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sdsandbox-rl-scripts
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Modified Unity C# scripts for sdsandbox simulator (donkeycar RL training)
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Paul Huliganga fcdcb14e57 feat: initial commit — modified sdsandbox scripts for donkeycar RL training 
Key changes vs upstream tawnkramer/sdsandbox:
- Car.cs: per-wheel OverlapSphere barrier detection, CCD mode
- TcpCarHandler.cs: regen_road with RoadBuilder+PathManager fallback,
  set_ai_text overlay, BrakeOnUpdate support
- PathManager.cs: self-intersection fix with XZ segment retry loop
- RoadBuilder.cs: BoxCollider per segment, showBarrierMeshes flag
- MapOverlay.cs: minimap refresh on road node position change

Unity version: 6000.4.4f1

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
 		2026-05-15 10:41:41 -04:00
Packages feat: initial commit — modified sdsandbox scripts for donkeycar RL training 2026-05-15 10:41:41 -04:00
ProjectSettings feat: initial commit — modified sdsandbox scripts for donkeycar RL training 2026-05-15 10:41:41 -04:00
Scripts feat: initial commit — modified sdsandbox scripts for donkeycar RL training 2026-05-15 10:41:41 -04:00
.gitattributes feat: initial commit — modified sdsandbox scripts for donkeycar RL training 2026-05-15 10:41:41 -04:00
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README.md feat: initial commit — modified sdsandbox scripts for donkeycar RL training 2026-05-15 10:41:41 -04:00

README.md

sdsandbox-rl-scripts

Modified C# scripts for the sdsandbox Unity simulator, used with the donkeycar-rl-autoresearch project.

What's here

  • Scripts/ — all C# scripts from sdsim/Assets/Scripts/, including our RL training modifications
  • ProjectSettings/ — Unity project settings
  • Packages/ — Unity package manifest

Key modifications (vs upstream tawnkramer/sdsandbox)

  • Car.cs — per-wheel OverlapSphere barrier collision detection; CCD mode
  • TcpCarHandler.cs — regen_road message support with direct RoadBuilder+PathManager fallback when no TrainingManager present; set_ai_text overlay message
  • PathManager.cs — self-intersection fix: retry loop with XZ segment-segment math (up to 20 retries)
  • RoadBuilder.cs — BoxCollider per segment with overlap; showBarrierMeshes flag
  • MapOverlay.cs — minimap refresh on road node position change (not just count)

Setup on a new machine

  1. Clone the upstream sdsandbox (provides all binary assets Unity needs):

    git clone https://github.com/tawnkramer/sdsandbox

  2. Clone this repo:

    git clone git@paje.ca:paulh/sdsandbox-rl-scripts.git

  3. Overlay our scripts into the sdsandbox project:

    cp -r sdsandbox-rl-scripts/Scripts/*        sdsandbox/sdsim/Assets/Scripts/
cp -r sdsandbox-rl-scripts/ProjectSettings/* sdsandbox/sdsim/ProjectSettings/
cp -r sdsandbox-rl-scripts/Packages/*        sdsandbox/sdsim/Packages/

  4. Open sdsandbox/sdsim in Unity 6000.4.4f1. Unity will reimport assets on first open.

  5. Build: Edit → Project Settings → Player Builder → WinBuild (or use the batch build command from the donkeycar-rl-autoresearch SESSION_HANDOFF.md).

Unity version

Unity 6000.4.4f1 — other versions are not tested and may have incompatible APIs.