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  1. .gitattributes +35 -0
  2. GridSensor3DExample.csproj.old +1 -1
  3. GridSensor3DExample.sln +25 -0
  4. addons/godot_rl_agents/controller/ai_controller_2d.gd +61 -30
  5. addons/godot_rl_agents/controller/ai_controller_3d.gd +62 -28
  6. addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd +6 -3
  7. addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd +78 -59
  8. addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd +9 -4
  9. addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd +40 -40
  10. addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd +87 -62
  11. addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd +9 -4
  12. addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd +13 -3
  13. addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd +56 -37
  14. addons/godot_rl_agents/sync.gd +331 -133
  15. bin/Ships.pck +2 -2
  16. bin/data_GridSensor3DExample_linuxbsd_x86_64/GodotSharp.dll +3 -0
  17. bin/data_GridSensor3DExample_linuxbsd_x86_64/GridSensor3DExample.deps.json +2980 -0
  18. bin/data_GridSensor3DExample_linuxbsd_x86_64/GridSensor3DExample.dll +0 -0
  19. bin/data_GridSensor3DExample_linuxbsd_x86_64/GridSensor3DExample.pdb +0 -0
  20. bin/data_GridSensor3DExample_linuxbsd_x86_64/GridSensor3DExample.runtimeconfig.json +14 -0
  21. bin/data_GridSensor3DExample_linuxbsd_x86_64/Microsoft.CSharp.dll +0 -0
  22. bin/data_GridSensor3DExample_linuxbsd_x86_64/Microsoft.ML.OnnxRuntime.dll +0 -0
  23. bin/data_GridSensor3DExample_linuxbsd_x86_64/Microsoft.VisualBasic.Core.dll +3 -0
  24. bin/data_GridSensor3DExample_linuxbsd_x86_64/Microsoft.VisualBasic.dll +0 -0
  25. bin/data_GridSensor3DExample_linuxbsd_x86_64/Microsoft.Win32.Primitives.dll +0 -0
  26. bin/data_GridSensor3DExample_linuxbsd_x86_64/Microsoft.Win32.Registry.dll +0 -0
  27. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.AppContext.dll +0 -0
  28. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Buffers.dll +0 -0
  29. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Collections.Concurrent.dll +0 -0
  30. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Collections.Immutable.dll +0 -0
  31. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Collections.NonGeneric.dll +0 -0
  32. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Collections.Specialized.dll +0 -0
  33. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Collections.dll +0 -0
  34. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.ComponentModel.Annotations.dll +0 -0
  35. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.ComponentModel.DataAnnotations.dll +0 -0
  36. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.ComponentModel.EventBasedAsync.dll +0 -0
  37. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.ComponentModel.Primitives.dll +0 -0
  38. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.ComponentModel.TypeConverter.dll +0 -0
  39. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.ComponentModel.dll +0 -0
  40. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Configuration.dll +0 -0
  41. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Console.dll +0 -0
  42. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Core.dll +0 -0
  43. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Data.Common.dll +3 -0
  44. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Data.DataSetExtensions.dll +0 -0
  45. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Data.dll +0 -0
  46. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Diagnostics.Contracts.dll +0 -0
  47. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Diagnostics.Debug.dll +0 -0
  48. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Diagnostics.DiagnosticSource.dll +0 -0
  49. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Diagnostics.FileVersionInfo.dll +0 -0
  50. bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Diagnostics.Process.dll +0 -0
.gitattributes CHANGED
@@ -11,3 +11,38 @@ assets/sunflowers_puresky_2k.hdr filter=lfs diff=lfs merge=lfs -text
11
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12
  bin/Ships.pck filter=lfs diff=lfs merge=lfs -text
13
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11
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12
  bin/Ships.pck filter=lfs diff=lfs merge=lfs -text
13
  bin/Ships.x86_64 filter=lfs diff=lfs merge=lfs -text
14
+ bin/data_GridSensor3DExample_linuxbsd_x86_64/GodotSharp.dll filter=lfs diff=lfs merge=lfs -text
15
+ bin/data_GridSensor3DExample_linuxbsd_x86_64/Microsoft.VisualBasic.Core.dll filter=lfs diff=lfs merge=lfs -text
16
+ bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Data.Common.dll filter=lfs diff=lfs merge=lfs -text
17
+ bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Linq.Expressions.dll filter=lfs diff=lfs merge=lfs -text
18
+ bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Net.Http.dll filter=lfs diff=lfs merge=lfs -text
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+ bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Private.CoreLib.dll filter=lfs diff=lfs merge=lfs -text
20
+ bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Private.DataContractSerialization.dll filter=lfs diff=lfs merge=lfs -text
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+ bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Private.Xml.dll filter=lfs diff=lfs merge=lfs -text
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+ bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Reflection.Metadata.dll filter=lfs diff=lfs merge=lfs -text
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+ bin/data_GridSensor3DExample_linuxbsd_x86_64/System.Text.Json.dll filter=lfs diff=lfs merge=lfs -text
24
+ bin/data_GridSensor3DExample_linuxbsd_x86_64/libclrjit.so filter=lfs diff=lfs merge=lfs -text
25
+ bin/data_GridSensor3DExample_linuxbsd_x86_64/libcoreclr.so filter=lfs diff=lfs merge=lfs -text
26
+ bin/data_GridSensor3DExample_linuxbsd_x86_64/libmscordaccore.so filter=lfs diff=lfs merge=lfs -text
27
+ bin/data_GridSensor3DExample_linuxbsd_x86_64/libmscordbi.so filter=lfs diff=lfs merge=lfs -text
28
+ bin/data_GridSensor3DExample_linuxbsd_x86_64/libonnxruntime.so filter=lfs diff=lfs merge=lfs -text
29
+ bin/data_GridSensor3DExample_linuxbsd_x86_64/onnxruntime.dll filter=lfs diff=lfs merge=lfs -text
30
+ bin/data_GridSensor3DExample_windows_x86_64/GodotSharp.dll filter=lfs diff=lfs merge=lfs -text
31
+ bin/data_GridSensor3DExample_windows_x86_64/Microsoft.CSharp.dll filter=lfs diff=lfs merge=lfs -text
32
+ bin/data_GridSensor3DExample_windows_x86_64/Microsoft.DiaSymReader.Native.amd64.dll filter=lfs diff=lfs merge=lfs -text
33
+ bin/data_GridSensor3DExample_windows_x86_64/Microsoft.VisualBasic.Core.dll filter=lfs diff=lfs merge=lfs -text
34
+ bin/data_GridSensor3DExample_windows_x86_64/System.Data.Common.dll filter=lfs diff=lfs merge=lfs -text
35
+ bin/data_GridSensor3DExample_windows_x86_64/System.Linq.Expressions.dll filter=lfs diff=lfs merge=lfs -text
36
+ bin/data_GridSensor3DExample_windows_x86_64/System.Net.Http.dll filter=lfs diff=lfs merge=lfs -text
37
+ bin/data_GridSensor3DExample_windows_x86_64/System.Private.CoreLib.dll filter=lfs diff=lfs merge=lfs -text
38
+ bin/data_GridSensor3DExample_windows_x86_64/System.Private.DataContractSerialization.dll filter=lfs diff=lfs merge=lfs -text
39
+ bin/data_GridSensor3DExample_windows_x86_64/System.Private.Xml.dll filter=lfs diff=lfs merge=lfs -text
40
+ bin/data_GridSensor3DExample_windows_x86_64/System.Reflection.Metadata.dll filter=lfs diff=lfs merge=lfs -text
41
+ bin/data_GridSensor3DExample_windows_x86_64/System.Text.Json.dll filter=lfs diff=lfs merge=lfs -text
42
+ bin/data_GridSensor3DExample_windows_x86_64/clrjit.dll filter=lfs diff=lfs merge=lfs -text
43
+ bin/data_GridSensor3DExample_windows_x86_64/coreclr.dll filter=lfs diff=lfs merge=lfs -text
44
+ bin/data_GridSensor3DExample_windows_x86_64/mscordaccore.dll filter=lfs diff=lfs merge=lfs -text
45
+ bin/data_GridSensor3DExample_windows_x86_64/mscordaccore_amd64_amd64_6.0.2724.6912.dll filter=lfs diff=lfs merge=lfs -text
46
+ bin/data_GridSensor3DExample_windows_x86_64/mscordbi.dll filter=lfs diff=lfs merge=lfs -text
47
+ bin/data_GridSensor3DExample_windows_x86_64/onnxruntime.dll filter=lfs diff=lfs merge=lfs -text
48
+ bin/data_GridSensor3DExample_windows_x86_64/ucrtbase.dll filter=lfs diff=lfs merge=lfs -text
GridSensor3DExample.csproj.old CHANGED
@@ -1,4 +1,4 @@
1
- <Project Sdk="Godot.NET.Sdk/4.2.0">
2
  <PropertyGroup>
3
  <TargetFramework>net6.0</TargetFramework>
4
  <EnableDynamicLoading>true</EnableDynamicLoading>
 
1
+ <Project Sdk="Godot.NET.Sdk/4.0.3">
2
  <PropertyGroup>
3
  <TargetFramework>net6.0</TargetFramework>
4
  <EnableDynamicLoading>true</EnableDynamicLoading>
GridSensor3DExample.sln ADDED
@@ -0,0 +1,25 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 
2
+ Microsoft Visual Studio Solution File, Format Version 12.00
3
+ # Visual Studio Version 17
4
+ VisualStudioVersion = 17.5.33530.505
5
+ MinimumVisualStudioVersion = 10.0.40219.1
6
+ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Godot RL Agents", "Godot RL Agents.csproj", "{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}"
7
+ EndProject
8
+ Global
9
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
10
+ Debug|Any CPU = Debug|Any CPU
11
+ ExportDebug|Any CPU = ExportDebug|Any CPU
12
+ ExportRelease|Any CPU = ExportRelease|Any CPU
13
+ EndGlobalSection
14
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
15
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
16
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.Debug|Any CPU.Build.0 = Debug|Any CPU
17
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU
18
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU
19
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU
20
+ {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU
21
+ EndGlobalSection
22
+ GlobalSection(SolutionProperties) = preSolution
23
+ HideSolutionNode = FALSE
24
+ EndGlobalSection
25
+ EndGlobal
addons/godot_rl_agents/controller/ai_controller_2d.gd CHANGED
@@ -1,8 +1,23 @@
1
  extends Node2D
2
  class_name AIController2D
3
 
 
 
 
4
  @export var reset_after := 1000
5
 
 
 
 
 
 
 
 
 
 
 
 
 
6
  var heuristic := "human"
7
  var done := false
8
  var reward := 0.0
@@ -11,72 +26,88 @@ var needs_reset := false
11
 
12
  var _player: Node2D
13
 
 
14
  func _ready():
15
  add_to_group("AGENT")
16
-
 
17
  func init(player: Node2D):
18
  _player = player
19
-
 
20
  #-- Methods that need implementing using the "extend script" option in Godot --#
21
  func get_obs() -> Dictionary:
22
- assert(false, "the get_obs method is not implemented when extending from ai_controller")
23
- return {"obs":[]}
 
24
 
25
- func get_reward() -> float:
26
- assert(false, "the get_reward method is not implemented when extending from ai_controller")
27
  return 0.0
28
-
 
29
  func get_action_space() -> Dictionary:
30
- assert(false, "the get get_action_space method is not implemented when extending from ai_controller")
 
 
 
31
  return {
32
- "example_actions_continous" : {
33
- "size": 2,
34
- "action_type": "continuous"
35
- },
36
- "example_actions_discrete" : {
37
- "size": 2,
38
- "action_type": "discrete"
39
- },
40
- }
41
-
42
- func set_action(action) -> void:
43
- assert(false, "the get set_action method is not implemented when extending from ai_controller")
 
 
 
 
 
 
44
  # -----------------------------------------------------------------------------#
45
-
46
  func _physics_process(delta):
47
  n_steps += 1
48
  if n_steps > reset_after:
49
  needs_reset = true
50
-
 
51
  func get_obs_space():
52
  # may need overriding if the obs space is complex
53
  var obs = get_obs()
54
  return {
55
- "obs": {
56
- "size": [len(obs["obs"])],
57
- "space": "box"
58
- },
59
  }
60
 
 
61
  func reset():
62
  n_steps = 0
63
  needs_reset = false
64
 
 
65
  func reset_if_done():
66
  if done:
67
  reset()
68
-
 
69
  func set_heuristic(h):
70
  # sets the heuristic from "human" or "model" nothing to change here
71
  heuristic = h
72
 
 
73
  func get_done():
74
  return done
75
-
 
76
  func set_done_false():
77
  done = false
78
 
 
79
  func zero_reward():
80
  reward = 0.0
81
-
82
-
 
1
  extends Node2D
2
  class_name AIController2D
3
 
4
+ enum ControlModes { INHERIT_FROM_SYNC, HUMAN, TRAINING, ONNX_INFERENCE, RECORD_EXPERT_DEMOS }
5
+ @export var control_mode: ControlModes = ControlModes.INHERIT_FROM_SYNC
6
+ @export var onnx_model_path := ""
7
  @export var reset_after := 1000
8
 
9
+ @export_group("Record expert demos mode options")
10
+ ## Path where the demos will be saved. The file can later be used for imitation learning.
11
+ @export var expert_demo_save_path: String
12
+ ## The action that erases the last recorded episode from the currently recorded data.
13
+ @export var remove_last_episode_key: InputEvent
14
+ ## Action will be repeated for n frames. Will introduce control lag if larger than 1.
15
+ ## Can be used to ensure that action_repeat on inference and training matches
16
+ ## the recorded demonstrations.
17
+ @export var action_repeat: int = 1
18
+
19
+ var onnx_model: ONNXModel
20
+
21
  var heuristic := "human"
22
  var done := false
23
  var reward := 0.0
 
26
 
27
  var _player: Node2D
28
 
29
+
30
  func _ready():
31
  add_to_group("AGENT")
32
+
33
+
34
  func init(player: Node2D):
35
  _player = player
36
+
37
+
38
  #-- Methods that need implementing using the "extend script" option in Godot --#
39
  func get_obs() -> Dictionary:
40
+ assert(false, "the get_obs method is not implemented when extending from ai_controller")
41
+ return {"obs": []}
42
+
43
 
44
+ func get_reward() -> float:
45
+ assert(false, "the get_reward method is not implemented when extending from ai_controller")
46
  return 0.0
47
+
48
+
49
  func get_action_space() -> Dictionary:
50
+ assert(
51
+ false,
52
+ "the get get_action_space method is not implemented when extending from ai_controller"
53
+ )
54
  return {
55
+ "example_actions_continous": {"size": 2, "action_type": "continuous"},
56
+ "example_actions_discrete": {"size": 2, "action_type": "discrete"},
57
+ }
58
+
59
+
60
+ func set_action(action) -> void:
61
+ assert(false, "the get set_action method is not implemented when extending from ai_controller")
62
+
63
+
64
+ #-----------------------------------------------------------------------------#
65
+
66
+
67
+ #-- Methods that sometimes need implementing using the "extend script" option in Godot --#
68
+ # Only needed if you are recording expert demos with this AIController
69
+ func get_action() -> Array:
70
+ assert(false, "the get set_action method is not implemented in extended AIController but demo_recorder is used")
71
+ return []
72
+
73
  # -----------------------------------------------------------------------------#
74
+
75
  func _physics_process(delta):
76
  n_steps += 1
77
  if n_steps > reset_after:
78
  needs_reset = true
79
+
80
+
81
  func get_obs_space():
82
  # may need overriding if the obs space is complex
83
  var obs = get_obs()
84
  return {
85
+ "obs": {"size": [len(obs["obs"])], "space": "box"},
 
 
 
86
  }
87
 
88
+
89
  func reset():
90
  n_steps = 0
91
  needs_reset = false
92
 
93
+
94
  func reset_if_done():
95
  if done:
96
  reset()
97
+
98
+
99
  func set_heuristic(h):
100
  # sets the heuristic from "human" or "model" nothing to change here
101
  heuristic = h
102
 
103
+
104
  func get_done():
105
  return done
106
+
107
+
108
  func set_done_false():
109
  done = false
110
 
111
+
112
  func zero_reward():
113
  reward = 0.0
 
 
addons/godot_rl_agents/controller/ai_controller_3d.gd CHANGED
@@ -1,8 +1,23 @@
1
  extends Node3D
2
  class_name AIController3D
3
 
 
 
 
4
  @export var reset_after := 1000
5
 
 
 
 
 
 
 
 
 
 
 
 
 
6
  var heuristic := "human"
7
  var done := false
8
  var reward := 0.0
@@ -11,70 +26,89 @@ var needs_reset := false
11
 
12
  var _player: Node3D
13
 
 
14
  func _ready():
15
  add_to_group("AGENT")
16
-
 
17
  func init(player: Node3D):
18
  _player = player
19
-
 
20
  #-- Methods that need implementing using the "extend script" option in Godot --#
21
  func get_obs() -> Dictionary:
22
- assert(false, "the get_obs method is not implemented when extending from ai_controller")
23
- return {"obs":[]}
 
24
 
25
- func get_reward() -> float:
26
- assert(false, "the get_reward method is not implemented when extending from ai_controller")
27
  return 0.0
28
-
 
29
  func get_action_space() -> Dictionary:
30
- assert(false, "the get get_action_space method is not implemented when extending from ai_controller")
 
 
 
31
  return {
32
- "example_actions_continous" : {
33
- "size": 2,
34
- "action_type": "continuous"
35
- },
36
- "example_actions_discrete" : {
37
- "size": 2,
38
- "action_type": "discrete"
39
- },
40
- }
41
-
42
- func set_action(action) -> void:
43
- assert(false, "the get set_action method is not implemented when extending from ai_controller")
 
 
 
 
 
 
44
  # -----------------------------------------------------------------------------#
45
-
 
46
  func _physics_process(delta):
47
  n_steps += 1
48
  if n_steps > reset_after:
49
  needs_reset = true
50
-
 
51
  func get_obs_space():
52
  # may need overriding if the obs space is complex
53
  var obs = get_obs()
54
  return {
55
- "obs": {
56
- "size": [len(obs["obs"])],
57
- "space": "box"
58
- },
59
  }
60
 
 
61
  func reset():
62
  n_steps = 0
63
  needs_reset = false
64
 
 
65
  func reset_if_done():
66
  if done:
67
  reset()
68
-
 
69
  func set_heuristic(h):
70
  # sets the heuristic from "human" or "model" nothing to change here
71
  heuristic = h
72
 
 
73
  func get_done():
74
  return done
75
-
 
76
  func set_done_false():
77
  done = false
78
 
 
79
  func zero_reward():
80
  reward = 0.0
 
1
  extends Node3D
2
  class_name AIController3D
3
 
4
+ enum ControlModes { INHERIT_FROM_SYNC, HUMAN, TRAINING, ONNX_INFERENCE, RECORD_EXPERT_DEMOS }
5
+ @export var control_mode: ControlModes = ControlModes.INHERIT_FROM_SYNC
6
+ @export var onnx_model_path := ""
7
  @export var reset_after := 1000
8
 
9
+ @export_group("Record expert demos mode options")
10
+ ## Path where the demos will be saved. The file can later be used for imitation learning.
11
+ @export var expert_demo_save_path: String
12
+ ## The action that erases the last recorded episode from the currently recorded data.
13
+ @export var remove_last_episode_key: InputEvent
14
+ ## Action will be repeated for n frames. Will introduce control lag if larger than 1.
15
+ ## Can be used to ensure that action_repeat on inference and training matches
16
+ ## the recorded demonstrations.
17
+ @export var action_repeat: int = 1
18
+
19
+ var onnx_model: ONNXModel
20
+
21
  var heuristic := "human"
22
  var done := false
23
  var reward := 0.0
 
26
 
27
  var _player: Node3D
28
 
29
+
30
  func _ready():
31
  add_to_group("AGENT")
32
+
33
+
34
  func init(player: Node3D):
35
  _player = player
36
+
37
+
38
  #-- Methods that need implementing using the "extend script" option in Godot --#
39
  func get_obs() -> Dictionary:
40
+ assert(false, "the get_obs method is not implemented when extending from ai_controller")
41
+ return {"obs": []}
42
+
43
 
44
+ func get_reward() -> float:
45
+ assert(false, "the get_reward method is not implemented when extending from ai_controller")
46
  return 0.0
47
+
48
+
49
  func get_action_space() -> Dictionary:
50
+ assert(
51
+ false,
52
+ "the get get_action_space method is not implemented when extending from ai_controller"
53
+ )
54
  return {
55
+ "example_actions_continous": {"size": 2, "action_type": "continuous"},
56
+ "example_actions_discrete": {"size": 2, "action_type": "discrete"},
57
+ }
58
+
59
+
60
+ func set_action(action) -> void:
61
+ assert(false, "the get set_action method is not implemented when extending from ai_controller")
62
+
63
+
64
+ #-----------------------------------------------------------------------------#
65
+
66
+
67
+ #-- Methods that sometimes need implementing using the "extend script" option in Godot --#
68
+ # Only needed if you are recording expert demos with this AIController
69
+ func get_action() -> Array:
70
+ assert(false, "the get set_action method is not implemented in extended AIController but demo_recorder is used")
71
+ return []
72
+
73
  # -----------------------------------------------------------------------------#
74
+
75
+
76
  func _physics_process(delta):
77
  n_steps += 1
78
  if n_steps > reset_after:
79
  needs_reset = true
80
+
81
+
82
  func get_obs_space():
83
  # may need overriding if the obs space is complex
84
  var obs = get_obs()
85
  return {
86
+ "obs": {"size": [len(obs["obs"])], "space": "box"},
 
 
 
87
  }
88
 
89
+
90
  func reset():
91
  n_steps = 0
92
  needs_reset = false
93
 
94
+
95
  func reset_if_done():
96
  if done:
97
  reset()
98
+
99
+
100
  func set_heuristic(h):
101
  # sets the heuristic from "human" or "model" nothing to change here
102
  heuristic = h
103
 
104
+
105
  func get_done():
106
  return done
107
+
108
+
109
  func set_done_false():
110
  done = false
111
 
112
+
113
  func zero_reward():
114
  reward = 0.0
addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd CHANGED
@@ -4,20 +4,23 @@ var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInfer
4
 
5
  var inferencer = null
6
 
 
7
  # Must provide the path to the model and the batch size
8
  func _init(model_path, batch_size):
9
  inferencer = inferencer_script.new()
10
  inferencer.Initialize(model_path, batch_size)
11
 
12
- # This function is the one that will be called from the game,
 
13
  # requires the observation as an array and the state_ins as an int
14
- # returns an Array containing the action the model takes.
15
- func run_inference(obs : Array, state_ins : int) -> Dictionary:
16
  if inferencer == null:
17
  printerr("Inferencer not initialized")
18
  return {}
19
  return inferencer.RunInference(obs, state_ins)
20
 
 
21
  func _notification(what):
22
  if what == NOTIFICATION_PREDELETE:
23
  inferencer.FreeDisposables()
 
4
 
5
  var inferencer = null
6
 
7
+
8
  # Must provide the path to the model and the batch size
9
  func _init(model_path, batch_size):
10
  inferencer = inferencer_script.new()
11
  inferencer.Initialize(model_path, batch_size)
12
 
13
+
14
+ # This function is the one that will be called from the game,
15
  # requires the observation as an array and the state_ins as an int
16
+ # returns an Array containing the action the model takes.
17
+ func run_inference(obs: Array, state_ins: int) -> Dictionary:
18
  if inferencer == null:
19
  printerr("Inferencer not initialized")
20
  return {}
21
  return inferencer.RunInference(obs, state_ins)
22
 
23
+
24
  func _notification(what):
25
  if what == NOTIFICATION_PREDELETE:
26
  inferencer.FreeDisposables()
addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd CHANGED
@@ -3,49 +3,57 @@ extends ISensor2D
3
  class_name GridSensor2D
4
 
5
  @export var debug_view := false:
6
- get: return debug_view
 
7
  set(value):
8
  debug_view = value
9
  _update()
10
-
11
  @export_flags_2d_physics var detection_mask := 0:
12
- get: return detection_mask
 
13
  set(value):
14
  detection_mask = value
15
  _update()
16
 
17
  @export var collide_with_areas := false:
18
- get: return collide_with_areas
 
19
  set(value):
20
  collide_with_areas = value
21
  _update()
22
 
23
  @export var collide_with_bodies := true:
24
- get: return collide_with_bodies
 
25
  set(value):
26
  collide_with_bodies = value
27
  _update()
28
 
29
  @export_range(1, 200, 0.1) var cell_width := 20.0:
30
- get: return cell_width
 
31
  set(value):
32
  cell_width = value
33
  _update()
34
 
35
  @export_range(1, 200, 0.1) var cell_height := 20.0:
36
- get: return cell_height
 
37
  set(value):
38
  cell_height = value
39
- _update()
40
 
41
  @export_range(1, 21, 2, "or_greater") var grid_size_x := 3:
42
- get: return grid_size_x
 
43
  set(value):
44
  grid_size_x = value
45
  _update()
46
 
47
  @export_range(1, 21, 2, "or_greater") var grid_size_y := 3:
48
- get: return grid_size_y
 
49
  set(value):
50
  grid_size_y = value
51
  _update()
@@ -58,158 +66,169 @@ var _n_layers_per_cell: int
58
  var _highlighted_cell_color: Color
59
  var _standard_cell_color: Color
60
 
 
61
  func get_observation():
62
  return _obs_buffer
63
-
 
64
  func _update():
65
  if Engine.is_editor_hint():
66
  if is_node_ready():
67
- _spawn_nodes()
 
68
 
69
  func _ready() -> void:
70
  _set_colors()
71
-
72
- if Engine.is_editor_hint():
73
  if get_child_count() == 0:
74
  _spawn_nodes()
75
  else:
76
  _spawn_nodes()
77
-
78
-
79
  func _set_colors() -> void:
80
- _standard_cell_color = Color(100.0/255.0, 100.0/255.0, 100.0/255.0, 100.0/255.0)
81
- _highlighted_cell_color = Color(255.0/255.0, 100.0/255.0, 100.0/255.0, 100.0/255.0)
 
82
 
83
  func _get_collision_mapping() -> Dictionary:
84
  # defines which layer is mapped to which cell obs index
85
  var total_bits = 0
86
- var collision_mapping = {}
87
  for i in 32:
88
- var bit_mask = 2**i
89
  if (detection_mask & bit_mask) > 0:
90
  collision_mapping[i] = total_bits
91
  total_bits += 1
92
-
93
  return collision_mapping
94
 
 
95
  func _spawn_nodes():
96
  for cell in get_children():
97
- cell.name = "_%s" % cell.name # Otherwise naming below will fail
98
  cell.queue_free()
99
-
100
  _collision_mapping = _get_collision_mapping()
101
  #prints("collision_mapping", _collision_mapping, len(_collision_mapping))
102
  # allocate memory for the observations
103
  _n_layers_per_cell = len(_collision_mapping)
104
  _obs_buffer = PackedFloat64Array()
105
- _obs_buffer.resize(grid_size_x*grid_size_y*_n_layers_per_cell)
106
  _obs_buffer.fill(0)
107
  #prints(len(_obs_buffer), _obs_buffer )
108
-
109
  _rectangle_shape = RectangleShape2D.new()
110
  _rectangle_shape.set_size(Vector2(cell_width, cell_height))
111
-
112
  var shift := Vector2(
113
- -(grid_size_x/2)*cell_width,
114
- -(grid_size_y/2)*cell_height,
115
  )
116
-
117
  for i in grid_size_x:
118
  for j in grid_size_y:
119
- var cell_position = Vector2(i*cell_width, j*cell_height) + shift
120
  _create_cell(i, j, cell_position)
121
-
122
 
123
- func _create_cell(i:int, j:int, position: Vector2):
124
- var cell : = Area2D.new()
 
125
  cell.position = position
126
- cell.name = "GridCell %s %s" %[i, j]
127
  cell.modulate = _standard_cell_color
128
-
129
  if collide_with_areas:
130
  cell.area_entered.connect(_on_cell_area_entered.bind(i, j))
131
  cell.area_exited.connect(_on_cell_area_exited.bind(i, j))
132
-
133
  if collide_with_bodies:
134
  cell.body_entered.connect(_on_cell_body_entered.bind(i, j))
135
  cell.body_exited.connect(_on_cell_body_exited.bind(i, j))
136
-
137
  cell.collision_layer = 0
138
  cell.collision_mask = detection_mask
139
  cell.monitorable = true
140
  add_child(cell)
141
  cell.set_owner(get_tree().edited_scene_root)
142
 
143
- var col_shape : = CollisionShape2D.new()
144
  col_shape.shape = _rectangle_shape
145
  col_shape.name = "CollisionShape2D"
146
  cell.add_child(col_shape)
147
  col_shape.set_owner(get_tree().edited_scene_root)
148
-
149
  if debug_view:
150
  var quad = MeshInstance2D.new()
151
  quad.name = "MeshInstance2D"
152
  var quad_mesh = QuadMesh.new()
153
-
154
  quad_mesh.set_size(Vector2(cell_width, cell_height))
155
-
156
  quad.mesh = quad_mesh
157
  cell.add_child(quad)
158
  quad.set_owner(get_tree().edited_scene_root)
159
 
160
- func _update_obs(cell_i:int, cell_j:int, collision_layer:int, entered: bool):
 
161
  for key in _collision_mapping:
162
- var bit_mask = 2**key
163
  if (collision_layer & bit_mask) > 0:
164
  var collison_map_index = _collision_mapping[key]
165
-
166
  var obs_index = (
167
- (cell_i * grid_size_x * _n_layers_per_cell) +
168
- (cell_j * _n_layers_per_cell) +
169
- collison_map_index
170
- )
171
  #prints(obs_index, cell_i, cell_j)
172
  if entered:
173
  _obs_buffer[obs_index] += 1
174
  else:
175
  _obs_buffer[obs_index] -= 1
176
 
177
- func _toggle_cell(cell_i:int, cell_j:int):
178
- var cell = get_node_or_null("GridCell %s %s" %[cell_i, cell_j])
179
-
 
180
  if cell == null:
181
  print("cell not found, returning")
182
-
183
  var n_hits = 0
184
  var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell)
185
  for i in _n_layers_per_cell:
186
- n_hits += _obs_buffer[start_index+i]
187
-
188
  if n_hits > 0:
189
  cell.modulate = _highlighted_cell_color
190
  else:
191
  cell.modulate = _standard_cell_color
192
-
193
- func _on_cell_area_entered(area:Area2D, cell_i:int, cell_j:int):
 
194
  #prints("_on_cell_area_entered", cell_i, cell_j)
195
  _update_obs(cell_i, cell_j, area.collision_layer, true)
196
  if debug_view:
197
  _toggle_cell(cell_i, cell_j)
198
  #print(_obs_buffer)
199
 
200
- func _on_cell_area_exited(area:Area2D, cell_i:int, cell_j:int):
 
201
  #prints("_on_cell_area_exited", cell_i, cell_j)
202
  _update_obs(cell_i, cell_j, area.collision_layer, false)
203
  if debug_view:
204
  _toggle_cell(cell_i, cell_j)
205
 
206
- func _on_cell_body_entered(body: Node2D, cell_i:int, cell_j:int):
 
207
  #prints("_on_cell_body_entered", cell_i, cell_j)
208
  _update_obs(cell_i, cell_j, body.collision_layer, true)
209
  if debug_view:
210
  _toggle_cell(cell_i, cell_j)
211
 
212
- func _on_cell_body_exited(body: Node2D, cell_i:int, cell_j:int):
 
213
  #prints("_on_cell_body_exited", cell_i, cell_j)
214
  _update_obs(cell_i, cell_j, body.collision_layer, false)
215
  if debug_view:
 
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()
 
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:
addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd CHANGED
@@ -1,20 +1,25 @@
1
  extends Node2D
2
  class_name ISensor2D
3
 
4
- var _obs : Array = []
5
  var _active := false
6
 
 
7
  func get_observation():
8
  pass
9
-
 
10
  func activate():
11
  _active = true
12
-
 
13
  func deactivate():
14
  _active = false
15
 
 
16
  func _update_observation():
17
  pass
18
-
 
19
  func reset():
20
  pass
 
1
  extends Node2D
2
  class_name ISensor2D
3
 
4
+ var _obs: Array = []
5
  var _active := false
6
 
7
+
8
  func get_observation():
9
  pass
10
+
11
+
12
  func activate():
13
  _active = true
14
+
15
+
16
  func deactivate():
17
  _active = false
18
 
19
+
20
  func _update_observation():
21
  pass
22
+
23
+
24
  func reset():
25
  pass
addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd CHANGED
@@ -3,50 +3,57 @@ extends ISensor2D
3
  class_name RaycastSensor2D
4
 
5
  @export_flags_2d_physics var collision_mask := 1:
6
- get: return collision_mask
 
7
  set(value):
8
  collision_mask = value
9
  _update()
10
 
11
  @export var collide_with_areas := false:
12
- get: return collide_with_areas
 
13
  set(value):
14
  collide_with_areas = value
15
  _update()
16
 
17
  @export var collide_with_bodies := true:
18
- get: return collide_with_bodies
 
19
  set(value):
20
  collide_with_bodies = value
21
  _update()
22
 
23
  @export var n_rays := 16.0:
24
- get: return n_rays
 
25
  set(value):
26
  n_rays = value
27
  _update()
28
-
29
- @export_range(5,200,5.0) var ray_length := 200:
30
- get: return ray_length
 
31
  set(value):
32
  ray_length = value
33
  _update()
34
- @export_range(5,360,5.0) var cone_width := 360.0:
35
- get: return cone_width
 
36
  set(value):
37
  cone_width = value
38
  _update()
39
-
40
- @export var debug_draw := true :
41
- get: return debug_draw
 
42
  set(value):
43
  debug_draw = value
44
- _update()
45
-
46
 
47
  var _angles = []
48
  var rays := []
49
 
 
50
  func _update():
51
  if Engine.is_editor_hint():
52
  if debug_draw:
@@ -56,63 +63,56 @@ func _update():
56
  if ray is RayCast2D:
57
  remove_child(ray)
58
 
 
59
  func _ready() -> void:
60
  _spawn_nodes()
61
 
 
62
  func _spawn_nodes():
63
  for ray in rays:
64
  ray.queue_free()
65
  rays = []
66
-
67
  _angles = []
68
  var step = cone_width / (n_rays)
69
- var start = step/2 - cone_width/2
70
-
71
  for i in n_rays:
72
  var angle = start + i * step
73
  var ray = RayCast2D.new()
74
- ray.set_target_position(Vector2(
75
- ray_length*cos(deg_to_rad(angle)),
76
- ray_length*sin(deg_to_rad(angle))
77
- ))
78
- ray.set_name("node_"+str(i))
79
- ray.enabled = true
80
  ray.collide_with_areas = collide_with_areas
81
  ray.collide_with_bodies = collide_with_bodies
82
  ray.collision_mask = collision_mask
83
  add_child(ray)
84
  rays.append(ray)
85
-
86
-
87
  _angles.append(start + i * step)
88
-
89
 
90
- func _physics_process(delta: float) -> void:
91
- if self._active:
92
- self._obs = calculate_raycasts()
93
-
94
  func get_observation() -> Array:
95
- if len(self._obs) == 0:
96
- print("obs was null, forcing raycast update")
97
- return self.calculate_raycasts()
98
- return self._obs
99
-
100
 
101
  func calculate_raycasts() -> Array:
102
  var result = []
103
  for ray in rays:
 
104
  ray.force_raycast_update()
105
  var distance = _get_raycast_distance(ray)
106
  result.append(distance)
 
107
  return result
108
 
109
- func _get_raycast_distance(ray : RayCast2D) -> float :
 
110
  if !ray.is_colliding():
111
  return 0.0
112
-
113
  var distance = (global_position - ray.get_collision_point()).length()
114
  distance = clamp(distance, 0.0, ray_length)
115
  return (ray_length - distance) / ray_length
116
-
117
-
118
-
 
3
  class_name RaycastSensor2D
4
 
5
  @export_flags_2d_physics var collision_mask := 1:
6
+ get:
7
+ return collision_mask
8
  set(value):
9
  collision_mask = value
10
  _update()
11
 
12
  @export var collide_with_areas := false:
13
+ get:
14
+ return collide_with_areas
15
  set(value):
16
  collide_with_areas = value
17
  _update()
18
 
19
  @export var collide_with_bodies := true:
20
+ get:
21
+ return collide_with_bodies
22
  set(value):
23
  collide_with_bodies = value
24
  _update()
25
 
26
  @export var n_rays := 16.0:
27
+ get:
28
+ return n_rays
29
  set(value):
30
  n_rays = value
31
  _update()
32
+
33
+ @export_range(5, 3000, 5.0) var ray_length := 200:
34
+ get:
35
+ return ray_length
36
  set(value):
37
  ray_length = value
38
  _update()
39
+ @export_range(5, 360, 5.0) var cone_width := 360.0:
40
+ get:
41
+ return cone_width
42
  set(value):
43
  cone_width = value
44
  _update()
45
+
46
+ @export var debug_draw := true:
47
+ get:
48
+ return debug_draw
49
  set(value):
50
  debug_draw = value
51
+ _update()
 
52
 
53
  var _angles = []
54
  var rays := []
55
 
56
+
57
  func _update():
58
  if Engine.is_editor_hint():
59
  if debug_draw:
 
63
  if ray is RayCast2D:
64
  remove_child(ray)
65
 
66
+
67
  func _ready() -> void:
68
  _spawn_nodes()
69
 
70
+
71
  func _spawn_nodes():
72
  for ray in rays:
73
  ray.queue_free()
74
  rays = []
75
+
76
  _angles = []
77
  var step = cone_width / (n_rays)
78
+ var start = step / 2 - cone_width / 2
79
+
80
  for i in n_rays:
81
  var angle = start + i * step
82
  var ray = RayCast2D.new()
83
+ ray.set_target_position(
84
+ Vector2(ray_length * cos(deg_to_rad(angle)), ray_length * sin(deg_to_rad(angle)))
85
+ )
86
+ ray.set_name("node_" + str(i))
87
+ ray.enabled = false
 
88
  ray.collide_with_areas = collide_with_areas
89
  ray.collide_with_bodies = collide_with_bodies
90
  ray.collision_mask = collision_mask
91
  add_child(ray)
92
  rays.append(ray)
93
+
 
94
  _angles.append(start + i * step)
 
95
 
96
+
 
 
 
97
  func get_observation() -> Array:
98
+ return self.calculate_raycasts()
99
+
 
 
 
100
 
101
  func calculate_raycasts() -> Array:
102
  var result = []
103
  for ray in rays:
104
+ ray.enabled = true
105
  ray.force_raycast_update()
106
  var distance = _get_raycast_distance(ray)
107
  result.append(distance)
108
+ ray.enabled = false
109
  return result
110
 
111
+
112
+ func _get_raycast_distance(ray: RayCast2D) -> float:
113
  if !ray.is_colliding():
114
  return 0.0
115
+
116
  var distance = (global_position - ray.get_collision_point()).length()
117
  distance = clamp(distance, 0.0, ray_length)
118
  return (ray_length - distance) / ray_length
 
 
 
addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd CHANGED
@@ -3,50 +3,58 @@ extends ISensor3D
3
  class_name GridSensor3D
4
 
5
  @export var debug_view := false:
6
- get: return debug_view
 
7
  set(value):
8
  debug_view = value
9
  _update()
10
-
11
  @export_flags_3d_physics var detection_mask := 0:
12
- get: return detection_mask
 
13
  set(value):
14
  detection_mask = value
15
  _update()
16
 
17
  @export var collide_with_areas := false:
18
- get: return collide_with_areas
 
19
  set(value):
20
  collide_with_areas = value
21
  _update()
22
 
23
  @export var collide_with_bodies := false:
24
  # NOTE! The sensor will not detect StaticBody3D, add an area to static bodies to detect them
25
- get: return collide_with_bodies
 
26
  set(value):
27
  collide_with_bodies = value
28
  _update()
29
 
30
  @export_range(0.1, 2, 0.1) var cell_width := 1.0:
31
- get: return cell_width
 
32
  set(value):
33
  cell_width = value
34
  _update()
35
 
36
  @export_range(0.1, 2, 0.1) var cell_height := 1.0:
37
- get: return cell_height
 
38
  set(value):
39
  cell_height = value
40
- _update()
41
 
42
  @export_range(1, 21, 2, "or_greater") var grid_size_x := 3:
43
- get: return grid_size_x
 
44
  set(value):
45
  grid_size_x = value
46
  _update()
47
 
48
  @export_range(1, 21, 2, "or_greater") var grid_size_z := 3:
49
- get: return grid_size_z
 
50
  set(value):
51
  grid_size_z = value
52
  _update()
@@ -59,95 +67,106 @@ var _n_layers_per_cell: int
59
  var _highlighted_box_material: StandardMaterial3D
60
  var _standard_box_material: StandardMaterial3D
61
 
 
62
  func get_observation():
63
  return _obs_buffer
64
 
 
65
  func reset():
66
  _obs_buffer.fill(0)
67
 
 
68
  func _update():
69
  if Engine.is_editor_hint():
70
  if is_node_ready():
71
- _spawn_nodes()
 
72
 
73
  func _ready() -> void:
74
  _make_materials()
75
-
76
- if Engine.is_editor_hint():
77
  if get_child_count() == 0:
78
  _spawn_nodes()
79
  else:
80
  _spawn_nodes()
81
-
 
82
  func _make_materials() -> void:
83
  if _highlighted_box_material != null and _standard_box_material != null:
84
  return
85
-
86
  _standard_box_material = StandardMaterial3D.new()
87
- _standard_box_material.set_transparency(1) # ALPHA
88
- _standard_box_material.albedo_color = Color(100.0/255.0, 100.0/255.0, 100.0/255.0, 100.0/255.0)
89
-
 
 
90
  _highlighted_box_material = StandardMaterial3D.new()
91
- _highlighted_box_material.set_transparency(1) # ALPHA
92
- _highlighted_box_material.albedo_color = Color(255.0/255.0, 100.0/255.0, 100.0/255.0, 100.0/255.0)
 
 
 
93
 
94
  func _get_collision_mapping() -> Dictionary:
95
  # defines which layer is mapped to which cell obs index
96
  var total_bits = 0
97
- var collision_mapping = {}
98
  for i in 32:
99
- var bit_mask = 2**i
100
  if (detection_mask & bit_mask) > 0:
101
  collision_mapping[i] = total_bits
102
  total_bits += 1
103
-
104
  return collision_mapping
105
 
 
106
  func _spawn_nodes():
107
  for cell in get_children():
108
- cell.name = "_%s" % cell.name # Otherwise naming below will fail
109
  cell.queue_free()
110
-
111
  _collision_mapping = _get_collision_mapping()
112
  #prints("collision_mapping", _collision_mapping, len(_collision_mapping))
113
  # allocate memory for the observations
114
  _n_layers_per_cell = len(_collision_mapping)
115
  _obs_buffer = PackedFloat64Array()
116
- _obs_buffer.resize(grid_size_x*grid_size_z*_n_layers_per_cell)
117
  _obs_buffer.fill(0)
118
  #prints(len(_obs_buffer), _obs_buffer )
119
-
120
  _box_shape = BoxShape3D.new()
121
  _box_shape.set_size(Vector3(cell_width, cell_height, cell_width))
122
-
123
  var shift := Vector3(
124
- -(grid_size_x/2)*cell_width,
125
  0,
126
- -(grid_size_z/2)*cell_width,
127
  )
128
-
129
  for i in grid_size_x:
130
  for j in grid_size_z:
131
- var cell_position = Vector3(i*cell_width, 0.0, j*cell_width) + shift
132
  _create_cell(i, j, cell_position)
133
-
134
 
135
- func _create_cell(i:int, j:int, position: Vector3):
136
- var cell : = Area3D.new()
 
137
  cell.position = position
138
- cell.name = "GridCell %s %s" %[i, j]
139
-
140
  if collide_with_areas:
141
  cell.area_entered.connect(_on_cell_area_entered.bind(i, j))
142
  cell.area_exited.connect(_on_cell_area_exited.bind(i, j))
143
-
144
  if collide_with_bodies:
145
  cell.body_entered.connect(_on_cell_body_entered.bind(i, j))
146
  cell.body_exited.connect(_on_cell_body_exited.bind(i, j))
147
-
148
  # cell.body_shape_entered.connect(_on_cell_body_shape_entered.bind(i, j))
149
  # cell.body_shape_exited.connect(_on_cell_body_shape_exited.bind(i, j))
150
-
151
  cell.collision_layer = 0
152
  cell.collision_mask = detection_mask
153
  cell.monitorable = true
@@ -155,78 +174,84 @@ func _create_cell(i:int, j:int, position: Vector3):
155
  add_child(cell)
156
  cell.set_owner(get_tree().edited_scene_root)
157
 
158
- var col_shape : = CollisionShape3D.new()
159
  col_shape.shape = _box_shape
160
  col_shape.name = "CollisionShape3D"
161
  cell.add_child(col_shape)
162
  col_shape.set_owner(get_tree().edited_scene_root)
163
-
164
  if debug_view:
165
  var box = MeshInstance3D.new()
166
  box.name = "MeshInstance3D"
167
  var box_mesh = BoxMesh.new()
168
-
169
  box_mesh.set_size(Vector3(cell_width, cell_height, cell_width))
170
  box_mesh.material = _standard_box_material
171
-
172
  box.mesh = box_mesh
173
  cell.add_child(box)
174
  box.set_owner(get_tree().edited_scene_root)
175
 
176
- func _update_obs(cell_i:int, cell_j:int, collision_layer:int, entered: bool):
 
177
  for key in _collision_mapping:
178
- var bit_mask = 2**key
179
  if (collision_layer & bit_mask) > 0:
180
  var collison_map_index = _collision_mapping[key]
181
-
182
  var obs_index = (
183
- (cell_i * grid_size_x * _n_layers_per_cell) +
184
- (cell_j * _n_layers_per_cell) +
185
- collison_map_index
186
- )
187
  #prints(obs_index, cell_i, cell_j)
188
  if entered:
189
  _obs_buffer[obs_index] += 1
190
  else:
191
  _obs_buffer[obs_index] -= 1
192
 
193
- func _toggle_cell(cell_i:int, cell_j:int):
194
- var cell = get_node_or_null("GridCell %s %s" %[cell_i, cell_j])
195
-
 
196
  if cell == null:
197
  print("cell not found, returning")
198
-
199
  var n_hits = 0
200
  var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell)
201
  for i in _n_layers_per_cell:
202
- n_hits += _obs_buffer[start_index+i]
203
-
204
  var cell_mesh = cell.get_node_or_null("MeshInstance3D")
205
  if n_hits > 0:
206
  cell_mesh.mesh.material = _highlighted_box_material
207
  else:
208
  cell_mesh.mesh.material = _standard_box_material
209
-
210
- func _on_cell_area_entered(area:Area3D, cell_i:int, cell_j:int):
 
211
  #prints("_on_cell_area_entered", cell_i, cell_j)
212
  _update_obs(cell_i, cell_j, area.collision_layer, true)
213
  if debug_view:
214
  _toggle_cell(cell_i, cell_j)
215
  #print(_obs_buffer)
216
 
217
- func _on_cell_area_exited(area:Area3D, 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
- func _on_cell_body_entered(body: Node3D, cell_i:int, cell_j:int):
 
224
  #prints("_on_cell_body_entered", cell_i, cell_j)
225
  _update_obs(cell_i, cell_j, body.collision_layer, true)
226
  if debug_view:
227
  _toggle_cell(cell_i, cell_j)
228
 
229
- func _on_cell_body_exited(body: Node3D, cell_i:int, cell_j:int):
 
230
  #prints("_on_cell_body_exited", cell_i, cell_j)
231
  _update_obs(cell_i, cell_j, body.collision_layer, false)
232
  if debug_view:
 
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()
 
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
 
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:
addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd CHANGED
@@ -1,20 +1,25 @@
1
  extends Node3D
2
  class_name ISensor3D
3
 
4
- var _obs : Array = []
5
  var _active := false
6
 
 
7
  func get_observation():
8
  pass
9
-
 
10
  func activate():
11
  _active = true
12
-
 
13
  func deactivate():
14
  _active = false
15
 
 
16
  func _update_observation():
17
  pass
18
-
 
19
  func reset():
20
  pass
 
1
  extends Node3D
2
  class_name ISensor3D
3
 
4
+ var _obs: Array = []
5
  var _active := false
6
 
7
+
8
  func get_observation():
9
  pass
10
+
11
+
12
  func activate():
13
  _active = true
14
+
15
+
16
  func deactivate():
17
  _active = false
18
 
19
+
20
  func _update_observation():
21
  pass
22
+
23
+
24
  func reset():
25
  pass
addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd CHANGED
@@ -3,9 +3,19 @@ class_name RGBCameraSensor3D
3
  var camera_pixels = null
4
 
5
  @onready var camera_texture := $Control/TextureRect/CameraTexture as Sprite2D
 
 
6
 
7
  func get_camera_pixel_encoding():
8
- return camera_texture.get_texture().get_data().data["data"].hex_encode()
 
9
 
10
- func get_camera_shape()-> Array:
11
- return [$SubViewport.size[0], $SubViewport.size[1], 4]
 
 
 
 
 
 
 
 
3
  var camera_pixels = null
4
 
5
  @onready var camera_texture := $Control/TextureRect/CameraTexture as Sprite2D
6
+ @onready var sub_viewport := $SubViewport as SubViewport
7
+
8
 
9
  func get_camera_pixel_encoding():
10
+ return camera_texture.get_texture().get_image().get_data().hex_encode()
11
+
12
 
13
+ func get_camera_shape() -> Array:
14
+ assert(
15
+ sub_viewport.size.x >= 36 and sub_viewport.size.y >= 36,
16
+ "SubViewport size must be 36x36 or larger."
17
+ )
18
+ if sub_viewport.transparent_bg:
19
+ return [4, sub_viewport.size.y, sub_viewport.size.x]
20
+ else:
21
+ return [3, sub_viewport.size.y, sub_viewport.size.x]
addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd CHANGED
@@ -2,75 +2,87 @@
2
  extends ISensor3D
3
  class_name RayCastSensor3D
4
  @export_flags_3d_physics var collision_mask = 1:
5
- get: return collision_mask
 
6
  set(value):
7
  collision_mask = value
8
  _update()
9
  @export_flags_3d_physics var boolean_class_mask = 1:
10
- get: return boolean_class_mask
 
11
  set(value):
12
  boolean_class_mask = value
13
  _update()
14
 
15
  @export var n_rays_width := 6.0:
16
- get: return n_rays_width
 
17
  set(value):
18
  n_rays_width = value
19
  _update()
20
-
21
  @export var n_rays_height := 6.0:
22
- get: return n_rays_height
 
23
  set(value):
24
  n_rays_height = value
25
  _update()
26
 
27
  @export var ray_length := 10.0:
28
- get: return ray_length
 
29
  set(value):
30
  ray_length = value
31
  _update()
32
-
33
  @export var cone_width := 60.0:
34
- get: return cone_width
 
35
  set(value):
36
  cone_width = value
37
  _update()
38
-
39
  @export var cone_height := 60.0:
40
- get: return cone_height
 
41
  set(value):
42
  cone_height = value
43
  _update()
44
 
45
  @export var collide_with_areas := false:
46
- get: return collide_with_areas
 
47
  set(value):
48
  collide_with_areas = value
49
  _update()
50
-
51
  @export var collide_with_bodies := true:
52
- get: return collide_with_bodies
 
53
  set(value):
54
  collide_with_bodies = value
55
  _update()
56
 
57
  @export var class_sensor := false
58
-
59
  var rays := []
60
  var geo = null
61
 
 
62
  func _update():
63
  if Engine.is_editor_hint():
64
  if is_node_ready():
65
- _spawn_nodes()
 
66
 
67
  func _ready() -> void:
68
- if Engine.is_editor_hint():
69
  if get_child_count() == 0:
70
  _spawn_nodes()
71
  else:
72
  _spawn_nodes()
73
 
 
74
  func _spawn_nodes():
75
  print("spawning nodes")
76
  for ray in get_children():
@@ -79,15 +91,15 @@ func _spawn_nodes():
79
  geo.clear()
80
  #$Lines.remove_points()
81
  rays = []
82
-
83
  var horizontal_step = cone_width / (n_rays_width)
84
  var vertical_step = cone_height / (n_rays_height)
85
-
86
- var horizontal_start = horizontal_step/2 - cone_width/2
87
- var vertical_start = vertical_step/2 - cone_height/2
88
 
89
  var points = []
90
-
91
  for i in n_rays_width:
92
  for j in n_rays_height:
93
  var angle_w = horizontal_start + i * horizontal_step
@@ -98,9 +110,9 @@ func _spawn_nodes():
98
  ray.set_target_position(cast_to)
99
 
100
  points.append(cast_to)
101
-
102
- ray.set_name("node_"+str(i)+" "+str(j))
103
- ray.enabled = true
104
  ray.collide_with_bodies = collide_with_bodies
105
  ray.collide_with_areas = collide_with_areas
106
  ray.collision_mask = collision_mask
@@ -108,15 +120,17 @@ func _spawn_nodes():
108
  ray.set_owner(get_tree().edited_scene_root)
109
  rays.append(ray)
110
  ray.force_raycast_update()
111
-
 
112
  # if Engine.editor_hint:
113
  # _create_debug_lines(points)
114
-
 
115
  func _create_debug_lines(points):
116
- if not geo:
117
  geo = ImmediateMesh.new()
118
  add_child(geo)
119
-
120
  geo.clear()
121
  geo.begin(Mesh.PRIMITIVE_LINES)
122
  for point in points:
@@ -125,20 +139,24 @@ func _create_debug_lines(points):
125
  geo.add_vertex(point)
126
  geo.end()
127
 
 
128
  func display():
129
  if geo:
130
  geo.display()
131
-
 
132
  func to_spherical_coords(r, inc, azimuth) -> Vector3:
133
  return Vector3(
134
- r*sin(deg_to_rad(inc))*cos(deg_to_rad(azimuth)),
135
- r*sin(deg_to_rad(azimuth)),
136
- r*cos(deg_to_rad(inc))*cos(deg_to_rad(azimuth))
137
  )
138
-
 
139
  func get_observation() -> Array:
140
  return self.calculate_raycasts()
141
 
 
142
  func calculate_raycasts() -> Array:
143
  var result = []
144
  for ray in rays:
@@ -148,19 +166,20 @@ func calculate_raycasts() -> Array:
148
 
149
  result.append(distance)
150
  if class_sensor:
151
- var hit_class = 0
152
  if ray.get_collider():
153
  var hit_collision_layer = ray.get_collider().collision_layer
154
  hit_collision_layer = hit_collision_layer & collision_mask
155
  hit_class = (hit_collision_layer & boolean_class_mask) > 0
156
- result.append(hit_class)
157
  ray.set_enabled(false)
158
  return result
159
 
160
- func _get_raycast_distance(ray : RayCast3D) -> float :
 
161
  if !ray.is_colliding():
162
  return 0.0
163
-
164
  var distance = (global_transform.origin - ray.get_collision_point()).length()
165
  distance = clamp(distance, 0.0, ray_length)
166
  return (ray_length - distance) / ray_length
 
2
  extends ISensor3D
3
  class_name RayCastSensor3D
4
  @export_flags_3d_physics var collision_mask = 1:
5
+ get:
6
+ return collision_mask
7
  set(value):
8
  collision_mask = value
9
  _update()
10
  @export_flags_3d_physics var boolean_class_mask = 1:
11
+ get:
12
+ return boolean_class_mask
13
  set(value):
14
  boolean_class_mask = value
15
  _update()
16
 
17
  @export var n_rays_width := 6.0:
18
+ get:
19
+ return n_rays_width
20
  set(value):
21
  n_rays_width = value
22
  _update()
23
+
24
  @export var n_rays_height := 6.0:
25
+ get:
26
+ return n_rays_height
27
  set(value):
28
  n_rays_height = value
29
  _update()
30
 
31
  @export var ray_length := 10.0:
32
+ get:
33
+ return ray_length
34
  set(value):
35
  ray_length = value
36
  _update()
37
+
38
  @export var cone_width := 60.0:
39
+ get:
40
+ return cone_width
41
  set(value):
42
  cone_width = value
43
  _update()
44
+
45
  @export var cone_height := 60.0:
46
+ get:
47
+ return cone_height
48
  set(value):
49
  cone_height = value
50
  _update()
51
 
52
  @export var collide_with_areas := false:
53
+ get:
54
+ return collide_with_areas
55
  set(value):
56
  collide_with_areas = value
57
  _update()
58
+
59
  @export var collide_with_bodies := true:
60
+ get:
61
+ return collide_with_bodies
62
  set(value):
63
  collide_with_bodies = value
64
  _update()
65
 
66
  @export var class_sensor := false
67
+
68
  var rays := []
69
  var geo = null
70
 
71
+
72
  func _update():
73
  if Engine.is_editor_hint():
74
  if is_node_ready():
75
+ _spawn_nodes()
76
+
77
 
78
  func _ready() -> void:
79
+ if Engine.is_editor_hint():
80
  if get_child_count() == 0:
81
  _spawn_nodes()
82
  else:
83
  _spawn_nodes()
84
 
85
+
86
  func _spawn_nodes():
87
  print("spawning nodes")
88
  for ray in get_children():
 
91
  geo.clear()
92
  #$Lines.remove_points()
93
  rays = []
94
+
95
  var horizontal_step = cone_width / (n_rays_width)
96
  var vertical_step = cone_height / (n_rays_height)
97
+
98
+ var horizontal_start = horizontal_step / 2 - cone_width / 2
99
+ var vertical_start = vertical_step / 2 - cone_height / 2
100
 
101
  var points = []
102
+
103
  for i in n_rays_width:
104
  for j in n_rays_height:
105
  var angle_w = horizontal_start + i * horizontal_step
 
110
  ray.set_target_position(cast_to)
111
 
112
  points.append(cast_to)
113
+
114
+ ray.set_name("node_" + str(i) + " " + str(j))
115
+ ray.enabled = true
116
  ray.collide_with_bodies = collide_with_bodies
117
  ray.collide_with_areas = collide_with_areas
118
  ray.collision_mask = collision_mask
 
120
  ray.set_owner(get_tree().edited_scene_root)
121
  rays.append(ray)
122
  ray.force_raycast_update()
123
+
124
+
125
  # if Engine.editor_hint:
126
  # _create_debug_lines(points)
127
+
128
+
129
  func _create_debug_lines(points):
130
+ if not geo:
131
  geo = ImmediateMesh.new()
132
  add_child(geo)
133
+
134
  geo.clear()
135
  geo.begin(Mesh.PRIMITIVE_LINES)
136
  for point in points:
 
139
  geo.add_vertex(point)
140
  geo.end()
141
 
142
+
143
  func display():
144
  if geo:
145
  geo.display()
146
+
147
+
148
  func to_spherical_coords(r, inc, azimuth) -> Vector3:
149
  return Vector3(
150
+ r * sin(deg_to_rad(inc)) * cos(deg_to_rad(azimuth)),
151
+ r * sin(deg_to_rad(azimuth)),
152
+ r * cos(deg_to_rad(inc)) * cos(deg_to_rad(azimuth))
153
  )
154
+
155
+
156
  func get_observation() -> Array:
157
  return self.calculate_raycasts()
158
 
159
+
160
  func calculate_raycasts() -> Array:
161
  var result = []
162
  for ray in rays:
 
166
 
167
  result.append(distance)
168
  if class_sensor:
169
+ var hit_class: float = 0
170
  if ray.get_collider():
171
  var hit_collision_layer = ray.get_collider().collision_layer
172
  hit_collision_layer = hit_collision_layer & collision_mask
173
  hit_class = (hit_collision_layer & boolean_class_mask) > 0
174
+ result.append(float(hit_class))
175
  ray.set_enabled(false)
176
  return result
177
 
178
+
179
+ func _get_raycast_distance(ray: RayCast3D) -> float:
180
  if !ray.is_colliding():
181
  return 0.0
182
+
183
  var distance = (global_transform.origin - ray.get_collision_point()).length()
184
  distance = clamp(distance, 0.0, ray_length)
185
  return (ray_length - distance) / ray_length
addons/godot_rl_agents/sync.gd CHANGED
@@ -2,23 +2,38 @@ 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(1, 10, 1, "or_greater") var speed_up = 1
9
  @export var onnx_model_path := ""
10
 
 
 
 
11
  @onready var start_time = Time.get_ticks_msec()
12
 
13
  const MAJOR_VERSION := "0"
14
- const MINOR_VERSION := "3"
15
  const DEFAULT_PORT := "11008"
16
  const DEFAULT_SEED := "1"
17
- var stream : StreamPeerTCP = null
18
  var connected = false
19
  var message_center
20
  var should_connect = true
21
- var agents
 
 
 
 
 
 
 
 
 
 
 
 
22
  var need_to_send_obs = false
23
  var args = null
24
  var initialized = false
@@ -26,141 +41,295 @@ var just_reset = false
26
  var onnx_model = null
27
  var n_action_steps = 0
28
 
29
- var _action_space : Dictionary
30
- var _obs_space : Dictionary
 
 
31
 
32
  # Called when the node enters the scene tree for the first time.
33
  func _ready():
34
  await get_tree().root.ready
35
- get_tree().set_pause(true)
36
  _initialize()
37
  await get_tree().create_timer(1.0).timeout
38
- get_tree().set_pause(false)
39
-
 
40
  func _initialize():
41
  _get_agents()
42
- _obs_space = agents[0].get_obs_space()
43
- _action_space = agents[0].get_action_space()
44
  args = _get_args()
45
- Engine.physics_ticks_per_second = _get_speedup() * 60 # Replace with function body.
46
  Engine.time_scale = _get_speedup() * 1.0
47
- prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up)
48
-
49
- _set_heuristic("human")
50
- match control_mode:
51
- ControlModes.TRAINING:
52
- connected = connect_to_server()
53
- if connected:
54
- _set_heuristic("model")
55
- _handshake()
56
- _send_env_info()
57
- else:
58
- push_warning("Couldn't connect to Python server, using human controls instead. ",
59
- "Did you start the training server using e.g. `gdrl` from the console?")
60
- ControlModes.ONNX_INFERENCE:
61
- assert(FileAccess.file_exists(onnx_model_path), "Onnx Model Path set on Sync node does not exist: %s" % onnx_model_path)
62
- onnx_model = ONNXModel.new(onnx_model_path, 1)
63
- _set_heuristic("model")
64
-
65
  _set_seed()
66
  _set_action_repeat()
67
- initialized = true
68
-
69
- func _physics_process(_delta):
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
70
  # two modes, human control, agent control
71
  # pause tree, send obs, get actions, set actions, unpause tree
 
 
 
72
  if n_action_steps % action_repeat != 0:
73
  n_action_steps += 1
74
  return
75
 
76
  n_action_steps += 1
77
-
 
 
 
 
 
 
78
  if connected:
79
- get_tree().set_pause(true)
80
-
81
  if just_reset:
82
  just_reset = false
83
- var obs = _get_obs_from_agents()
84
-
85
- var reply = {
86
- "type": "reset",
87
- "obs": obs
88
- }
89
  _send_dict_as_json_message(reply)
90
  # this should go straight to getting the action and setting it checked the agent, no need to perform one phyics tick
91
- get_tree().set_pause(false)
92
  return
93
-
94
  if need_to_send_obs:
95
  need_to_send_obs = false
96
  var reward = _get_reward_from_agents()
97
  var done = _get_done_from_agents()
98
  #_reset_agents_if_done() # this ensures the new observation is from the next env instance : NEEDS REFACTOR
99
-
100
- var obs = _get_obs_from_agents()
101
-
102
- var reply = {
103
- "type": "step",
104
- "obs": obs,
105
- "reward": reward,
106
- "done": done
107
- }
108
  _send_dict_as_json_message(reply)
109
-
110
  var handled = handle_message()
111
-
112
- elif onnx_model != null:
113
- var obs : Array = _get_obs_from_agents()
114
-
 
115
  var actions = []
116
- for o in obs:
117
- var action = onnx_model.run_inference(o["obs"], 1.0)
 
 
 
118
  action["output"] = clamp_array(action["output"], -1.0, 1.0)
119
- var action_dict = _extract_action_dict(action["output"])
 
 
120
  actions.append(action_dict)
121
-
122
- _set_agent_actions(actions)
123
- need_to_send_obs = true
124
- get_tree().set_pause(false)
125
- _reset_agents_if_done()
126
-
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
127
  else:
128
- _reset_agents_if_done()
 
 
 
 
 
 
 
 
129
 
130
- func _extract_action_dict(action_array: Array):
 
 
 
 
 
131
  var index = 0
132
  var result = {}
133
- for key in _action_space.keys():
134
- var size = _action_space[key]["size"]
135
- if _action_space[key]["action_type"] == "discrete":
136
  result[key] = round(action_array[index])
137
  else:
138
- result[key] = action_array.slice(index,index+size)
139
  index += size
140
-
141
  return result
142
 
143
- func _get_agents():
144
- agents = get_tree().get_nodes_in_group("AGENT")
145
 
146
- func _set_heuristic(heuristic):
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
147
  for agent in agents:
148
  agent.set_heuristic(heuristic)
149
 
 
150
  func _handshake():
151
  print("performing handshake")
152
-
153
  var json_dict = _get_dict_json_message()
154
  assert(json_dict["type"] == "handshake")
155
  var major_version = json_dict["major_version"]
156
  var minor_version = json_dict["minor_version"]
157
  if major_version != MAJOR_VERSION:
158
- print("WARNING: major verison mismatch ", major_version, " ", MAJOR_VERSION)
159
  if minor_version != MINOR_VERSION:
160
  print("WARNING: minor verison mismatch ", minor_version, " ", MINOR_VERSION)
161
-
162
  print("handshake complete")
163
 
 
164
  func _get_dict_json_message():
165
  # returns a dictionary from of the most recent message
166
  # this is not waiting
@@ -172,45 +341,48 @@ func _get_dict_json_message():
172
  return null
173
 
174
  OS.delay_usec(10)
175
-
176
  var message = stream.get_string()
177
  var json_data = JSON.parse_string(message)
178
-
179
  return json_data
180
 
 
181
  func _send_dict_as_json_message(dict):
182
- stream.put_string(JSON.stringify(dict))
 
183
 
184
  func _send_env_info():
185
  var json_dict = _get_dict_json_message()
186
  assert(json_dict["type"] == "env_info")
187
 
188
-
189
  var message = {
190
- "type" : "env_info",
191
  "observation_space": _obs_space,
192
- "action_space":_action_space,
193
- "n_agents": len(agents)
194
- }
195
  _send_dict_as_json_message(message)
196
 
 
197
  func connect_to_server():
198
  print("Waiting for one second to allow server to start")
199
  OS.delay_msec(1000)
200
  print("trying to connect to server")
201
  stream = StreamPeerTCP.new()
202
-
203
  # "localhost" was not working on windows VM, had to use the IP
204
  var ip = "127.0.0.1"
205
  var port = _get_port()
206
  var connect = stream.connect_to_host(ip, port)
207
- stream.set_no_delay(true) # TODO check if this improves performance or not
208
  stream.poll()
209
  # Fetch the status until it is either connected (2) or failed to connect (3)
210
  while stream.get_status() < 2:
211
  stream.poll()
212
  return stream.get_status() == 2
213
 
 
214
  func _get_args():
215
  print("getting command line arguments")
216
  var arguments = {}
@@ -224,41 +396,45 @@ func _get_args():
224
  # with the value set to an empty string.
225
  arguments[argument.lstrip("--")] = ""
226
 
227
- return arguments
 
228
 
229
  func _get_speedup():
230
  print(args)
231
- return args.get("speedup", str(speed_up)).to_int()
232
 
233
- func _get_port():
 
234
  return args.get("port", DEFAULT_PORT).to_int()
235
 
 
236
  func _set_seed():
237
  var _seed = args.get("env_seed", DEFAULT_SEED).to_int()
238
  seed(_seed)
239
 
 
240
  func _set_action_repeat():
241
  action_repeat = args.get("action_repeat", str(action_repeat)).to_int()
242
-
 
243
  func disconnect_from_server():
244
  stream.disconnect_from_host()
245
 
246
 
247
-
248
  func handle_message() -> bool:
249
  # get json message: reset, step, close
250
  var message = _get_dict_json_message()
251
  if message["type"] == "close":
252
  print("received close message, closing game")
253
  get_tree().quit()
254
- get_tree().set_pause(false)
255
  return true
256
-
257
  if message["type"] == "reset":
258
  print("resetting all agents")
259
- _reset_all_agents()
260
  just_reset = true
261
- get_tree().set_pause(false)
262
  #print("resetting forcing draw")
263
  # RenderingServer.force_draw()
264
  # var obs = _get_obs_from_agents()
@@ -267,76 +443,98 @@ func handle_message() -> bool:
267
  # "type": "reset",
268
  # "obs": obs
269
  # }
270
- # _send_dict_as_json_message(reply)
271
  return true
272
-
273
  if message["type"] == "call":
274
  var method = message["method"]
275
  var returns = _call_method_on_agents(method)
276
- var reply = {
277
- "type": "call",
278
- "returns": returns
279
- }
280
  print("calling method from Python")
281
- _send_dict_as_json_message(reply)
282
  return handle_message()
283
-
284
  if message["type"] == "action":
285
  var action = message["action"]
286
- _set_agent_actions(action)
287
  need_to_send_obs = true
288
- get_tree().set_pause(false)
289
  return true
290
-
291
  print("message was not handled")
292
  return false
293
 
 
294
  func _call_method_on_agents(method):
295
  var returns = []
296
- for agent in agents:
297
  returns.append(agent.call(method))
298
-
299
  return returns
300
 
301
 
302
- func _reset_agents_if_done():
303
  for agent in agents:
304
- if agent.get_done():
305
  agent.set_done_false()
306
 
307
- func _reset_all_agents():
 
308
  for agent in agents:
309
  agent.needs_reset = true
310
- #agent.reset()
311
 
312
- func _get_obs_from_agents():
 
313
  var obs = []
314
  for agent in agents:
315
  obs.append(agent.get_obs())
316
-
317
  return obs
318
-
319
- func _get_reward_from_agents():
320
- var rewards = []
 
321
  for agent in agents:
322
  rewards.append(agent.get_reward())
323
  agent.zero_reward()
324
- return rewards
325
-
326
- func _get_done_from_agents():
327
- var dones = []
 
328
  for agent in agents:
329
  var done = agent.get_done()
330
- if done: agent.set_done_false()
 
331
  dones.append(done)
332
- return dones
333
-
334
- func _set_agent_actions(actions):
 
335
  for i in range(len(actions)):
336
  agents[i].set_action(actions[i])
337
-
338
- func clamp_array(arr : Array, min:float, max:float):
339
- var output : Array = []
 
340
  for a in arr:
341
  output.append(clamp(a, min, max))
342
  return output
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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)
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
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ "dependencies": {
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+ "Godot.SourceGenerators": "4.2.1",
13
+ "GodotSharp": "4.2.1",
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+ "Microsoft.ML.OnnxRuntime": "1.15.1",
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1371
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1377
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1379
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1388
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1390
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1391
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1415
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1421
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1424
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1425
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1426
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1430
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1433
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1435
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1436
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1437
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1438
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1441
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1443
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1444
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1445
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1446
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1447
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1448
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1449
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1450
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1451
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1452
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1454
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1455
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1456
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1457
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1458
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1459
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1460
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1461
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1462
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1463
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1464
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1465
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1466
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1467
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1468
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1469
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1471
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1473
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1474
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1475
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1476
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1477
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1478
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1479
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1480
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1481
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1482
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1483
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1486
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1487
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1489
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1490
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1491
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1494
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1495
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1496
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1497
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1498
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1499
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1500
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1501
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1502
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1503
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1504
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1505
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1506
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1507
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1508
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1509
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1510
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1511
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1512
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1513
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1514
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1515
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1516
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1517
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1518
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1519
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1520
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1521
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1522
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1523
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1524
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1525
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1526
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1528
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1529
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1530
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1531
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1532
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1533
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1534
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1535
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1536
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1537
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1538
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1539
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1540
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1541
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1542
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1543
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1544
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1545
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1546
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1547
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1548
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1549
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1550
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1551
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1552
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1553
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1554
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1555
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1556
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1558
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1559
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1560
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1561
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1562
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1563
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1564
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1565
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1566
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1568
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1569
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1570
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1571
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1572
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1573
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1574
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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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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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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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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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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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1831
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1833
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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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1849
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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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1865
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1867
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