
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"android.23",
|
1313 |
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"android.22-x64",
|
1314 |
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"android.22",
|
1315 |
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"android.21-x64",
|
1316 |
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"android.21",
|
1317 |
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"android-x64",
|
1318 |
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"android",
|
1319 |
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"linux-x64",
|
1320 |
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"linux",
|
1321 |
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"unix-x64",
|
1322 |
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"unix",
|
1323 |
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"any",
|
1324 |
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"base"
|
1325 |
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],
|
1326 |
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|
1327 |
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"android.30",
|
1328 |
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"android.29-x64",
|
1329 |
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"android.29",
|
1330 |
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"android.28-x64",
|
1331 |
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"android.28",
|
1332 |
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"android.27-x64",
|
1333 |
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"android.27",
|
1334 |
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"android.26-x64",
|
1335 |
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"android.26",
|
1336 |
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"android.25-x64",
|
1337 |
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"android.25",
|
1338 |
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"android.24-x64",
|
1339 |
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"android.24",
|
1340 |
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"android.23-x64",
|
1341 |
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"android.23",
|
1342 |
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"android.22-x64",
|
1343 |
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"android.22",
|
1344 |
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"android.21-x64",
|
1345 |
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"android.21",
|
1346 |
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"android-x64",
|
1347 |
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"android",
|
1348 |
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"linux-x64",
|
1349 |
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"linux",
|
1350 |
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"unix-x64",
|
1351 |
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"unix",
|
1352 |
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"any",
|
1353 |
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"base"
|
1354 |
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],
|
1355 |
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|
1356 |
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"android.31",
|
1357 |
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"android.30-x64",
|
1358 |
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"android.30",
|
1359 |
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"android.29-x64",
|
1360 |
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"android.29",
|
1361 |
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"android.28-x64",
|
1362 |
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"android.28",
|
1363 |
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"android.27-x64",
|
1364 |
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"android.27",
|
1365 |
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"android.26-x64",
|
1366 |
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"android.26",
|
1367 |
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"android.25-x64",
|
1368 |
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"android.25",
|
1369 |
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"android.24-x64",
|
1370 |
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"android.24",
|
1371 |
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"android.23-x64",
|
1372 |
+
"android.23",
|
1373 |
+
"android.22-x64",
|
1374 |
+
"android.22",
|
1375 |
+
"android.21-x64",
|
1376 |
+
"android.21",
|
1377 |
+
"android-x64",
|
1378 |
+
"android",
|
1379 |
+
"linux-x64",
|
1380 |
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"linux",
|
1381 |
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"unix-x64",
|
1382 |
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"unix",
|
1383 |
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"any",
|
1384 |
+
"base"
|
1385 |
+
],
|
1386 |
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|
1387 |
+
"android.32",
|
1388 |
+
"android.31-x64",
|
1389 |
+
"android.31",
|
1390 |
+
"android.30-x64",
|
1391 |
+
"android.30",
|
1392 |
+
"android.29-x64",
|
1393 |
+
"android.29",
|
1394 |
+
"android.28-x64",
|
1395 |
+
"android.28",
|
1396 |
+
"android.27-x64",
|
1397 |
+
"android.27",
|
1398 |
+
"android.26-x64",
|
1399 |
+
"android.26",
|
1400 |
+
"android.25-x64",
|
1401 |
+
"android.25",
|
1402 |
+
"android.24-x64",
|
1403 |
+
"android.24",
|
1404 |
+
"android.23-x64",
|
1405 |
+
"android.23",
|
1406 |
+
"android.22-x64",
|
1407 |
+
"android.22",
|
1408 |
+
"android.21-x64",
|
1409 |
+
"android.21",
|
1410 |
+
"android-x64",
|
1411 |
+
"android",
|
1412 |
+
"linux-x64",
|
1413 |
+
"linux",
|
1414 |
+
"unix-x64",
|
1415 |
+
"unix",
|
1416 |
+
"any",
|
1417 |
+
"base"
|
1418 |
+
],
|
1419 |
+
"arch-x64": [
|
1420 |
+
"arch",
|
1421 |
+
"linux-x64",
|
1422 |
+
"linux",
|
1423 |
+
"unix-x64",
|
1424 |
+
"unix",
|
1425 |
+
"any",
|
1426 |
+
"base"
|
1427 |
+
],
|
1428 |
+
"centos-x64": [
|
1429 |
+
"centos",
|
1430 |
+
"rhel-x64",
|
1431 |
+
"rhel",
|
1432 |
+
"linux-x64",
|
1433 |
+
"linux",
|
1434 |
+
"unix-x64",
|
1435 |
+
"unix",
|
1436 |
+
"any",
|
1437 |
+
"base"
|
1438 |
+
],
|
1439 |
+
"centos.7-x64": [
|
1440 |
+
"centos.7",
|
1441 |
+
"centos-x64",
|
1442 |
+
"rhel.7-x64",
|
1443 |
+
"centos",
|
1444 |
+
"rhel.7",
|
1445 |
+
"rhel-x64",
|
1446 |
+
"rhel",
|
1447 |
+
"linux-x64",
|
1448 |
+
"linux",
|
1449 |
+
"unix-x64",
|
1450 |
+
"unix",
|
1451 |
+
"any",
|
1452 |
+
"base"
|
1453 |
+
],
|
1454 |
+
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|
1455 |
+
"centos.8",
|
1456 |
+
"centos-x64",
|
1457 |
+
"rhel.8-x64",
|
1458 |
+
"centos",
|
1459 |
+
"rhel.8",
|
1460 |
+
"rhel-x64",
|
1461 |
+
"rhel",
|
1462 |
+
"linux-x64",
|
1463 |
+
"linux",
|
1464 |
+
"unix-x64",
|
1465 |
+
"unix",
|
1466 |
+
"any",
|
1467 |
+
"base"
|
1468 |
+
],
|
1469 |
+
"centos.9-x64": [
|
1470 |
+
"centos.9",
|
1471 |
+
"centos-x64",
|
1472 |
+
"rhel.9-x64",
|
1473 |
+
"centos",
|
1474 |
+
"rhel.9",
|
1475 |
+
"rhel-x64",
|
1476 |
+
"rhel",
|
1477 |
+
"linux-x64",
|
1478 |
+
"linux",
|
1479 |
+
"unix-x64",
|
1480 |
+
"unix",
|
1481 |
+
"any",
|
1482 |
+
"base"
|
1483 |
+
],
|
1484 |
+
"debian-x64": [
|
1485 |
+
"debian",
|
1486 |
+
"linux-x64",
|
1487 |
+
"linux",
|
1488 |
+
"unix-x64",
|
1489 |
+
"unix",
|
1490 |
+
"any",
|
1491 |
+
"base"
|
1492 |
+
],
|
1493 |
+
"debian.10-x64": [
|
1494 |
+
"debian.10",
|
1495 |
+
"debian-x64",
|
1496 |
+
"debian",
|
1497 |
+
"linux-x64",
|
1498 |
+
"linux",
|
1499 |
+
"unix-x64",
|
1500 |
+
"unix",
|
1501 |
+
"any",
|
1502 |
+
"base"
|
1503 |
+
],
|
1504 |
+
"debian.11-x64": [
|
1505 |
+
"debian.11",
|
1506 |
+
"debian-x64",
|
1507 |
+
"debian",
|
1508 |
+
"linux-x64",
|
1509 |
+
"linux",
|
1510 |
+
"unix-x64",
|
1511 |
+
"unix",
|
1512 |
+
"any",
|
1513 |
+
"base"
|
1514 |
+
],
|
1515 |
+
"debian.12-x64": [
|
1516 |
+
"debian.12",
|
1517 |
+
"debian-x64",
|
1518 |
+
"debian",
|
1519 |
+
"linux-x64",
|
1520 |
+
"linux",
|
1521 |
+
"unix-x64",
|
1522 |
+
"unix",
|
1523 |
+
"any",
|
1524 |
+
"base"
|
1525 |
+
],
|
1526 |
+
"debian.8-x64": [
|
1527 |
+
"debian.8",
|
1528 |
+
"debian-x64",
|
1529 |
+
"debian",
|
1530 |
+
"linux-x64",
|
1531 |
+
"linux",
|
1532 |
+
"unix-x64",
|
1533 |
+
"unix",
|
1534 |
+
"any",
|
1535 |
+
"base"
|
1536 |
+
],
|
1537 |
+
"debian.9-x64": [
|
1538 |
+
"debian.9",
|
1539 |
+
"debian-x64",
|
1540 |
+
"debian",
|
1541 |
+
"linux-x64",
|
1542 |
+
"linux",
|
1543 |
+
"unix-x64",
|
1544 |
+
"unix",
|
1545 |
+
"any",
|
1546 |
+
"base"
|
1547 |
+
],
|
1548 |
+
"exherbo-x64": [
|
1549 |
+
"exherbo",
|
1550 |
+
"linux-x64",
|
1551 |
+
"linux",
|
1552 |
+
"unix-x64",
|
1553 |
+
"unix",
|
1554 |
+
"any",
|
1555 |
+
"base"
|
1556 |
+
],
|
1557 |
+
"fedora-x64": [
|
1558 |
+
"fedora",
|
1559 |
+
"linux-x64",
|
1560 |
+
"linux",
|
1561 |
+
"unix-x64",
|
1562 |
+
"unix",
|
1563 |
+
"any",
|
1564 |
+
"base"
|
1565 |
+
],
|
1566 |
+
"fedora.23-x64": [
|
1567 |
+
"fedora.23",
|
1568 |
+
"fedora-x64",
|
1569 |
+
"fedora",
|
1570 |
+
"linux-x64",
|
1571 |
+
"linux",
|
1572 |
+
"unix-x64",
|
1573 |
+
"unix",
|
1574 |
+
"any",
|
1575 |
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1576 |
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1577 |
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|
1578 |
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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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1587 |
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1588 |
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|
1589 |
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|
1590 |
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|
1591 |
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1592 |
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1593 |
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1594 |
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1595 |
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1596 |
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1597 |
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1598 |
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1599 |
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|
1600 |
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1601 |
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1602 |
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1603 |
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1604 |
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1605 |
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1606 |
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1607 |
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1608 |
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1609 |
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1610 |
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1611 |
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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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1617 |
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1618 |
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1619 |
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1620 |
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1621 |
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1622 |
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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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1664 |
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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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1775 |
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1776 |
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1777 |
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1778 |
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|
1779 |
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1780 |
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|
1781 |
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1782 |
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1783 |
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1784 |
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1785 |
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1786 |
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1787 |
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1788 |
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1789 |
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1790 |
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1791 |
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1792 |
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1793 |
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1794 |
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1795 |
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1796 |
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1797 |
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|
1798 |
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|
1799 |
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|
1800 |
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1801 |
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1802 |
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1803 |
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1804 |
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1805 |
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1806 |
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1807 |
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1808 |
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1809 |
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1810 |
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1811 |
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1812 |
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1813 |
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1814 |
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1815 |
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1816 |
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1817 |
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1818 |
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1819 |
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1820 |
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1821 |
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1822 |
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1823 |
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1824 |
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1825 |
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1826 |
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1827 |
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1828 |
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1829 |
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1830 |
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1831 |
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1832 |
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1833 |
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1834 |
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1835 |
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1836 |
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1837 |
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1838 |
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1839 |
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1840 |
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1841 |
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1842 |
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1843 |
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1844 |
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1845 |
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1846 |
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1847 |
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1848 |
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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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1864 |
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|
1865 |
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|
1866 |
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1867 |
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1868 |
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|
1869 |
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|
1870 |
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"ubuntu.16.04",
|
1871 |
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"ubuntu-x64",
|
1872 |
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"ubuntu",
|
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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"unix",
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1879 |
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1880 |
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1881 |
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|
1882 |
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|
1883 |
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1884 |
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1885 |
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|
1886 |
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|
1887 |
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|
1888 |
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|
1889 |
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|
1890 |
+
"ubuntu-x64",
|
1891 |
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"ubuntu",
|
1892 |
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|
1893 |
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"debian",
|
1894 |
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"linux-x64",
|
1895 |
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"linux",
|
1896 |
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1897 |
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"unix",
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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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"linuxmint.18",
|
1909 |
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"ubuntu.16.04-x64",
|
1910 |
+
"ubuntu.16.04",
|
1911 |
+
"ubuntu-x64",
|
1912 |
+
"ubuntu",
|
1913 |
+
"debian-x64",
|
1914 |
+
"debian",
|
1915 |
+
"linux-x64",
|
1916 |
+
"linux",
|
1917 |
+
"unix-x64",
|
1918 |
+
"unix",
|
1919 |
+
"any",
|
1920 |
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"base"
|
1921 |
+
],
|
1922 |
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|
1923 |
+
"linuxmint.19",
|
1924 |
+
"ubuntu.18.04-x64",
|
1925 |
+
"ubuntu.18.04",
|
1926 |
+
"ubuntu-x64",
|
1927 |
+
"ubuntu",
|
1928 |
+
"debian-x64",
|
1929 |
+
"debian",
|
1930 |
+
"linux-x64",
|
1931 |
+
"linux",
|
1932 |
+
"unix-x64",
|
1933 |
+
"unix",
|
1934 |
+
"any",
|
1935 |
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|
1936 |
+
],
|
1937 |
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|
1938 |
+
"linuxmint.19.1",
|
1939 |
+
"linuxmint.19-x64",
|
1940 |
+
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|
1941 |
+
"ubuntu.18.04-x64",
|
1942 |
+
"ubuntu.18.04",
|
1943 |
+
"ubuntu-x64",
|
1944 |
+
"ubuntu",
|
1945 |
+
"debian-x64",
|
1946 |
+
"debian",
|
1947 |
+
"linux-x64",
|
1948 |
+
"linux",
|
1949 |
+
"unix-x64",
|
1950 |
+
"unix",
|
1951 |
+
"any",
|
1952 |
+
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|
1953 |
+
],
|
1954 |
+
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|
1955 |
+
"linuxmint.19.2",
|
1956 |
+
"linuxmint.19.1-x64",
|
1957 |
+
"linuxmint.19.1",
|
1958 |
+
"linuxmint.19-x64",
|
1959 |
+
"linuxmint.19",
|
1960 |
+
"ubuntu.18.04-x64",
|
1961 |
+
"ubuntu.18.04",
|
1962 |
+
"ubuntu-x64",
|
1963 |
+
"ubuntu",
|
1964 |
+
"debian-x64",
|
1965 |
+
"debian",
|
1966 |
+
"linux-x64",
|
1967 |
+
"linux",
|
1968 |
+
"unix-x64",
|
1969 |
+
"unix",
|
1970 |
+
"any",
|
1971 |
+
"base"
|
1972 |
+
],
|
1973 |
+
"ol-x64": [
|
1974 |
+
"ol",
|
1975 |
+
"rhel-x64",
|
1976 |
+
"rhel",
|
1977 |
+
"linux-x64",
|
1978 |
+
"linux",
|
1979 |
+
"unix-x64",
|
1980 |
+
"unix",
|
1981 |
+
"any",
|
1982 |
+
"base"
|
1983 |
+
],
|
1984 |
+
"ol.7-x64": [
|
1985 |
+
"ol.7",
|
1986 |
+
"ol-x64",
|
1987 |
+
"rhel.7-x64",
|
1988 |
+
"ol",
|
1989 |
+
"rhel.7",
|
1990 |
+
"rhel-x64",
|
1991 |
+
"rhel",
|
1992 |
+
"linux-x64",
|
1993 |
+
"linux",
|
1994 |
+
"unix-x64",
|
1995 |
+
"unix",
|
1996 |
+
"any",
|
1997 |
+
"base"
|
1998 |
+
],
|
1999 |
+
"ol.7.0-x64": [
|
2000 |
+
"ol.7.0",
|
2001 |
+
"ol.7-x64",
|
2002 |
+
"rhel.7.0-x64",
|
2003 |
+
"ol.7",
|
2004 |
+
"rhel.7.0",
|
2005 |
+
"ol-x64",
|
2006 |
+
"rhel.7-x64",
|
2007 |
+
"ol",
|
2008 |
+
"rhel.7",
|
2009 |
+
"rhel-x64",
|
2010 |
+
"rhel",
|
2011 |
+
"linux-x64",
|
2012 |
+
"linux",
|
2013 |
+
"unix-x64",
|
2014 |
+
"unix",
|
2015 |
+
"any",
|
2016 |
+
"base"
|
2017 |
+
],
|
2018 |
+
"ol.7.1-x64": [
|
2019 |
+
"ol.7.1",
|
2020 |
+
"ol.7.0-x64",
|
2021 |
+
"rhel.7.1-x64",
|
2022 |
+
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2445 |
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2446 |
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2447 |
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2448 |
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2449 |
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2450 |
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2451 |
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2452 |
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2453 |
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2454 |
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2455 |
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2456 |
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2457 |
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2458 |
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2459 |
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2460 |
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2461 |
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2462 |
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2463 |
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2464 |
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2465 |
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2466 |
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2467 |
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2468 |
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2469 |
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2470 |
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2471 |
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2472 |
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2473 |
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2474 |
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2475 |
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2476 |
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2477 |
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2478 |
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2479 |
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2480 |
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2481 |
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2482 |
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2483 |
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2484 |
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2485 |
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2486 |
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2487 |
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2488 |
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2489 |
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2490 |
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2491 |
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2492 |
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2493 |
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2494 |
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2495 |
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2496 |
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2497 |
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2498 |
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2499 |
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2500 |
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2501 |
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2502 |
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2503 |
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2504 |
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2505 |
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2506 |
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2507 |
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2508 |
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2509 |
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2510 |
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2511 |
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2512 |
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2513 |
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2514 |
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2515 |
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2516 |
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2517 |
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2518 |
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2519 |
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2520 |
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2521 |
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2522 |
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2523 |
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2524 |
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2525 |
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2526 |
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2527 |
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2528 |
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2529 |
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2530 |
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2531 |
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2532 |
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2533 |
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2534 |
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2535 |
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2536 |
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2537 |
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2538 |
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2539 |
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2540 |
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2541 |
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2542 |
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2543 |
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2544 |
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2545 |
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2546 |
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2547 |
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2548 |
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2549 |
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2550 |
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2551 |
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2552 |
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2553 |
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2554 |
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2555 |
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2556 |
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2557 |
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2558 |
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2559 |
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2560 |
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2561 |
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2562 |
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2563 |
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2564 |
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2565 |
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2566 |
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2567 |
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2568 |
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2569 |
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2570 |
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2571 |
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2572 |
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2573 |
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2574 |
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2575 |
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2576 |
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2577 |
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2578 |
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2579 |
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2580 |
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2581 |
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2582 |
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2583 |
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2584 |
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2585 |
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2586 |
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2587 |
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2588 |
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2589 |
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2590 |
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2591 |
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2592 |
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2593 |
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2594 |
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2595 |
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2596 |
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2597 |
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2598 |
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2599 |
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2601 |
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2602 |
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2603 |
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2604 |
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2605 |
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2606 |
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2607 |
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2608 |
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2609 |
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2610 |
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2611 |
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2612 |
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2613 |
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2614 |
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2615 |
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2616 |
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2617 |
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2618 |
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2619 |
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2620 |
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2621 |
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2622 |
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2623 |
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2629 |
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2630 |
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2631 |
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2632 |
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2633 |
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2634 |
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2635 |
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2636 |
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2637 |
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2638 |
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2639 |
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2640 |
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2641 |
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2642 |
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2643 |
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2644 |
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2645 |
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2647 |
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2648 |
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2649 |
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2650 |
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2653 |
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2654 |
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2655 |
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2656 |
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2657 |
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2658 |
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2660 |
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2662 |
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2663 |
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2664 |
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2665 |
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2666 |
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2667 |
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2668 |
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2669 |
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2670 |
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2671 |
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2672 |
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2673 |
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2674 |
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2675 |
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2676 |
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2677 |
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2678 |
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2679 |
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2680 |
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2681 |
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2682 |
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2683 |
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2687 |
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2688 |
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2689 |
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2690 |
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2691 |
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2692 |
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2693 |
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2695 |
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2696 |
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2697 |
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2698 |
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2699 |
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2700 |
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2701 |
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2702 |
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2703 |
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2705 |
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2707 |
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2709 |
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2710 |
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2711 |
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2712 |
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2713 |
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2714 |
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2715 |
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2716 |
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2717 |
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2718 |
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2719 |
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2720 |
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2721 |
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2722 |
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2723 |
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2724 |
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2725 |
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2726 |
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2727 |
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2728 |
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2729 |
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2730 |
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2731 |
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2733 |
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2734 |
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2735 |
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2736 |
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2737 |
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2738 |
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2739 |
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2740 |
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2741 |
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2742 |
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2747 |
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2748 |
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2749 |
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2750 |
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2751 |
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2752 |
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2753 |
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2754 |
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2755 |
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2756 |
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2759 |
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2760 |
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2761 |
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2762 |
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2763 |
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2764 |
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2765 |
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2766 |
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2767 |
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2768 |
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2769 |
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2772 |
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2773 |
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2774 |
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2775 |
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2776 |
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2777 |
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2778 |
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2779 |
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2780 |
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2781 |
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2785 |
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2786 |
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2787 |
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2788 |
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2789 |
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2790 |
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2791 |
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2792 |
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2793 |
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2794 |
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2795 |
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2798 |
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2799 |
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2800 |
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2801 |
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2802 |
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2803 |
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2804 |
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2805 |
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2806 |
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2807 |
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2808 |
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2809 |
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2810 |
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2811 |
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2812 |
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2813 |
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2814 |
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2815 |
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2816 |
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2817 |
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2818 |
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2819 |
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2820 |
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2821 |
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2822 |
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2823 |
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2824 |
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2825 |
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2826 |
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2827 |
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2828 |
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2829 |
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2830 |
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2831 |
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2832 |
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2833 |
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2834 |
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2835 |
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2836 |
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2837 |
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2838 |
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2839 |
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2840 |
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2841 |
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2842 |
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2843 |
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2844 |
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2845 |
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2846 |
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2847 |
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2848 |
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2849 |
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2850 |
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2851 |
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2852 |
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2853 |
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2854 |
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2855 |
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2856 |
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2857 |
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2858 |
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2859 |
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2860 |
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2861 |
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2862 |
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2863 |
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2864 |
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2865 |
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2866 |
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2867 |
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2868 |
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2869 |
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2870 |
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2871 |
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2872 |
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2873 |
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2874 |
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2875 |
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2876 |
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2877 |
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2878 |
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2879 |
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2880 |
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2881 |
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2882 |
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|
2883 |
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|
2884 |
+
"unix",
|
2885 |
+
"any",
|
2886 |
+
"base"
|
2887 |
+
],
|
2888 |
+
"ubuntu.20.10-x64": [
|
2889 |
+
"ubuntu.20.10",
|
2890 |
+
"ubuntu-x64",
|
2891 |
+
"ubuntu",
|
2892 |
+
"debian-x64",
|
2893 |
+
"debian",
|
2894 |
+
"linux-x64",
|
2895 |
+
"linux",
|
2896 |
+
"unix-x64",
|
2897 |
+
"unix",
|
2898 |
+
"any",
|
2899 |
+
"base"
|
2900 |
+
],
|
2901 |
+
"ubuntu.21.04-x64": [
|
2902 |
+
"ubuntu.21.04",
|
2903 |
+
"ubuntu-x64",
|
2904 |
+
"ubuntu",
|
2905 |
+
"debian-x64",
|
2906 |
+
"debian",
|
2907 |
+
"linux-x64",
|
2908 |
+
"linux",
|
2909 |
+
"unix-x64",
|
2910 |
+
"unix",
|
2911 |
+
"any",
|
2912 |
+
"base"
|
2913 |
+
],
|
2914 |
+
"ubuntu.21.10-x64": [
|
2915 |
+
"ubuntu.21.10",
|
2916 |
+
"ubuntu-x64",
|
2917 |
+
"ubuntu",
|
2918 |
+
"debian-x64",
|
2919 |
+
"debian",
|
2920 |
+
"linux-x64",
|
2921 |
+
"linux",
|
2922 |
+
"unix-x64",
|
2923 |
+
"unix",
|
2924 |
+
"any",
|
2925 |
+
"base"
|
2926 |
+
],
|
2927 |
+
"ubuntu.22.04-x64": [
|
2928 |
+
"ubuntu.22.04",
|
2929 |
+
"ubuntu-x64",
|
2930 |
+
"ubuntu",
|
2931 |
+
"debian-x64",
|
2932 |
+
"debian",
|
2933 |
+
"linux-x64",
|
2934 |
+
"linux",
|
2935 |
+
"unix-x64",
|
2936 |
+
"unix",
|
2937 |
+
"any",
|
2938 |
+
"base"
|
2939 |
+
],
|
2940 |
+
"ubuntu.22.10-x64": [
|
2941 |
+
"ubuntu.22.10",
|
2942 |
+
"ubuntu-x64",
|
2943 |
+
"ubuntu",
|
2944 |
+
"debian-x64",
|
2945 |
+
"debian",
|
2946 |
+
"linux-x64",
|
2947 |
+
"linux",
|
2948 |
+
"unix-x64",
|
2949 |
+
"unix",
|
2950 |
+
"any",
|
2951 |
+
"base"
|
2952 |
+
],
|
2953 |
+
"ubuntu.23.04-x64": [
|
2954 |
+
"ubuntu.23.04",
|
2955 |
+
"ubuntu-x64",
|
2956 |
+
"ubuntu",
|
2957 |
+
"debian-x64",
|
2958 |
+
"debian",
|
2959 |
+
"linux-x64",
|
2960 |
+
"linux",
|
2961 |
+
"unix-x64",
|
2962 |
+
"unix",
|
2963 |
+
"any",
|
2964 |
+
"base"
|
2965 |
+
],
|
2966 |
+
"ubuntu.23.10-x64": [
|
2967 |
+
"ubuntu.23.10",
|
2968 |
+
"ubuntu-x64",
|
2969 |
+
"ubuntu",
|
2970 |
+
"debian-x64",
|
2971 |
+
"debian",
|
2972 |
+
"linux-x64",
|
2973 |
+
"linux",
|
2974 |
+
"unix-x64",
|
2975 |
+
"unix",
|
2976 |
+
"any",
|
2977 |
+
"base"
|
2978 |
+
]
|
2979 |
+
}
|
2980 |
+
}
|
bin/data_FlyBy_linuxbsd_x86_64/FlyBy.dll
ADDED
Binary file (11.3 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/FlyBy.pdb
ADDED
Binary file (17.6 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/FlyBy.runtimeconfig.json
ADDED
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
1 |
+
{
|
2 |
+
"runtimeOptions": {
|
3 |
+
"tfm": "net6.0",
|
4 |
+
"includedFrameworks": [
|
5 |
+
{
|
6 |
+
"name": "Microsoft.NETCore.App",
|
7 |
+
"version": "6.0.27"
|
8 |
+
}
|
9 |
+
],
|
10 |
+
"configProperties": {
|
11 |
+
"System.Reflection.Metadata.MetadataUpdater.IsSupported": false
|
12 |
+
}
|
13 |
+
}
|
14 |
+
}
|
bin/data_FlyBy_linuxbsd_x86_64/GodotSharp.dll
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:2f682df7d28190b6cf0e9a4ac452c31cd42473a8b0b1ac05dbc72b914f6a13f3
|
3 |
+
size 4559872
|
bin/data_FlyBy_linuxbsd_x86_64/Microsoft.CSharp.dll
ADDED
Binary file (842 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/Microsoft.ML.OnnxRuntime.dll
ADDED
Binary file (172 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/Microsoft.VisualBasic.Core.dll
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:33c091d557a11ea094e060e920708124c5ff5d620294a53683f9f82700d4896a
|
3 |
+
size 1232656
|
bin/data_FlyBy_linuxbsd_x86_64/Microsoft.VisualBasic.dll
ADDED
Binary file (18.1 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/Microsoft.Win32.Primitives.dll
ADDED
Binary file (24.7 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/Microsoft.Win32.Registry.dll
ADDED
Binary file (59.2 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.AppContext.dll
ADDED
Binary file (15.6 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.Buffers.dll
ADDED
Binary file (15.6 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.Collections.Concurrent.dll
ADDED
Binary file (239 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.Collections.Immutable.dll
ADDED
Binary file (600 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.Collections.NonGeneric.dll
ADDED
Binary file (101 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.Collections.Specialized.dll
ADDED
Binary file (96 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.Collections.dll
ADDED
Binary file (269 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.Annotations.dll
ADDED
Binary file (188 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.DataAnnotations.dll
ADDED
Binary file (17.6 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.EventBasedAsync.dll
ADDED
Binary file (38.6 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.Primitives.dll
ADDED
Binary file (75.9 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.TypeConverter.dll
ADDED
Binary file (752 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.ComponentModel.dll
ADDED
Binary file (18.6 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.Configuration.dll
ADDED
Binary file (19.6 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.Console.dll
ADDED
Binary file (191 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.Core.dll
ADDED
Binary file (24.3 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.Data.Common.dll
ADDED
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
1 |
+
version https://git-lfs.github.com/spec/v1
|
2 |
+
oid sha256:ec5ecfa3706d3fc752c4e5c56ff49b212331693e53c116730c8ccbd03bf62539
|
3 |
+
size 3016992
|
bin/data_FlyBy_linuxbsd_x86_64/System.Data.DataSetExtensions.dll
ADDED
Binary file (16 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.Data.dll
ADDED
Binary file (25.9 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.Diagnostics.Contracts.dll
ADDED
Binary file (16 kB). View file
|
|
bin/data_FlyBy_linuxbsd_x86_64/System.Diagnostics.Debug.dll
ADDED
Binary file (16 kB). View file
|
|