diff --git a/.gitattributes b/.gitattributes index fb1c8ecef9137024101504b2058ffdad386fd2b8..8a2d533ae1de99cfd0932dbb5988876e3d4ff0a3 100644 --- a/.gitattributes +++ b/.gitattributes @@ -67,3 +67,38 @@ bin/FlyBy.x86_64 filter=lfs diff=lfs merge=lfs -text bin/FlyBy.exe filter=lfs diff=lfs merge=lfs -text bin/FlyBy.pck filter=lfs diff=lfs merge=lfs -text .godot/imported/alps_field_2k.hdr-3700cd621ede9e1814580eb21c62fe71.bptc.ctex filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/GodotSharp.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/Microsoft.VisualBasic.Core.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/System.Data.Common.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/System.Linq.Expressions.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/System.Net.Http.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/System.Private.CoreLib.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/System.Private.DataContractSerialization.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/System.Private.Xml.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/System.Reflection.Metadata.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/System.Text.Json.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/libclrjit.so filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/libcoreclr.so filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/libmscordaccore.so filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/libmscordbi.so filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/libonnxruntime.so filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_linuxbsd_x86_64/onnxruntime.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/GodotSharp.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/Microsoft.CSharp.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/Microsoft.DiaSymReader.Native.amd64.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/Microsoft.VisualBasic.Core.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/System.Data.Common.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/System.Linq.Expressions.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/System.Net.Http.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/System.Private.CoreLib.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/System.Private.DataContractSerialization.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/System.Private.Xml.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/System.Reflection.Metadata.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/System.Text.Json.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/clrjit.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/coreclr.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/mscordaccore.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/mscordaccore_amd64_amd64_6.0.2724.6912.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/mscordbi.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/onnxruntime.dll filter=lfs diff=lfs merge=lfs -text +bin/data_FlyBy_windows_x86_64/ucrtbase.dll filter=lfs diff=lfs merge=lfs -text diff --git a/FlyBy.csproj b/FlyBy.csproj index df9ab14341c005f17a027b47d0781e4b871003d6..ae05f6f4379a129959012db33715a5b2efa596da 100644 --- a/FlyBy.csproj +++ b/FlyBy.csproj @@ -2,11 +2,9 @@ net6.0 true + GodotRLAgents - - - - + \ No newline at end of file diff --git a/FlyBy.csproj.old b/FlyBy.csproj.old index 639d558bc2bd505de497f6b0a05dacd842e9e426..d6e80431553b474825ae104f3d71f06c3dd56786 100644 --- a/FlyBy.csproj.old +++ b/FlyBy.csproj.old @@ -1,12 +1,10 @@ - + net6.0 true + GodotRLAgents - - - - + \ No newline at end of file diff --git a/FlyBy.sln b/FlyBy.sln index 545de373e7da01979b4c752352fb4f5b0a6384c1..d8b58a0e0a1f74a7eac7fa70bacfd017016f906f 100644 --- a/FlyBy.sln +++ b/FlyBy.sln @@ -1,19 +1,25 @@ -Microsoft Visual Studio Solution File, Format Version 12.00 -# Visual Studio 2012 -Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "FlyBy", "FlyBy.csproj", "{7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}" + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio Version 17 +VisualStudioVersion = 17.5.33530.505 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Godot RL Agents", "Godot RL Agents.csproj", "{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}" EndProject Global GlobalSection(SolutionConfigurationPlatforms) = preSolution - Debug|Any CPU = Debug|Any CPU - ExportDebug|Any CPU = ExportDebug|Any CPU - ExportRelease|Any CPU = ExportRelease|Any CPU + Debug|Any CPU = Debug|Any CPU + ExportDebug|Any CPU = ExportDebug|Any CPU + ExportRelease|Any CPU = ExportRelease|Any CPU EndGlobalSection GlobalSection(ProjectConfigurationPlatforms) = postSolution - {7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}.Debug|Any CPU.ActiveCfg = Debug|Any CPU - {7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}.Debug|Any CPU.Build.0 = Debug|Any CPU - {7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU - {7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU - {7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU - {7B8CB6A1-66D5-4D2F-A0B2-8B032CD05D91}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU + {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.Debug|Any CPU.Build.0 = Debug|Any CPU + {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU + {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU + {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU + {055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE EndGlobalSection EndGlobal diff --git a/addons/godot_rl_agents/controller/ai_controller_2d.gd b/addons/godot_rl_agents/controller/ai_controller_2d.gd index e9080f0115c0729a12ace5f712c9e41e7ed252e4..0f3b67c3141078f5fbbe0a271a1d076179783415 100644 --- a/addons/godot_rl_agents/controller/ai_controller_2d.gd +++ b/addons/godot_rl_agents/controller/ai_controller_2d.gd @@ -1,8 +1,23 @@ extends Node2D class_name AIController2D +enum ControlModes { INHERIT_FROM_SYNC, HUMAN, TRAINING, ONNX_INFERENCE, RECORD_EXPERT_DEMOS } +@export var control_mode: ControlModes = ControlModes.INHERIT_FROM_SYNC +@export var onnx_model_path := "" @export var reset_after := 1000 +@export_group("Record expert demos mode options") +## Path where the demos will be saved. The file can later be used for imitation learning. +@export var expert_demo_save_path: String +## The action that erases the last recorded episode from the currently recorded data. +@export var remove_last_episode_key: InputEvent +## Action will be repeated for n frames. Will introduce control lag if larger than 1. +## Can be used to ensure that action_repeat on inference and training matches +## the recorded demonstrations. +@export var action_repeat: int = 1 + +var onnx_model: ONNXModel + var heuristic := "human" var done := false var reward := 0.0 @@ -11,72 +26,88 @@ var needs_reset := false var _player: Node2D + func _ready(): add_to_group("AGENT") - + + func init(player: Node2D): _player = player - + + #-- Methods that need implementing using the "extend script" option in Godot --# func get_obs() -> Dictionary: - assert(false, "the get_obs method is not implemented when extending from ai_controller") - return {"obs":[]} + assert(false, "the get_obs method is not implemented when extending from ai_controller") + return {"obs": []} + -func get_reward() -> float: - assert(false, "the get_reward method is not implemented when extending from ai_controller") +func get_reward() -> float: + assert(false, "the get_reward method is not implemented when extending from ai_controller") return 0.0 - + + func get_action_space() -> Dictionary: - assert(false, "the get get_action_space method is not implemented when extending from ai_controller") + assert( + false, + "the get get_action_space method is not implemented when extending from ai_controller" + ) return { - "example_actions_continous" : { - "size": 2, - "action_type": "continuous" - }, - "example_actions_discrete" : { - "size": 2, - "action_type": "discrete" - }, - } - -func set_action(action) -> void: - assert(false, "the get set_action method is not implemented when extending from ai_controller") + "example_actions_continous": {"size": 2, "action_type": "continuous"}, + "example_actions_discrete": {"size": 2, "action_type": "discrete"}, + } + + +func set_action(action) -> void: + assert(false, "the get set_action method is not implemented when extending from ai_controller") + + +#-----------------------------------------------------------------------------# + + +#-- Methods that sometimes need implementing using the "extend script" option in Godot --# +# Only needed if you are recording expert demos with this AIController +func get_action() -> Array: + assert(false, "the get set_action method is not implemented in extended AIController but demo_recorder is used") + return [] + # -----------------------------------------------------------------------------# - + func _physics_process(delta): n_steps += 1 if n_steps > reset_after: needs_reset = true - + + func get_obs_space(): # may need overriding if the obs space is complex var obs = get_obs() return { - "obs": { - "size": [len(obs["obs"])], - "space": "box" - }, + "obs": {"size": [len(obs["obs"])], "space": "box"}, } + func reset(): n_steps = 0 needs_reset = false + func reset_if_done(): if done: reset() - + + func set_heuristic(h): # sets the heuristic from "human" or "model" nothing to change here heuristic = h + func get_done(): return done - + + func set_done_false(): done = false + func zero_reward(): reward = 0.0 - - diff --git a/addons/godot_rl_agents/controller/ai_controller_3d.gd b/addons/godot_rl_agents/controller/ai_controller_3d.gd index d256b2acf9697d69b7b9fc31f5b0a0c708c7e2ae..089d63ceaf9ff1f37f6f6f4fff5e84451a5a4545 100644 --- a/addons/godot_rl_agents/controller/ai_controller_3d.gd +++ b/addons/godot_rl_agents/controller/ai_controller_3d.gd @@ -1,8 +1,23 @@ extends Node3D class_name AIController3D +enum ControlModes { INHERIT_FROM_SYNC, HUMAN, TRAINING, ONNX_INFERENCE, RECORD_EXPERT_DEMOS } +@export var control_mode: ControlModes = ControlModes.INHERIT_FROM_SYNC +@export var onnx_model_path := "" @export var reset_after := 1000 +@export_group("Record expert demos mode options") +## Path where the demos will be saved. The file can later be used for imitation learning. +@export var expert_demo_save_path: String +## The action that erases the last recorded episode from the currently recorded data. +@export var remove_last_episode_key: InputEvent +## Action will be repeated for n frames. Will introduce control lag if larger than 1. +## Can be used to ensure that action_repeat on inference and training matches +## the recorded demonstrations. +@export var action_repeat: int = 1 + +var onnx_model: ONNXModel + var heuristic := "human" var done := false var reward := 0.0 @@ -11,70 +26,89 @@ var needs_reset := false var _player: Node3D + func _ready(): add_to_group("AGENT") - + + func init(player: Node3D): _player = player - + + #-- Methods that need implementing using the "extend script" option in Godot --# func get_obs() -> Dictionary: - assert(false, "the get_obs method is not implemented when extending from ai_controller") - return {"obs":[]} + assert(false, "the get_obs method is not implemented when extending from ai_controller") + return {"obs": []} + -func get_reward() -> float: - assert(false, "the get_reward method is not implemented when extending from ai_controller") +func get_reward() -> float: + assert(false, "the get_reward method is not implemented when extending from ai_controller") return 0.0 - + + func get_action_space() -> Dictionary: - assert(false, "the get get_action_space method is not implemented when extending from ai_controller") + assert( + false, + "the get get_action_space method is not implemented when extending from ai_controller" + ) return { - "example_actions_continous" : { - "size": 2, - "action_type": "continuous" - }, - "example_actions_discrete" : { - "size": 2, - "action_type": "discrete" - }, - } - -func set_action(action) -> void: - assert(false, "the get set_action method is not implemented when extending from ai_controller") + "example_actions_continous": {"size": 2, "action_type": "continuous"}, + "example_actions_discrete": {"size": 2, "action_type": "discrete"}, + } + + +func set_action(action) -> void: + assert(false, "the get set_action method is not implemented when extending from ai_controller") + + +#-----------------------------------------------------------------------------# + + +#-- Methods that sometimes need implementing using the "extend script" option in Godot --# +# Only needed if you are recording expert demos with this AIController +func get_action() -> Array: + assert(false, "the get set_action method is not implemented in extended AIController but demo_recorder is used") + return [] + # -----------------------------------------------------------------------------# - + + func _physics_process(delta): n_steps += 1 if n_steps > reset_after: needs_reset = true - + + func get_obs_space(): # may need overriding if the obs space is complex var obs = get_obs() return { - "obs": { - "size": [len(obs["obs"])], - "space": "box" - }, + "obs": {"size": [len(obs["obs"])], "space": "box"}, } + func reset(): n_steps = 0 needs_reset = false + func reset_if_done(): if done: reset() - + + func set_heuristic(h): # sets the heuristic from "human" or "model" nothing to change here heuristic = h + func get_done(): return done - + + func set_done_false(): done = false + func zero_reward(): reward = 0.0 diff --git a/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd b/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd index c7b14b350db11cb32f433e6b6cff6470d6cda7cf..d573582b995a2b8fe05553f7cf58fb2e3b58d482 100644 --- a/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd +++ b/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd @@ -4,20 +4,23 @@ var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInfer var inferencer = null + # Must provide the path to the model and the batch size func _init(model_path, batch_size): inferencer = inferencer_script.new() inferencer.Initialize(model_path, batch_size) -# This function is the one that will be called from the game, + +# This function is the one that will be called from the game, # requires the observation as an array and the state_ins as an int -# returns an Array containing the action the model takes. -func run_inference(obs : Array, state_ins : int) -> Dictionary: +# returns an Array containing the action the model takes. +func run_inference(obs: Array, state_ins: int) -> Dictionary: if inferencer == null: printerr("Inferencer not initialized") return {} return inferencer.RunInference(obs, state_ins) + func _notification(what): if what == NOTIFICATION_PREDELETE: inferencer.FreeDisposables() diff --git a/addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd new file mode 100644 index 0000000000000000000000000000000000000000..da170ba93919a8f28510ea8fc1ab876fe5876d34 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd @@ -0,0 +1,235 @@ +@tool +extends ISensor2D +class_name GridSensor2D + +@export var debug_view := false: + get: + return debug_view + set(value): + debug_view = value + _update() + +@export_flags_2d_physics var detection_mask := 0: + get: + return detection_mask + set(value): + detection_mask = value + _update() + +@export var collide_with_areas := false: + get: + return collide_with_areas + set(value): + collide_with_areas = value + _update() + +@export var collide_with_bodies := true: + get: + return collide_with_bodies + set(value): + collide_with_bodies = value + _update() + +@export_range(1, 200, 0.1) var cell_width := 20.0: + get: + return cell_width + set(value): + cell_width = value + _update() + +@export_range(1, 200, 0.1) var cell_height := 20.0: + get: + return cell_height + set(value): + cell_height = value + _update() + +@export_range(1, 21, 2, "or_greater") var grid_size_x := 3: + get: + return grid_size_x + set(value): + grid_size_x = value + _update() + +@export_range(1, 21, 2, "or_greater") var grid_size_y := 3: + get: + return grid_size_y + set(value): + grid_size_y = value + _update() + +var _obs_buffer: PackedFloat64Array +var _rectangle_shape: RectangleShape2D +var _collision_mapping: Dictionary +var _n_layers_per_cell: int + +var _highlighted_cell_color: Color +var _standard_cell_color: Color + + +func get_observation(): + return _obs_buffer + + +func _update(): + if Engine.is_editor_hint(): + if is_node_ready(): + _spawn_nodes() + + +func _ready() -> void: + _set_colors() + + if Engine.is_editor_hint(): + if get_child_count() == 0: + _spawn_nodes() + else: + _spawn_nodes() + + +func _set_colors() -> void: + _standard_cell_color = Color(100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0) + _highlighted_cell_color = Color(255.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0) + + +func _get_collision_mapping() -> Dictionary: + # defines which layer is mapped to which cell obs index + var total_bits = 0 + var collision_mapping = {} + for i in 32: + var bit_mask = 2 ** i + if (detection_mask & bit_mask) > 0: + collision_mapping[i] = total_bits + total_bits += 1 + + return collision_mapping + + +func _spawn_nodes(): + for cell in get_children(): + cell.name = "_%s" % cell.name # Otherwise naming below will fail + cell.queue_free() + + _collision_mapping = _get_collision_mapping() + #prints("collision_mapping", _collision_mapping, len(_collision_mapping)) + # allocate memory for the observations + _n_layers_per_cell = len(_collision_mapping) + _obs_buffer = PackedFloat64Array() + _obs_buffer.resize(grid_size_x * grid_size_y * _n_layers_per_cell) + _obs_buffer.fill(0) + #prints(len(_obs_buffer), _obs_buffer ) + + _rectangle_shape = RectangleShape2D.new() + _rectangle_shape.set_size(Vector2(cell_width, cell_height)) + + var shift := Vector2( + -(grid_size_x / 2) * cell_width, + -(grid_size_y / 2) * cell_height, + ) + + for i in grid_size_x: + for j in grid_size_y: + var cell_position = Vector2(i * cell_width, j * cell_height) + shift + _create_cell(i, j, cell_position) + + +func _create_cell(i: int, j: int, position: Vector2): + var cell := Area2D.new() + cell.position = position + cell.name = "GridCell %s %s" % [i, j] + cell.modulate = _standard_cell_color + + if collide_with_areas: + cell.area_entered.connect(_on_cell_area_entered.bind(i, j)) + cell.area_exited.connect(_on_cell_area_exited.bind(i, j)) + + if collide_with_bodies: + cell.body_entered.connect(_on_cell_body_entered.bind(i, j)) + cell.body_exited.connect(_on_cell_body_exited.bind(i, j)) + + cell.collision_layer = 0 + cell.collision_mask = detection_mask + cell.monitorable = true + add_child(cell) + cell.set_owner(get_tree().edited_scene_root) + + var col_shape := CollisionShape2D.new() + col_shape.shape = _rectangle_shape + col_shape.name = "CollisionShape2D" + cell.add_child(col_shape) + col_shape.set_owner(get_tree().edited_scene_root) + + if debug_view: + var quad = MeshInstance2D.new() + quad.name = "MeshInstance2D" + var quad_mesh = QuadMesh.new() + + quad_mesh.set_size(Vector2(cell_width, cell_height)) + + quad.mesh = quad_mesh + cell.add_child(quad) + quad.set_owner(get_tree().edited_scene_root) + + +func _update_obs(cell_i: int, cell_j: int, collision_layer: int, entered: bool): + for key in _collision_mapping: + var bit_mask = 2 ** key + if (collision_layer & bit_mask) > 0: + var collison_map_index = _collision_mapping[key] + + var obs_index = ( + (cell_i * grid_size_x * _n_layers_per_cell) + + (cell_j * _n_layers_per_cell) + + collison_map_index + ) + #prints(obs_index, cell_i, cell_j) + if entered: + _obs_buffer[obs_index] += 1 + else: + _obs_buffer[obs_index] -= 1 + + +func _toggle_cell(cell_i: int, cell_j: int): + var cell = get_node_or_null("GridCell %s %s" % [cell_i, cell_j]) + + if cell == null: + print("cell not found, returning") + + var n_hits = 0 + var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell) + for i in _n_layers_per_cell: + n_hits += _obs_buffer[start_index + i] + + if n_hits > 0: + cell.modulate = _highlighted_cell_color + else: + cell.modulate = _standard_cell_color + + +func _on_cell_area_entered(area: Area2D, cell_i: int, cell_j: int): + #prints("_on_cell_area_entered", cell_i, cell_j) + _update_obs(cell_i, cell_j, area.collision_layer, true) + if debug_view: + _toggle_cell(cell_i, cell_j) + #print(_obs_buffer) + + +func _on_cell_area_exited(area: Area2D, cell_i: int, cell_j: int): + #prints("_on_cell_area_exited", cell_i, cell_j) + _update_obs(cell_i, cell_j, area.collision_layer, false) + if debug_view: + _toggle_cell(cell_i, cell_j) + + +func _on_cell_body_entered(body: Node2D, cell_i: int, cell_j: int): + #prints("_on_cell_body_entered", cell_i, cell_j) + _update_obs(cell_i, cell_j, body.collision_layer, true) + if debug_view: + _toggle_cell(cell_i, cell_j) + + +func _on_cell_body_exited(body: Node2D, cell_i: int, cell_j: int): + #prints("_on_cell_body_exited", cell_i, cell_j) + _update_obs(cell_i, cell_j, body.collision_layer, false) + if debug_view: + _toggle_cell(cell_i, cell_j) diff --git a/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd index ec20f08a8d37cf1232fc12d8ee4f23b5ba845602..67669a1d71a3e37d780b396633951d7d1ac79edb 100644 --- a/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd +++ b/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd @@ -1,20 +1,25 @@ extends Node2D class_name ISensor2D -var _obs : Array = [] +var _obs: Array = [] var _active := false + func get_observation(): pass - + + func activate(): _active = true - + + func deactivate(): _active = false + func _update_observation(): pass - + + func reset(): pass diff --git a/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd index 09363c409f59b0ef1d68131b77c0a2cba71805d8..9bb54ede90a6f6ffd5e65d89bf1bd561bc0832ed 100644 --- a/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd +++ b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd @@ -3,50 +3,57 @@ extends ISensor2D class_name RaycastSensor2D @export_flags_2d_physics var collision_mask := 1: - get: return collision_mask + get: + return collision_mask set(value): collision_mask = value _update() @export var collide_with_areas := false: - get: return collide_with_areas + get: + return collide_with_areas set(value): collide_with_areas = value _update() @export var collide_with_bodies := true: - get: return collide_with_bodies + get: + return collide_with_bodies set(value): collide_with_bodies = value _update() @export var n_rays := 16.0: - get: return n_rays + get: + return n_rays set(value): n_rays = value _update() - -@export_range(5,200,5.0) var ray_length := 200: - get: return ray_length + +@export_range(5, 3000, 5.0) var ray_length := 200: + get: + return ray_length set(value): ray_length = value _update() -@export_range(5,360,5.0) var cone_width := 360.0: - get: return cone_width +@export_range(5, 360, 5.0) var cone_width := 360.0: + get: + return cone_width set(value): cone_width = value _update() - -@export var debug_draw := true : - get: return debug_draw + +@export var debug_draw := true: + get: + return debug_draw set(value): debug_draw = value - _update() - + _update() var _angles = [] var rays := [] + func _update(): if Engine.is_editor_hint(): if debug_draw: @@ -56,63 +63,56 @@ func _update(): if ray is RayCast2D: remove_child(ray) + func _ready() -> void: _spawn_nodes() + func _spawn_nodes(): for ray in rays: ray.queue_free() rays = [] - + _angles = [] var step = cone_width / (n_rays) - var start = step/2 - cone_width/2 - + var start = step / 2 - cone_width / 2 + for i in n_rays: var angle = start + i * step var ray = RayCast2D.new() - ray.set_target_position(Vector2( - ray_length*cos(deg_to_rad(angle)), - ray_length*sin(deg_to_rad(angle)) - )) - ray.set_name("node_"+str(i)) - ray.enabled = true + ray.set_target_position( + Vector2(ray_length * cos(deg_to_rad(angle)), ray_length * sin(deg_to_rad(angle))) + ) + ray.set_name("node_" + str(i)) + ray.enabled = false ray.collide_with_areas = collide_with_areas ray.collide_with_bodies = collide_with_bodies ray.collision_mask = collision_mask add_child(ray) rays.append(ray) - - + _angles.append(start + i * step) - -func _physics_process(delta: float) -> void: - if self._active: - self._obs = calculate_raycasts() - + func get_observation() -> Array: - if len(self._obs) == 0: - print("obs was null, forcing raycast update") - return self.calculate_raycasts() - return self._obs - + return self.calculate_raycasts() + func calculate_raycasts() -> Array: var result = [] for ray in rays: + ray.enabled = true ray.force_raycast_update() var distance = _get_raycast_distance(ray) result.append(distance) + ray.enabled = false return result -func _get_raycast_distance(ray : RayCast2D) -> float : + +func _get_raycast_distance(ray: RayCast2D) -> float: if !ray.is_colliding(): return 0.0 - + var distance = (global_position - ray.get_collision_point()).length() distance = clamp(distance, 0.0, ray_length) return (ray_length - distance) / ray_length - - - diff --git a/addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd new file mode 100644 index 0000000000000000000000000000000000000000..03593cc04d74ce0d0f16a4518e59b9309a09a5a7 --- /dev/null +++ b/addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd @@ -0,0 +1,258 @@ +@tool +extends ISensor3D +class_name GridSensor3D + +@export var debug_view := false: + get: + return debug_view + set(value): + debug_view = value + _update() + +@export_flags_3d_physics var detection_mask := 0: + get: + return detection_mask + set(value): + detection_mask = value + _update() + +@export var collide_with_areas := false: + get: + return collide_with_areas + set(value): + collide_with_areas = value + _update() + +@export var collide_with_bodies := false: + # NOTE! The sensor will not detect StaticBody3D, add an area to static bodies to detect them + get: + return collide_with_bodies + set(value): + collide_with_bodies = value + _update() + +@export_range(0.1, 2, 0.1) var cell_width := 1.0: + get: + return cell_width + set(value): + cell_width = value + _update() + +@export_range(0.1, 2, 0.1) var cell_height := 1.0: + get: + return cell_height + set(value): + cell_height = value + _update() + +@export_range(1, 21, 2, "or_greater") var grid_size_x := 3: + get: + return grid_size_x + set(value): + grid_size_x = value + _update() + +@export_range(1, 21, 2, "or_greater") var grid_size_z := 3: + get: + return grid_size_z + set(value): + grid_size_z = value + _update() + +var _obs_buffer: PackedFloat64Array +var _box_shape: BoxShape3D +var _collision_mapping: Dictionary +var _n_layers_per_cell: int + +var _highlighted_box_material: StandardMaterial3D +var _standard_box_material: StandardMaterial3D + + +func get_observation(): + return _obs_buffer + + +func reset(): + _obs_buffer.fill(0) + + +func _update(): + if Engine.is_editor_hint(): + if is_node_ready(): + _spawn_nodes() + + +func _ready() -> void: + _make_materials() + + if Engine.is_editor_hint(): + if get_child_count() == 0: + _spawn_nodes() + else: + _spawn_nodes() + + +func _make_materials() -> void: + if _highlighted_box_material != null and _standard_box_material != null: + return + + _standard_box_material = StandardMaterial3D.new() + _standard_box_material.set_transparency(1) # ALPHA + _standard_box_material.albedo_color = Color( + 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0 + ) + + _highlighted_box_material = StandardMaterial3D.new() + _highlighted_box_material.set_transparency(1) # ALPHA + _highlighted_box_material.albedo_color = Color( + 255.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0 + ) + + +func _get_collision_mapping() -> Dictionary: + # defines which layer is mapped to which cell obs index + var total_bits = 0 + var collision_mapping = {} + for i in 32: + var bit_mask = 2 ** i + if (detection_mask & bit_mask) > 0: + collision_mapping[i] = total_bits + total_bits += 1 + + return collision_mapping + + +func _spawn_nodes(): + for cell in get_children(): + cell.name = "_%s" % cell.name # Otherwise naming below will fail + cell.queue_free() + + _collision_mapping = _get_collision_mapping() + #prints("collision_mapping", _collision_mapping, len(_collision_mapping)) + # allocate memory for the observations + _n_layers_per_cell = len(_collision_mapping) + _obs_buffer = PackedFloat64Array() + _obs_buffer.resize(grid_size_x * grid_size_z * _n_layers_per_cell) + _obs_buffer.fill(0) + #prints(len(_obs_buffer), _obs_buffer ) + + _box_shape = BoxShape3D.new() + _box_shape.set_size(Vector3(cell_width, cell_height, cell_width)) + + var shift := Vector3( + -(grid_size_x / 2) * cell_width, + 0, + -(grid_size_z / 2) * cell_width, + ) + + for i in grid_size_x: + for j in grid_size_z: + var cell_position = Vector3(i * cell_width, 0.0, j * cell_width) + shift + _create_cell(i, j, cell_position) + + +func _create_cell(i: int, j: int, position: Vector3): + var cell := Area3D.new() + cell.position = position + cell.name = "GridCell %s %s" % [i, j] + + if collide_with_areas: + cell.area_entered.connect(_on_cell_area_entered.bind(i, j)) + cell.area_exited.connect(_on_cell_area_exited.bind(i, j)) + + if collide_with_bodies: + cell.body_entered.connect(_on_cell_body_entered.bind(i, j)) + cell.body_exited.connect(_on_cell_body_exited.bind(i, j)) + +# cell.body_shape_entered.connect(_on_cell_body_shape_entered.bind(i, j)) +# cell.body_shape_exited.connect(_on_cell_body_shape_exited.bind(i, j)) + + cell.collision_layer = 0 + cell.collision_mask = detection_mask + cell.monitorable = true + cell.input_ray_pickable = false + add_child(cell) + cell.set_owner(get_tree().edited_scene_root) + + var col_shape := CollisionShape3D.new() + col_shape.shape = _box_shape + col_shape.name = "CollisionShape3D" + cell.add_child(col_shape) + col_shape.set_owner(get_tree().edited_scene_root) + + if debug_view: + var box = MeshInstance3D.new() + box.name = "MeshInstance3D" + var box_mesh = BoxMesh.new() + + box_mesh.set_size(Vector3(cell_width, cell_height, cell_width)) + box_mesh.material = _standard_box_material + + box.mesh = box_mesh + cell.add_child(box) + box.set_owner(get_tree().edited_scene_root) + + +func _update_obs(cell_i: int, cell_j: int, collision_layer: int, entered: bool): + for key in _collision_mapping: + var bit_mask = 2 ** key + if (collision_layer & bit_mask) > 0: + var collison_map_index = _collision_mapping[key] + + var obs_index = ( + (cell_i * grid_size_x * _n_layers_per_cell) + + (cell_j * _n_layers_per_cell) + + collison_map_index + ) + #prints(obs_index, cell_i, cell_j) + if entered: + _obs_buffer[obs_index] += 1 + else: + _obs_buffer[obs_index] -= 1 + + +func _toggle_cell(cell_i: int, cell_j: int): + var cell = get_node_or_null("GridCell %s %s" % [cell_i, cell_j]) + + if cell == null: + print("cell not found, returning") + + var n_hits = 0 + var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell) + for i in _n_layers_per_cell: + n_hits += _obs_buffer[start_index + i] + + var cell_mesh = cell.get_node_or_null("MeshInstance3D") + if n_hits > 0: + cell_mesh.mesh.material = _highlighted_box_material + else: + cell_mesh.mesh.material = _standard_box_material + + +func _on_cell_area_entered(area: Area3D, cell_i: int, cell_j: int): + #prints("_on_cell_area_entered", cell_i, cell_j) + _update_obs(cell_i, cell_j, area.collision_layer, true) + if debug_view: + _toggle_cell(cell_i, cell_j) + #print(_obs_buffer) + + +func _on_cell_area_exited(area: Area3D, cell_i: int, cell_j: int): + #prints("_on_cell_area_exited", cell_i, cell_j) + _update_obs(cell_i, cell_j, area.collision_layer, false) + if debug_view: + _toggle_cell(cell_i, cell_j) + + +func _on_cell_body_entered(body: Node3D, cell_i: int, cell_j: int): + #prints("_on_cell_body_entered", cell_i, cell_j) + _update_obs(cell_i, cell_j, body.collision_layer, true) + if debug_view: + _toggle_cell(cell_i, cell_j) + + +func _on_cell_body_exited(body: Node3D, cell_i: int, cell_j: int): + #prints("_on_cell_body_exited", cell_i, cell_j) + _update_obs(cell_i, cell_j, body.collision_layer, false) + if debug_view: + _toggle_cell(cell_i, cell_j) diff --git a/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd index d57503b5006e9384c4a9ce7de348d74a5b58d322..aca3c2db480c5f61058d565ae4652916af4c51ad 100644 --- a/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd +++ b/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd @@ -1,20 +1,25 @@ extends Node3D class_name ISensor3D -var _obs : Array = [] +var _obs: Array = [] var _active := false + func get_observation(): pass - + + func activate(): _active = true - + + func deactivate(): _active = false + func _update_observation(): pass - + + func reset(): pass diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd index 959bc5a7e07b09a526e52671d91dee30813da962..1037e970c3dccd26c6b987533115d12fca790549 100644 --- a/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd +++ b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd @@ -3,9 +3,19 @@ class_name RGBCameraSensor3D var camera_pixels = null @onready var camera_texture := $Control/TextureRect/CameraTexture as Sprite2D +@onready var sub_viewport := $SubViewport as SubViewport + func get_camera_pixel_encoding(): - return camera_texture.get_texture().get_data().data["data"].hex_encode() + return camera_texture.get_texture().get_image().get_data().hex_encode() + -func get_camera_shape()-> Array: - return [$SubViewport.size[0], $SubViewport.size[1], 4] +func get_camera_shape() -> Array: + assert( + sub_viewport.size.x >= 36 and sub_viewport.size.y >= 36, + "SubViewport size must be 36x36 or larger." + ) + if sub_viewport.transparent_bg: + return [4, sub_viewport.size.y, sub_viewport.size.x] + else: + return [3, sub_viewport.size.y, sub_viewport.size.x] diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn index f895072aa593ddd43b4543a385748734550eb7c1..052b5577db16ab7d25f5f473a539b3099f400db8 100644 --- a/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn +++ b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn @@ -1,42 +1,41 @@ -[gd_scene load_steps=3 format=2] +[gd_scene load_steps=3 format=3 uid="uid://baaywi3arsl2m"] -[ext_resource path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" type="Script" id=1] +[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" id="1"] -[sub_resource type="ViewportTexture" id=1] +[sub_resource type="ViewportTexture" id="1"] viewport_path = NodePath("SubViewport") [node name="RGBCameraSensor3D" type="Node3D"] -script = ExtResource( 1 ) +script = ExtResource("1") [node name="RemoteTransform3D" type="RemoteTransform3D" parent="."] remote_path = NodePath("../SubViewport/Camera3D") [node name="SubViewport" type="SubViewport" parent="."] -size = Vector2( 32, 32 ) +size = Vector2i(32, 32) render_target_update_mode = 3 [node name="Camera3D" type="Camera3D" parent="SubViewport"] near = 0.5 [node name="Control" type="Control" parent="."] +layout_mode = 3 +anchors_preset = 15 anchor_right = 1.0 anchor_bottom = 1.0 -__meta__ = { -"_edit_use_anchors_": false -} +grow_horizontal = 2 +grow_vertical = 2 [node name="TextureRect" type="ColorRect" parent="Control"] +layout_mode = 0 offset_left = 1096.0 offset_top = 534.0 offset_right = 1114.0 offset_bottom = 552.0 -scale = Vector2( 10, 10 ) -color = Color( 0.00784314, 0.00784314, 0.00784314, 1 ) -__meta__ = { -"_edit_use_anchors_": false -} +scale = Vector2(10, 10) +color = Color(0.00784314, 0.00784314, 0.00784314, 1) [node name="CameraTexture" type="Sprite2D" parent="Control/TextureRect"] -texture = SubResource( 1 ) -offset = Vector2( 9, 9 ) +texture = SubResource("1") +offset = Vector2(9, 9) flip_v = true diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd index ab701d982b0381b41e528cf1218e13fc0269d3ce..1357529f9232c3323316212cc84042bde1afb6f2 100644 --- a/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd +++ b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd @@ -2,75 +2,87 @@ extends ISensor3D class_name RayCastSensor3D @export_flags_3d_physics var collision_mask = 1: - get: return collision_mask + get: + return collision_mask set(value): collision_mask = value _update() @export_flags_3d_physics var boolean_class_mask = 1: - get: return boolean_class_mask + get: + return boolean_class_mask set(value): boolean_class_mask = value _update() @export var n_rays_width := 6.0: - get: return n_rays_width + get: + return n_rays_width set(value): n_rays_width = value _update() - + @export var n_rays_height := 6.0: - get: return n_rays_height + get: + return n_rays_height set(value): n_rays_height = value _update() @export var ray_length := 10.0: - get: return ray_length + get: + return ray_length set(value): ray_length = value _update() - + @export var cone_width := 60.0: - get: return cone_width + get: + return cone_width set(value): cone_width = value _update() - + @export var cone_height := 60.0: - get: return cone_height + get: + return cone_height set(value): cone_height = value _update() @export var collide_with_areas := false: - get: return collide_with_areas + get: + return collide_with_areas set(value): collide_with_areas = value _update() - + @export var collide_with_bodies := true: - get: return collide_with_bodies + get: + return collide_with_bodies set(value): collide_with_bodies = value _update() @export var class_sensor := false - + var rays := [] var geo = null + func _update(): if Engine.is_editor_hint(): if is_node_ready(): - _spawn_nodes() + _spawn_nodes() + func _ready() -> void: - if Engine.is_editor_hint(): + if Engine.is_editor_hint(): if get_child_count() == 0: _spawn_nodes() else: _spawn_nodes() + func _spawn_nodes(): print("spawning nodes") for ray in get_children(): @@ -79,15 +91,15 @@ func _spawn_nodes(): geo.clear() #$Lines.remove_points() rays = [] - + var horizontal_step = cone_width / (n_rays_width) var vertical_step = cone_height / (n_rays_height) - - var horizontal_start = horizontal_step/2 - cone_width/2 - var vertical_start = vertical_step/2 - cone_height/2 + + var horizontal_start = horizontal_step / 2 - cone_width / 2 + var vertical_start = vertical_step / 2 - cone_height / 2 var points = [] - + for i in n_rays_width: for j in n_rays_height: var angle_w = horizontal_start + i * horizontal_step @@ -98,9 +110,9 @@ func _spawn_nodes(): ray.set_target_position(cast_to) points.append(cast_to) - - ray.set_name("node_"+str(i)+" "+str(j)) - ray.enabled = true + + ray.set_name("node_" + str(i) + " " + str(j)) + ray.enabled = true ray.collide_with_bodies = collide_with_bodies ray.collide_with_areas = collide_with_areas ray.collision_mask = collision_mask @@ -108,15 +120,17 @@ func _spawn_nodes(): ray.set_owner(get_tree().edited_scene_root) rays.append(ray) ray.force_raycast_update() - + + # if Engine.editor_hint: # _create_debug_lines(points) - + + func _create_debug_lines(points): - if not geo: + if not geo: geo = ImmediateMesh.new() add_child(geo) - + geo.clear() geo.begin(Mesh.PRIMITIVE_LINES) for point in points: @@ -125,20 +139,24 @@ func _create_debug_lines(points): geo.add_vertex(point) geo.end() + func display(): if geo: geo.display() - + + func to_spherical_coords(r, inc, azimuth) -> Vector3: return Vector3( - r*sin(deg_to_rad(inc))*cos(deg_to_rad(azimuth)), - r*sin(deg_to_rad(azimuth)), - r*cos(deg_to_rad(inc))*cos(deg_to_rad(azimuth)) + r * sin(deg_to_rad(inc)) * cos(deg_to_rad(azimuth)), + r * sin(deg_to_rad(azimuth)), + r * cos(deg_to_rad(inc)) * cos(deg_to_rad(azimuth)) ) - + + func get_observation() -> Array: return self.calculate_raycasts() + func calculate_raycasts() -> Array: var result = [] for ray in rays: @@ -148,19 +166,20 @@ func calculate_raycasts() -> Array: result.append(distance) if class_sensor: - var hit_class = 0 + var hit_class: float = 0 if ray.get_collider(): var hit_collision_layer = ray.get_collider().collision_layer hit_collision_layer = hit_collision_layer & collision_mask hit_class = (hit_collision_layer & boolean_class_mask) > 0 - result.append(hit_class) + result.append(float(hit_class)) ray.set_enabled(false) return result -func _get_raycast_distance(ray : RayCast3D) -> float : + +func _get_raycast_distance(ray: RayCast3D) -> float: if !ray.is_colliding(): return 0.0 - + var distance = (global_transform.origin - ray.get_collision_point()).length() distance = clamp(distance, 0.0, ray_length) return (ray_length - distance) / ray_length diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn index 39aa7c645d3a093cdd02408a62cfac507949ded7..35f9796596b2fb79bfcfe31e3d3a9637d9008e55 100644 --- a/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn +++ b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn @@ -8,26 +8,20 @@ n_rays_width = 4.0 n_rays_height = 2.0 ray_length = 11.0 -[node name="@node_0 0@18991" type="RayCast3D" parent="."] -target_position = Vector3(-4.06608, -2.84701, 9.81639) - -[node name="node_0 1" type="RayCast3D" parent="."] -target_position = Vector3(-4.06608, 2.84701, 9.81639) - -[node name="@node_1 0@18992" type="RayCast3D" parent="."] +[node name="node_1 0" type="RayCast3D" parent="."] target_position = Vector3(-1.38686, -2.84701, 10.5343) -[node name="@node_1 1@18993" type="RayCast3D" parent="."] +[node name="node_1 1" type="RayCast3D" parent="."] target_position = Vector3(-1.38686, 2.84701, 10.5343) -[node name="@node_2 0@18994" type="RayCast3D" parent="."] +[node name="node_2 0" type="RayCast3D" parent="."] target_position = Vector3(1.38686, -2.84701, 10.5343) -[node name="@node_2 1@18995" type="RayCast3D" parent="."] +[node name="node_2 1" type="RayCast3D" parent="."] target_position = Vector3(1.38686, 2.84701, 10.5343) -[node name="@node_3 0@18996" type="RayCast3D" parent="."] +[node name="node_3 0" type="RayCast3D" parent="."] target_position = Vector3(4.06608, -2.84701, 9.81639) -[node name="@node_3 1@18997" type="RayCast3D" parent="."] +[node name="node_3 1" type="RayCast3D" parent="."] target_position = Vector3(4.06608, 2.84701, 9.81639) diff --git a/addons/godot_rl_agents/sync.gd b/addons/godot_rl_agents/sync.gd index 884e4e45c6edd694d095adce24a7d3262c285c4a..ed9cf0a9c0baf9a512bf1536b4f92544b29aa9e1 100644 --- a/addons/godot_rl_agents/sync.gd +++ b/addons/godot_rl_agents/sync.gd @@ -1,20 +1,39 @@ extends Node + # --fixed-fps 2000 --disable-render-loop + +enum ControlModes { HUMAN, TRAINING, ONNX_INFERENCE } +@export var control_mode: ControlModes = ControlModes.TRAINING @export_range(1, 10, 1, "or_greater") var action_repeat := 8 -@export_range(1, 10, 1, "or_greater") var speed_up = 1 +@export_range(0, 10, 0.1, "or_greater") var speed_up := 1.0 @export var onnx_model_path := "" +# Onnx model stored for each requested path +var onnx_models: Dictionary + @onready var start_time = Time.get_ticks_msec() const MAJOR_VERSION := "0" -const MINOR_VERSION := "3" +const MINOR_VERSION := "7" const DEFAULT_PORT := "11008" const DEFAULT_SEED := "1" -var stream : StreamPeerTCP = null +var stream: StreamPeerTCP = null var connected = false var message_center var should_connect = true -var agents + +var all_agents: Array +var agents_training: Array +var agents_inference: Array +var agents_heuristic: Array + +## For recording expert demos +var agent_demo_record: Node +## Stores recorded trajectories +var demo_trajectories: Array +## A trajectory includes obs: Array, acts: Array, terminal (set in Python env instead) +var current_demo_trajectory: Array + var need_to_send_obs = false var args = null var initialized = false @@ -22,141 +41,295 @@ var just_reset = false var onnx_model = null var n_action_steps = 0 -var _action_space : Dictionary -var _obs_space : Dictionary +var _action_space: Dictionary +var _action_space_inference: Array[Dictionary] = [] +var _obs_space: Dictionary -# Called when the node enters the scene tree for the first time. +# Called when the node enters the scene tree for the first time. func _ready(): await get_tree().root.ready - get_tree().set_pause(true) + get_tree().set_pause(true) _initialize() await get_tree().create_timer(1.0).timeout - get_tree().set_pause(false) - + get_tree().set_pause(false) + + func _initialize(): _get_agents() - _obs_space = agents[0].get_obs_space() - _action_space = agents[0].get_action_space() args = _get_args() - Engine.physics_ticks_per_second = _get_speedup() * 60 # Replace with function body. + Engine.physics_ticks_per_second = _get_speedup() * 60 # Replace with function body. Engine.time_scale = _get_speedup() * 1.0 - prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up) - - # Run inference if onnx model path is set, otherwise wait for server connection - var run_onnx_model_inference : bool = onnx_model_path != "" - if run_onnx_model_inference: - assert(FileAccess.file_exists(onnx_model_path), "Onnx Model Path set on Sync node does not exist: " + onnx_model_path) - onnx_model = ONNXModel.new(onnx_model_path, 1) - _set_heuristic("model") - else: + prints( + "physics ticks", + Engine.physics_ticks_per_second, + Engine.time_scale, + _get_speedup(), + speed_up + ) + + _set_heuristic("human", all_agents) + + _initialize_training_agents() + _initialize_inference_agents() + _initialize_demo_recording() + + _set_seed() + _set_action_repeat() + initialized = true + + +func _initialize_training_agents(): + if agents_training.size() > 0: + _obs_space = agents_training[0].get_obs_space() + _action_space = agents_training[0].get_action_space() connected = connect_to_server() if connected: - _set_heuristic("model") + _set_heuristic("model", agents_training) _handshake() _send_env_info() else: - _set_heuristic("human") - - _set_seed() - _set_action_repeat() - initialized = true - -func _physics_process(delta): + push_warning( + "Couldn't connect to Python server, using human controls instead. ", + "Did you start the training server using e.g. `gdrl` from the console?" + ) + + +func _initialize_inference_agents(): + if agents_inference.size() > 0: + if control_mode == ControlModes.ONNX_INFERENCE: + assert( + FileAccess.file_exists(onnx_model_path), + "Onnx Model Path set on Sync node does not exist: %s" % onnx_model_path + ) + onnx_models[onnx_model_path] = ONNXModel.new(onnx_model_path, 1) + + for agent in agents_inference: + _action_space_inference.append(agent.get_action_space()) + + var agent_onnx_model: ONNXModel + if agent.onnx_model_path.is_empty(): + assert( + onnx_models.has(onnx_model_path), + ( + "Node %s has no onnx model path set " % agent.get_path() + + "and sync node's control mode is not set to OnnxInference. " + + "Either add the path to the AIController, " + + "or if you want to use the path set on sync node instead, " + + "set control mode to OnnxInference." + ) + ) + prints( + "Info: AIController %s" % agent.get_path(), + "has no onnx model path set.", + "Using path set on the sync node instead." + ) + agent_onnx_model = onnx_models[onnx_model_path] + else: + if not onnx_models.has(agent.onnx_model_path): + assert( + FileAccess.file_exists(agent.onnx_model_path), + ( + "Onnx Model Path set on %s node does not exist: %s" + % [agent.get_path(), agent.onnx_model_path] + ) + ) + onnx_models[agent.onnx_model_path] = ONNXModel.new(agent.onnx_model_path, 1) + agent_onnx_model = onnx_models[agent.onnx_model_path] + + agent.onnx_model = agent_onnx_model + _set_heuristic("model", agents_inference) + + +func _initialize_demo_recording(): + if agent_demo_record: + InputMap.add_action("RemoveLastDemoEpisode") + InputMap.action_add_event( + "RemoveLastDemoEpisode", agent_demo_record.remove_last_episode_key + ) + current_demo_trajectory.resize(2) + current_demo_trajectory[0] = [] + current_demo_trajectory[1] = [] + agent_demo_record.heuristic = "demo_record" + + +func _physics_process(_delta): # two modes, human control, agent control # pause tree, send obs, get actions, set actions, unpause tree + + _demo_record_process() + if n_action_steps % action_repeat != 0: n_action_steps += 1 return n_action_steps += 1 - + + _training_process() + _inference_process() + _heuristic_process() + + +func _training_process(): if connected: - get_tree().set_pause(true) - + get_tree().set_pause(true) + if just_reset: just_reset = false - var obs = _get_obs_from_agents() - - var reply = { - "type": "reset", - "obs": obs - } + var obs = _get_obs_from_agents(agents_training) + + var reply = {"type": "reset", "obs": obs} _send_dict_as_json_message(reply) # this should go straight to getting the action and setting it checked the agent, no need to perform one phyics tick - get_tree().set_pause(false) + get_tree().set_pause(false) return - + if need_to_send_obs: need_to_send_obs = false var reward = _get_reward_from_agents() var done = _get_done_from_agents() #_reset_agents_if_done() # this ensures the new observation is from the next env instance : NEEDS REFACTOR - - var obs = _get_obs_from_agents() - - var reply = { - "type": "step", - "obs": obs, - "reward": reward, - "done": done - } + + var obs = _get_obs_from_agents(agents_training) + + var reply = {"type": "step", "obs": obs, "reward": reward, "done": done} _send_dict_as_json_message(reply) - + var handled = handle_message() - - elif onnx_model != null: - var obs : Array = _get_obs_from_agents() - + + +func _inference_process(): + if agents_inference.size() > 0: + var obs: Array = _get_obs_from_agents(agents_inference) var actions = [] - for o in obs: - var action = onnx_model.run_inference(o["obs"], 1.0) + + for agent_id in range(0, agents_inference.size()): + var action = agents_inference[agent_id].onnx_model.run_inference( + obs[agent_id]["obs"], 1.0 + ) action["output"] = clamp_array(action["output"], -1.0, 1.0) - var action_dict = _extract_action_dict(action["output"]) + var action_dict = _extract_action_dict( + action["output"], _action_space_inference[agent_id] + ) actions.append(action_dict) - - _set_agent_actions(actions) - need_to_send_obs = true - get_tree().set_pause(false) - _reset_agents_if_done() - + + _set_agent_actions(actions, agents_inference) + _reset_agents_if_done(agents_inference) + get_tree().set_pause(false) + + +func _demo_record_process(): + if not agent_demo_record: + return + + if Input.is_action_just_pressed("RemoveLastDemoEpisode"): + print("[Sync script][Demo recorder] Removing last recorded episode.") + demo_trajectories.remove_at(demo_trajectories.size() - 1) + print("Remaining episode count: %d" % demo_trajectories.size()) + + if n_action_steps % agent_demo_record.action_repeat != 0: + return + + var obs_dict: Dictionary = agent_demo_record.get_obs() + + # Get the current obs from the agent + assert( + obs_dict.has("obs"), + "Demo recorder needs an 'obs' key in get_obs() returned dictionary to record obs from." + ) + current_demo_trajectory[0].append(obs_dict.obs) + + # Get the action applied for the current obs from the agent + agent_demo_record.set_action() + var acts = agent_demo_record.get_action() + + var terminal = agent_demo_record.get_done() + # Record actions only for non-terminal states + if terminal: + agent_demo_record.set_done_false() else: - _reset_agents_if_done() + current_demo_trajectory[1].append(acts) + + if terminal: + #current_demo_trajectory[2].append(true) + demo_trajectories.append(current_demo_trajectory.duplicate(true)) + print("[Sync script][Demo recorder] Recorded episode count: %d" % demo_trajectories.size()) + current_demo_trajectory[0].clear() + current_demo_trajectory[1].clear() + + +func _heuristic_process(): + for agent in agents_heuristic: + _reset_agents_if_done(agents_heuristic) + -func _extract_action_dict(action_array: Array): +func _extract_action_dict(action_array: Array, action_space: Dictionary): var index = 0 var result = {} - for key in _action_space.keys(): - var size = _action_space[key]["size"] - if _action_space[key]["action_type"] == "discrete": + for key in action_space.keys(): + var size = action_space[key]["size"] + if action_space[key]["action_type"] == "discrete": result[key] = round(action_array[index]) else: - result[key] = action_array.slice(index,index+size) + result[key] = action_array.slice(index, index + size) index += size - + return result -func _get_agents(): - agents = get_tree().get_nodes_in_group("AGENT") -func _set_heuristic(heuristic): +## For AIControllers that inherit mode from sync, sets the correct mode. +func _set_agent_mode(agent: Node): + var agent_inherits_mode: bool = agent.control_mode == agent.ControlModes.INHERIT_FROM_SYNC + + if agent_inherits_mode: + match control_mode: + ControlModes.HUMAN: + agent.control_mode = agent.ControlModes.HUMAN + ControlModes.TRAINING: + agent.control_mode = agent.ControlModes.TRAINING + ControlModes.ONNX_INFERENCE: + agent.control_mode = agent.ControlModes.ONNX_INFERENCE + + +func _get_agents(): + all_agents = get_tree().get_nodes_in_group("AGENT") + for agent in all_agents: + _set_agent_mode(agent) + + if agent.control_mode == agent.ControlModes.TRAINING: + agents_training.append(agent) + elif agent.control_mode == agent.ControlModes.ONNX_INFERENCE: + agents_inference.append(agent) + elif agent.control_mode == agent.ControlModes.HUMAN: + agents_heuristic.append(agent) + elif agent.control_mode == agent.ControlModes.RECORD_EXPERT_DEMOS: + assert( + not agent_demo_record, + "Currently only a single AIController can be used for recording expert demos." + ) + agent_demo_record = agent + + +func _set_heuristic(heuristic, agents: Array): for agent in agents: agent.set_heuristic(heuristic) + func _handshake(): print("performing handshake") - + var json_dict = _get_dict_json_message() assert(json_dict["type"] == "handshake") var major_version = json_dict["major_version"] var minor_version = json_dict["minor_version"] if major_version != MAJOR_VERSION: - print("WARNING: major verison mismatch ", major_version, " ", MAJOR_VERSION) + print("WARNING: major verison mismatch ", major_version, " ", MAJOR_VERSION) if minor_version != MINOR_VERSION: print("WARNING: minor verison mismatch ", minor_version, " ", MINOR_VERSION) - + print("handshake complete") + func _get_dict_json_message(): # returns a dictionary from of the most recent message # this is not waiting @@ -168,45 +341,48 @@ func _get_dict_json_message(): return null OS.delay_usec(10) - + var message = stream.get_string() var json_data = JSON.parse_string(message) - + return json_data + func _send_dict_as_json_message(dict): - stream.put_string(JSON.stringify(dict)) + stream.put_string(JSON.stringify(dict, "", false)) + func _send_env_info(): var json_dict = _get_dict_json_message() assert(json_dict["type"] == "env_info") - var message = { - "type" : "env_info", + "type": "env_info", "observation_space": _obs_space, - "action_space":_action_space, - "n_agents": len(agents) - } + "action_space": _action_space, + "n_agents": len(agents_training) + } _send_dict_as_json_message(message) + func connect_to_server(): print("Waiting for one second to allow server to start") OS.delay_msec(1000) print("trying to connect to server") stream = StreamPeerTCP.new() - + # "localhost" was not working on windows VM, had to use the IP var ip = "127.0.0.1" var port = _get_port() var connect = stream.connect_to_host(ip, port) - stream.set_no_delay(true) # TODO check if this improves performance or not + stream.set_no_delay(true) # TODO check if this improves performance or not stream.poll() # Fetch the status until it is either connected (2) or failed to connect (3) while stream.get_status() < 2: stream.poll() return stream.get_status() == 2 + func _get_args(): print("getting command line arguments") var arguments = {} @@ -220,41 +396,45 @@ func _get_args(): # with the value set to an empty string. arguments[argument.lstrip("--")] = "" - return arguments + return arguments + func _get_speedup(): print(args) - return args.get("speedup", str(speed_up)).to_int() + return args.get("speedup", str(speed_up)).to_float() + -func _get_port(): +func _get_port(): return args.get("port", DEFAULT_PORT).to_int() + func _set_seed(): var _seed = args.get("env_seed", DEFAULT_SEED).to_int() seed(_seed) + func _set_action_repeat(): action_repeat = args.get("action_repeat", str(action_repeat)).to_int() - + + func disconnect_from_server(): stream.disconnect_from_host() - func handle_message() -> bool: # get json message: reset, step, close var message = _get_dict_json_message() if message["type"] == "close": print("received close message, closing game") get_tree().quit() - get_tree().set_pause(false) + get_tree().set_pause(false) return true - + if message["type"] == "reset": print("resetting all agents") - _reset_all_agents() + _reset_agents() just_reset = true - get_tree().set_pause(false) + get_tree().set_pause(false) #print("resetting forcing draw") # RenderingServer.force_draw() # var obs = _get_obs_from_agents() @@ -263,76 +443,98 @@ func handle_message() -> bool: # "type": "reset", # "obs": obs # } -# _send_dict_as_json_message(reply) +# _send_dict_as_json_message(reply) return true - + if message["type"] == "call": var method = message["method"] var returns = _call_method_on_agents(method) - var reply = { - "type": "call", - "returns": returns - } + var reply = {"type": "call", "returns": returns} print("calling method from Python") - _send_dict_as_json_message(reply) + _send_dict_as_json_message(reply) return handle_message() - + if message["type"] == "action": var action = message["action"] - _set_agent_actions(action) + _set_agent_actions(action, agents_training) need_to_send_obs = true - get_tree().set_pause(false) + get_tree().set_pause(false) return true - + print("message was not handled") return false + func _call_method_on_agents(method): var returns = [] - for agent in agents: + for agent in all_agents: returns.append(agent.call(method)) - + return returns -func _reset_agents_if_done(): +func _reset_agents_if_done(agents = all_agents): for agent in agents: - if agent.get_done(): + if agent.get_done(): agent.set_done_false() -func _reset_all_agents(): + +func _reset_agents(agents = all_agents): for agent in agents: agent.needs_reset = true - #agent.reset() + #agent.reset() + -func _get_obs_from_agents(): +func _get_obs_from_agents(agents: Array = all_agents): var obs = [] for agent in agents: obs.append(agent.get_obs()) - return obs - -func _get_reward_from_agents(): - var rewards = [] + + +func _get_reward_from_agents(agents: Array = agents_training): + var rewards = [] for agent in agents: rewards.append(agent.get_reward()) agent.zero_reward() - return rewards - -func _get_done_from_agents(): - var dones = [] + return rewards + + +func _get_done_from_agents(agents: Array = agents_training): + var dones = [] for agent in agents: var done = agent.get_done() - if done: agent.set_done_false() + if done: + agent.set_done_false() dones.append(done) - return dones - -func _set_agent_actions(actions): + return dones + + +func _set_agent_actions(actions, agents: Array = all_agents): for i in range(len(actions)): agents[i].set_action(actions[i]) - -func clamp_array(arr : Array, min:float, max:float): - var output : Array = [] + + +func clamp_array(arr: Array, min: float, max: float): + var output: Array = [] for a in arr: output.append(clamp(a, min, max)) return output + + +## Save recorded export demos on window exit (Close window instead of "Stop" button in Godot Editor) +func _notification(what): + if not agent_demo_record: + return + + if what == NOTIFICATION_PREDELETE: + var json_string = JSON.stringify(demo_trajectories, "", false) + var file = FileAccess.open(agent_demo_record.expert_demo_save_path, FileAccess.WRITE) + + if not file: + var error: Error = FileAccess.get_open_error() + assert(not error, "There was an error opening the file: %d" % error) + + file.store_line(json_string) + var error = file.get_error() + assert(not error, "There was an error after trying to write to the file: %d" % error) diff --git a/bin/FlyBy.pck b/bin/FlyBy.pck index 3cf3aab1b2b986b6694e607ac351462a1c4648a8..467d60f934ac8e67fc444f3b765439d7959bd0a3 100644 --- a/bin/FlyBy.pck +++ b/bin/FlyBy.pck @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b9e3b0a80e0c9eac9dc780af6f3b948c787162bc756508639932709e3be9e772 -size 7141264 +oid sha256:be528ff75d41e64ecafda7738cbb181fb5dbda7b928a942fbb67c75c30ee0827 +size 7229552 diff --git a/bin/data_FlyBy_linuxbsd_x86_64/FlyBy.deps.json b/bin/data_FlyBy_linuxbsd_x86_64/FlyBy.deps.json new file mode 100644 index 0000000000000000000000000000000000000000..9244e9ee532cbe6956a795634a2ec2b428225a6a --- /dev/null +++ b/bin/data_FlyBy_linuxbsd_x86_64/FlyBy.deps.json @@ -0,0 +1,2980 @@ +{ + "runtimeTarget": { + "name": ".NETCoreApp,Version=v6.0/linux-x64", + "signature": "" + }, + "compilationOptions": {}, + "targets": { + ".NETCoreApp,Version=v6.0": {}, + ".NETCoreApp,Version=v6.0/linux-x64": { + "FlyBy/1.0.0": { + "dependencies": { + "Godot.SourceGenerators": "4.2.1", + "GodotSharp": "4.2.1", + "Microsoft.ML.OnnxRuntime": "1.15.1", + "runtimepack.Microsoft.NETCore.App.Runtime.linux-x64": "6.0.27" + }, + "runtime": { + "FlyBy.dll": {} + } + }, + "runtimepack.Microsoft.NETCore.App.Runtime.linux-x64/6.0.27": { + "runtime": { + "Microsoft.CSharp.dll": { + "assemblyVersion": "6.0.0.0", + "fileVersion": "6.0.2724.6912" + }, + "Microsoft.VisualBasic.Core.dll": { + "assemblyVersion": "11.0.0.0", + "fileVersion": "11.100.2724.6912" + }, + "Microsoft.VisualBasic.dll": { + "assemblyVersion": "10.0.0.0", + 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