sdsandbox-rl-scripts/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.