Merge remote-tracking branch 'origin/main' into main

rlgym_tools/rocket_league/misc/action.py

@@ -2,11 +2,15 @@
 
 import numpy as np
 
+INVERT_ACTION = np.array([1, -1, 1, -1, -1, 1, 1, 1], dtype=np.float32)  # Invert steer, yaw and roll
+
 
 @dataclass(slots=True)
 class Action:
     """
     Dataclass representing an action in the environment.
+    RLGym uses numpy arrays, but this class can be used in place of them for better readability,
+    type hints and pretty printing.
     """
     throttle: float = 0.0
     steer: float = 0.0
@@ -23,10 +27,21 @@ def from_numpy(cls, action: np.ndarray):
 
     def to_numpy(self):
         return np.array(
-            [self.throttle, self.steer, self.pitch, self.yaw, self.roll, self.jump, self.boost, self.handbrake],
+            (self.throttle, self.steer, self.pitch, self.yaw, self.roll, self.jump, self.boost, self.handbrake),
             dtype=np.float32
         )
 
+    def mirror(self):
+        return ~self
+
+    def __invert__(self):
+        # ~ operator mirrors the action
+        return Action.from_numpy(self.to_numpy() * INVERT_ACTION)
+
+    def __array__(self):
+        # Make this class compatible with numpy functions
+        return self.to_numpy()
+
     def __repr__(self):
         def format_bool(b):
             return int(b)

rlgym_tools/rocket_league/replays/replay_frame.py

@@ -9,10 +9,10 @@
 
 @dataclass(slots=True)
 class ReplayFrame:
-    state: GameState
-    actions: Dict[int, np.ndarray]
-    update_age: Dict[int, float]
-    scoreboard: ScoreboardInfo
-    episode_seconds_remaining: float
-    next_scoring_team: Optional[int]
-    winning_team: Optional[int]
+    state: GameState  # Current state of the game
+    actions: Dict[int, np.ndarray]  # Actions for each player
+    update_age: Dict[int, float]  # Time since the replay updated values for each car (>0 means state is interpolated)
+    scoreboard: ScoreboardInfo  # Current scoreboard
+    episode_seconds_remaining: float  # Time remaining until someone scores or ball hits ground at 0s
+    next_scoring_team: Optional[int]  # Team that scores the next goal, None if ball hits ground at 0s
+    winning_team: Optional[int]  # Team that wins the game, None if game ended without a winner