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README.md

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+---
+library_name: godot-rl
+tags:
+- deep-reinforcement-learning
+- reinforcement-learning
+- godot-rl
+- environments
+- video-games
+---
+
+A RL environment called 3DLander for the Godot Game Engine.
+
+This environment was created with: https://github.com/edbeeching/godot_rl_agents 
+
+
+## Downloading the environment 
+
+After installing Godot RL Agents, download the environment with: 
+
+```
+gdrl.env_from_hub -r edbeeching/godot_rl_3DLander
+```
+
+
+

Spaceship.csproj

@@ -0,0 +1,10 @@
+<Project Sdk="Godot.NET.Sdk/4.2.0">
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <EnableDynamicLoading>true</EnableDynamicLoading>
+    <RootNamespace>GodotRLAgents</RootNamespace>
+  </PropertyGroup>
+  <ItemGroup>
+    <PackageReference Include="Microsoft.ML.OnnxRuntime" Version="1.16.3" />
+  </ItemGroup>
+</Project>

Spaceship.sln

@@ -0,0 +1,19 @@
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2012
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Spaceship", "Spaceship.csproj", "{DC46F402-2A25-4B5F-8C88-0709BA297354}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+	Debug|Any CPU = Debug|Any CPU
+	ExportDebug|Any CPU = ExportDebug|Any CPU
+	ExportRelease|Any CPU = ExportRelease|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{DC46F402-2A25-4B5F-8C88-0709BA297354}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{DC46F402-2A25-4B5F-8C88-0709BA297354}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{DC46F402-2A25-4B5F-8C88-0709BA297354}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU
+		{DC46F402-2A25-4B5F-8C88-0709BA297354}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU
+		{DC46F402-2A25-4B5F-8C88-0709BA297354}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU
+		{DC46F402-2A25-4B5F-8C88-0709BA297354}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU
+	EndGlobalSection
+EndGlobal

addons/godot_rl_agents/controller/ai_controller_2d.gd

@@ -0,0 +1,82 @@
+extends Node2D
+class_name AIController2D
+
+@export var reset_after := 1000
+
+var heuristic := "human"
+var done := false
+var reward := 0.0
+var n_steps := 0
+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":[]}
+
+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") 
+	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") 	
+# -----------------------------------------------------------------------------#
+	
+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"
+		},
+	}
+
+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
+	
+

addons/godot_rl_agents/controller/ai_controller_3d.gd

@@ -0,0 +1,80 @@
+extends Node3D
+class_name AIController3D
+
+@export var reset_after := 1000
+
+var heuristic := "human"
+var done := false
+var reward := 0.0
+var n_steps := 0
+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":[]}
+
+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") 
+	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") 	
+# -----------------------------------------------------------------------------#
+	
+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"
+		},
+	}
+
+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

addons/godot_rl_agents/godot_rl_agents.gd

@@ -0,0 +1,16 @@
+@tool
+extends EditorPlugin
+
+
+func _enter_tree():
+	# Initialization of the plugin goes here.
+	# Add the new type with a name, a parent type, a script and an icon.
+	add_custom_type("Sync", "Node", preload("sync.gd"), preload("icon.png"))
+	#add_custom_type("RaycastSensor2D2", "Node", preload("raycast_sensor_2d.gd"), preload("icon.png"))
+
+
+func _exit_tree():
+	# Clean-up of the plugin goes here.
+	# Always remember to remove it from the engine when deactivated.
+	remove_custom_type("Sync")
+	#remove_custom_type("RaycastSensor2D2")

addons/godot_rl_agents/icon.png.import

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+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://b6jp8luodt4ig"
+path="res://.godot/imported/icon.png-45a871b53434e556222f5901d598ab34.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://addons/godot_rl_agents/icon.png"
+dest_files=["res://.godot/imported/icon.png-45a871b53434e556222f5901d598ab34.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/normal_map=0
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1

addons/godot_rl_agents/onnx/csharp/ONNXInference.cs

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+using Godot;
+using Microsoft.ML.OnnxRuntime;
+using Microsoft.ML.OnnxRuntime.Tensors;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace GodotONNX
+{
+    /// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/ONNXInference/*'/>
+    public partial class ONNXInference : GodotObject
+    {
+
+        private InferenceSession session;
+        /// <summary>
+        /// Path to the ONNX model. Use Initialize to change it. 
+        /// </summary>
+        private string modelPath;
+        private int batchSize;
+
+        private SessionOptions SessionOpt;
+
+        //init function
+        /// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Initialize/*'/>
+        public void Initialize(string Path, int BatchSize)
+        {
+            modelPath = Path;
+            batchSize = BatchSize;
+            SessionOpt = SessionConfigurator.MakeConfiguredSessionOptions();
+            session = LoadModel(modelPath);
+
+        }
+        /// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Run/*'/>
+        public Godot.Collections.Dictionary<string, Godot.Collections.Array> RunInference(Godot.Collections.Array<float> obs, int state_ins)
+        {
+            //Current model: Any (Godot Rl Agents)
+            //Expects a tensor of shape [batch_size, input_size] type float named obs and a tensor of shape [batch_size] type float named state_ins
+
+            //Fill the input tensors
+            // create span from inputSize
+            var span = new float[obs.Count]; //There's probably a better way to do this
+            for (int i = 0; i < obs.Count; i++)
+            {
+                span[i] = obs[i];
+            }
+
+            IReadOnlyCollection<NamedOnnxValue> inputs = new List<NamedOnnxValue>
+            {
+            NamedOnnxValue.CreateFromTensor("obs", new DenseTensor<float>(span, new int[] { batchSize, obs.Count })),
+            NamedOnnxValue.CreateFromTensor("state_ins", new DenseTensor<float>(new float[] { state_ins }, new int[] { batchSize }))
+            };
+            IReadOnlyCollection<string> outputNames = new List<string> { "output", "state_outs" }; //ONNX is sensible to these names, as well as the input names
+
+            IDisposableReadOnlyCollection<DisposableNamedOnnxValue> results;
+            //We do not use "using" here so we get a better exception explaination later
+            try
+            {
+                results = session.Run(inputs, outputNames);
+            }
+            catch (OnnxRuntimeException e)
+            {
+                //This error usually means that the model is not compatible with the input, beacause of the input shape (size)
+                GD.Print("Error at inference: ", e);
+                return null;
+            }
+            //Can't convert IEnumerable<float> to Variant, so we have to convert it to an array or something
+            Godot.Collections.Dictionary<string, Godot.Collections.Array> output = new();
+            DisposableNamedOnnxValue output1 = results.First();
+            DisposableNamedOnnxValue output2 = results.Last();
+
+            // Output1 array may contains longs if only discrete actions are used or floats otherwise
+            Godot.Collections.Array output1Array = new();
+            Godot.Collections.Array output2Array = new();
+
+            // SB3 exported model will send float actions if continuous actions are used in the environment
+            // (also the case with mixed actions)
+            if (output1.ElementType == TensorElementType.Float)
+            {
+                foreach (float f in output1.AsEnumerable<float>())
+                {
+                    output1Array.Add(f);
+                }
+            }
+            // SB3 exported model will send int64 actions if only discrete actions are used in the environment
+            else if (output1.ElementType == TensorElementType.Int64)
+            {
+                foreach (long l in output1.AsEnumerable<long>())
+                {
+                    output1Array.Add(l);
+                }
+            }
+
+            foreach (float f in output2.AsEnumerable<float>())
+            {
+                output2Array.Add(f);
+            }
+
+            output.Add(output1.Name, output1Array);
+            output.Add(output2.Name, output2Array);
+
+            //Output is a dictionary of arrays, ex: { "output" : [0.1, 0.2, 0.3, 0.4, ...], "state_outs" : [0.5, ...]}
+            results.Dispose();
+            return output;
+        }
+        /// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Load/*'/>
+        public InferenceSession LoadModel(string Path)
+        {
+            using FileAccess file = FileAccess.Open(Path, FileAccess.ModeFlags.Read);
+            byte[] model = file.GetBuffer((int)file.GetLength());
+            //file.Close(); file.Dispose(); //Close the file, then dispose the reference.
+            return new InferenceSession(model, SessionOpt); //Load the model
+        }
+        public void FreeDisposables()
+        {
+            session.Dispose();
+            SessionOpt.Dispose();
+        }
+    }
+}

addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs

@@ -0,0 +1,131 @@
+using Godot;
+using Microsoft.ML.OnnxRuntime;
+
+namespace GodotONNX
+{
+    /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SessionConfigurator/*'/>
+
+    public static class SessionConfigurator
+    {
+        public enum ComputeName
+        {
+            CUDA,
+            ROCm,
+            DirectML,
+            CoreML,
+            CPU
+        }
+
+        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/GetSessionOptions/*'/>
+        public static SessionOptions MakeConfiguredSessionOptions()
+        {
+            SessionOptions sessionOptions = new();
+            SetOptions(sessionOptions);
+            return sessionOptions;
+        }
+
+        private static void SetOptions(SessionOptions sessionOptions)
+        {
+            sessionOptions.LogSeverityLevel = OrtLoggingLevel.ORT_LOGGING_LEVEL_WARNING;
+            ApplySystemSpecificOptions(sessionOptions);
+        }
+
+        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SystemCheck/*'/>
+        static public void ApplySystemSpecificOptions(SessionOptions sessionOptions)
+        {
+            //Most code for this function is verbose only, the only reason it exists is to track
+            //implementation progress of the different compute APIs.
+
+            //December 2022: CUDA is not working. 
+
+            string OSName = OS.GetName(); //Get OS Name
+
+            //ComputeName ComputeAPI = ComputeCheck(); //Get Compute API
+            //                                         //TODO: Get CPU architecture
+
+            //Linux can use OpenVINO (C#) on x64 and ROCm on x86 (GDNative/C++)
+            //Windows can use OpenVINO (C#) on x64
+            //TODO: try TensorRT instead of CUDA
+            //TODO: Use OpenVINO for Intel Graphics
+
+            // Temporarily using CPU on all platforms to avoid errors detected with DML
+            ComputeName ComputeAPI = ComputeName.CPU;
+
+            //match OS and Compute API
+            GD.Print($"OS: {OSName} Compute API: {ComputeAPI}");
+
+            // CPU is set by default without appending necessary
+            // sessionOptions.AppendExecutionProvider_CPU(0);
+
+            /*
+            switch (OSName)
+            {
+                case "Windows": //Can use CUDA, DirectML
+                    if (ComputeAPI is ComputeName.CUDA)
+                    {
+                        //CUDA 
+                        //sessionOptions.AppendExecutionProvider_CUDA(0);
+                        //sessionOptions.AppendExecutionProvider_DML(0);
+                    }
+                    else if (ComputeAPI is ComputeName.DirectML)
+                    {
+                        //DirectML
+                        //sessionOptions.AppendExecutionProvider_DML(0);
+                    }
+                    break;
+                case "X11": //Can use CUDA, ROCm
+                    if (ComputeAPI is ComputeName.CUDA)
+                    {
+                        //CUDA
+                        //sessionOptions.AppendExecutionProvider_CUDA(0);
+                    }
+                    if (ComputeAPI is ComputeName.ROCm)
+                    {
+                        //ROCm, only works on x86 
+                        //Research indicates that this has to be compiled as a GDNative plugin
+                        //GD.Print("ROCm not supported yet, using CPU.");
+                        //sessionOptions.AppendExecutionProvider_CPU(0);
+                    }
+                    break;
+                case "macOS": //Can use CoreML
+                    if (ComputeAPI is ComputeName.CoreML)
+                    { //CoreML
+                      //TODO: Needs testing
+                        //sessionOptions.AppendExecutionProvider_CoreML(0);
+                        //CoreML on ARM64, out of the box, on x64 needs .tar file from GitHub
+                    }
+                    break;
+                default:
+                    GD.Print("OS not Supported.");
+                    break;
+            }
+            */
+        }
+
+
+        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/ComputeCheck/*'/>
+        public static ComputeName ComputeCheck()
+        {
+            string adapterName = Godot.RenderingServer.GetVideoAdapterName();
+            //string adapterVendor = Godot.RenderingServer.GetVideoAdapterVendor();
+            adapterName = adapterName.ToUpper(new System.Globalization.CultureInfo(""));
+            //TODO: GPU vendors for MacOS, what do they even use these days?
+
+            if (adapterName.Contains("INTEL"))
+            {
+                return ComputeName.DirectML;
+            }
+            if (adapterName.Contains("AMD") || adapterName.Contains("RADEON"))
+            {
+                return ComputeName.DirectML;
+            }
+            if (adapterName.Contains("NVIDIA"))
+            {
+                return ComputeName.CUDA;
+            }
+
+            GD.Print("Graphics Card not recognized."); //Should use CPU
+            return ComputeName.CPU;
+        }
+    }
+}

addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml

@@ -0,0 +1,31 @@
+<docs>
+	<members name="ONNXInference">
+		<ONNXInference>
+			<summary>
+       		The main <c>ONNXInference</c> Class that handles the inference process.
+        	</summary>
+		</ONNXInference>
+   		<Initialize>
+        	<summary>
+			Starts the inference process. 
+			</summary>
+			<param name="Path">Path to the ONNX model, expects a path inside resources.</param>
+			<param name="BatchSize">How many observations will the model recieve.</param>
+		</Initialize>
+		<Run>
+			<summary>
+			Runs the given input through the model and returns the output.
+			</summary>
+			<param name="obs">Dictionary containing all observations.</param>
+			<param name="state_ins">How many different agents are creating these observations.</param>
+			<returns>A Dictionary of arrays, containing instructions based on the observations. Arrays can hold either C# longs for discrete-only action space, or C# floats. </returns>
+		</Run>
+		<Load>
+			<summary>
+			Loads the given model into the inference process, using the best Execution provider available.
+			</summary>
+			<param name="Path">Path to the ONNX model, expects a path inside resources.</param>
+			<returns>InferenceSession ready to run.</returns>
+		</Load>
+	</members>
+</docs>

addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml

@@ -0,0 +1,29 @@
+<docs>
+	<members name="SessionConfigurator">
+		<SessionConfigurator>
+			<summary>
+       		The main <c>SessionConfigurator</c> Class that handles the execution options and providers for the inference process.
+        	</summary>
+		</SessionConfigurator>
+  		<GetSessionOptions>
+    	    <summary>
+    	    Creates a SessionOptions with all available execution providers.
+    	    </summary>
+			<returns>SessionOptions with all available execution providers.</returns>
+    	</GetSessionOptions>
+    	<SystemCheck>
+        	<summary>
+        	Appends any execution provider available in the current system.  
+        	</summary>
+			<remarks>
+				This function is mainly verbose for tracking implementation progress of different compute APIs. 
+			</remarks>
+    	</SystemCheck>
+    	<ComputeCheck>
+        	<summary>
+        		Checks for available GPUs.
+        	</summary>
+			<returns>An integer identifier for each compute platform.</returns>
+    	</ComputeCheck>
+	</members>
+</docs>

addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd

@@ -0,0 +1,24 @@
+extends Resource
+class_name ONNXModel
+var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInference.cs")
+
+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, 
+# 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:
+	if inferencer == null:
+		printerr("Inferencer not initialized")
+		return {}
+	return inferencer.RunInference(obs, state_ins)
+
+func _notification(what):
+	if what == NOTIFICATION_PREDELETE:
+		inferencer.FreeDisposables()
+		inferencer.free()

addons/godot_rl_agents/plugin.cfg

@@ -0,0 +1,7 @@
+[plugin]
+
+name="GodotRLAgents"
+description="Custom nodes for the godot rl agents toolkit	"
+author="Edward Beeching"
+version="0.1"
+script="godot_rl_agents.gd"

addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn

@@ -0,0 +1,48 @@
+[gd_scene load_steps=5 format=3 uid="uid://ddeq7mn1ealyc"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
+
+[sub_resource type="GDScript" id="2"]
+script/source = "extends Node2D
+
+
+
+func _physics_process(delta: float) -> void:
+    print(\"step start\")
+    
+"
+
+[sub_resource type="GDScript" id="1"]
+script/source = "extends RayCast2D
+
+var steps = 1
+
+func _physics_process(delta: float) -> void:
+    print(\"processing raycast\")
+    steps += 1
+    if steps % 2:
+        force_raycast_update()
+
+    print(is_colliding())
+"
+
+[sub_resource type="CircleShape2D" id="3"]
+
+[node name="ExampleRaycastSensor2D" type="Node2D"]
+script = SubResource("2")
+
+[node name="ExampleAgent" type="Node2D" parent="."]
+position = Vector2(573, 314)
+rotation = 0.286234
+
+[node name="RaycastSensor2D" type="Node2D" parent="ExampleAgent"]
+script = ExtResource("1")
+
+[node name="TestRayCast2D" type="RayCast2D" parent="."]
+script = SubResource("1")
+
+[node name="StaticBody2D" type="StaticBody2D" parent="."]
+position = Vector2(1, 52)
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="StaticBody2D"]
+shape = SubResource("3")

addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd

@@ -0,0 +1,20 @@
+extends Node2D
+class_name ISensor2D
+
+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

addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd

@@ -0,0 +1,118 @@
+@tool
+extends ISensor2D
+class_name RaycastSensor2D
+
+@export_flags_2d_physics var collision_mask := 1:
+	get: return collision_mask
+	set(value):
+		collision_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 var n_rays := 16.0:
+	get: return n_rays
+	set(value):
+		n_rays = value
+		_update()
+	
+@export_range(5,200,5.0) 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
+	set(value):
+		cone_width = value
+		_update()
+	
+@export var debug_draw := true :
+	get: return debug_draw 
+	set(value):
+		debug_draw = value
+		_update()  
+
+
+var _angles = []
+var rays := []
+
+func _update():
+	if Engine.is_editor_hint():
+		if debug_draw:
+			_spawn_nodes()
+		else:
+			for ray in get_children():
+				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
+	
+	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.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
+	
+
+func calculate_raycasts() -> Array:
+	var result = []
+	for ray in rays:
+		ray.force_raycast_update()
+		var distance = _get_raycast_distance(ray)
+		result.append(distance)
+	return result
+
+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
+	
+	
+	

addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn

@@ -0,0 +1,7 @@
+[gd_scene load_steps=2 format=3 uid="uid://drvfihk5esgmv"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
+
+[node name="RaycastSensor2D" type="Node2D"]
+script = ExtResource("1")
+n_rays = 17.0

addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn

@@ -0,0 +1,6 @@
+[gd_scene format=3 uid="uid://biu787qh4woik"]
+
+[node name="ExampleRaycastSensor3D" type="Node3D"]
+
+[node name="Camera3D" type="Camera3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.804183, 0, 2.70146)

addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd

@@ -0,0 +1,20 @@
+extends Node3D
+class_name ISensor3D
+
+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

addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd

@@ -0,0 +1,11 @@
+extends Node3D
+class_name RGBCameraSensor3D
+var camera_pixels = null
+
+@onready var camera_texture := $Control/TextureRect/CameraTexture as Sprite2D
+
+func get_camera_pixel_encoding():
+	return camera_texture.get_texture().get_image().data["data"].hex_encode()
+
+func get_camera_shape()-> Array:
+	return [$SubViewport.size[0], $SubViewport.size[1], 4]

addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn

@@ -0,0 +1,42 @@
+[gd_scene load_steps=3 format=2]
+
+[ext_resource path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" type="Script" id=1]
+
+[sub_resource type="ViewportTexture" id=1]
+viewport_path = NodePath("SubViewport")
+
+[node name="RGBCameraSensor3D" type="Node3D"]
+script = ExtResource( 1 )
+
+[node name="RemoteTransform3D" type="RemoteTransform3D" parent="."]
+remote_path = NodePath("../SubViewport/Camera3D")
+
+[node name="SubViewport" type="SubViewport" parent="."]
+size = Vector2( 32, 32 )
+render_target_update_mode = 3
+
+[node name="Camera3D" type="Camera3D" parent="SubViewport"]
+near = 0.5
+
+[node name="Control" type="Control" parent="."]
+anchor_right = 1.0
+anchor_bottom = 1.0
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="TextureRect" type="ColorRect" parent="Control"]
+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
+}
+
+[node name="CameraTexture" type="Sprite2D" parent="Control/TextureRect"]
+texture = SubResource( 1 )
+offset = Vector2( 9, 9 )
+flip_v = true

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd

@@ -0,0 +1,166 @@
+@tool
+extends ISensor3D
+class_name RayCastSensor3D
+@export_flags_3d_physics var collision_mask = 1:
+	get: return collision_mask
+	set(value):
+		collision_mask = value
+		_update()
+@export_flags_3d_physics var boolean_class_mask = 1:
+	get: return boolean_class_mask
+	set(value):
+		boolean_class_mask = value
+		_update()
+
+@export var n_rays_width := 6.0:
+	get: return n_rays_width
+	set(value):
+		n_rays_width = value
+		_update()
+	
+@export var n_rays_height := 6.0:
+	get: return n_rays_height
+	set(value):
+		n_rays_height = value
+		_update()
+
+@export var ray_length := 10.0:
+	get: return ray_length
+	set(value):
+		ray_length = value
+		_update()
+		
+@export var cone_width := 60.0:
+	get: return cone_width
+	set(value):
+		cone_width = value
+		_update()
+		
+@export var cone_height := 60.0:
+	get: return cone_height
+	set(value):
+		cone_height = 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 var class_sensor := false
+		
+var rays := []
+var geo = null
+
+func _update():
+	if Engine.is_editor_hint():
+		if is_node_ready():
+			_spawn_nodes()	
+
+func _ready() -> void:
+	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():
+		ray.queue_free()
+	if geo:
+		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 points = []
+	
+	for i in n_rays_width:
+		for j in n_rays_height:
+			var angle_w = horizontal_start + i * horizontal_step
+			var angle_h = vertical_start + j * vertical_step
+			#angle_h = 0.0
+			var ray = RayCast3D.new()
+			var cast_to = to_spherical_coords(ray_length, angle_w, angle_h)
+			ray.set_target_position(cast_to)
+
+			points.append(cast_to)
+			
+			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
+			add_child(ray)
+			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: 
+		geo = ImmediateMesh.new()
+		add_child(geo)
+		
+	geo.clear()
+	geo.begin(Mesh.PRIMITIVE_LINES)
+	for point in points:
+		geo.set_color(Color.AQUA)
+		geo.add_vertex(Vector3.ZERO)
+		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))       
+	)
+	
+func get_observation() -> Array:
+	return self.calculate_raycasts()
+
+func calculate_raycasts() -> Array:
+	var result = []
+	for ray in rays:
+		ray.set_enabled(true)
+		ray.force_raycast_update()
+		var distance = _get_raycast_distance(ray)
+
+		result.append(distance)
+		if class_sensor:
+			var hit_class = 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)
+		ray.set_enabled(false)
+	return result
+
+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

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn

@@ -0,0 +1,33 @@
+[gd_scene load_steps=2 format=3 uid="uid://b803cbh1fmy66"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" id="1"]
+
+[node name="RaycastSensor3D" type="Node3D"]
+script = ExtResource("1")
+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="."]
+target_position = Vector3(-1.38686, -2.84701, 10.5343)
+
+[node name="@node_1 1@18993" type="RayCast3D" parent="."]
+target_position = Vector3(-1.38686, 2.84701, 10.5343)
+
+[node name="@node_2 0@18994" type="RayCast3D" parent="."]
+target_position = Vector3(1.38686, -2.84701, 10.5343)
+
+[node name="@node_2 1@18995" type="RayCast3D" parent="."]
+target_position = Vector3(1.38686, 2.84701, 10.5343)
+
+[node name="@node_3 0@18996" type="RayCast3D" parent="."]
+target_position = Vector3(4.06608, -2.84701, 9.81639)
+
+[node name="@node_3 1@18997" type="RayCast3D" parent="."]
+target_position = Vector3(4.06608, 2.84701, 9.81639)

addons/godot_rl_agents/sync.gd

@@ -0,0 +1,345 @@
+extends Node
+# --fixed-fps 2000 --disable-render-loop
+@export_range(1, 10, 1, "or_greater") var action_repeat := 8
+@export_range(1, 10, 1, "or_greater") var speed_up = 1
+@export var onnx_model_path := ""
+
+@onready var start_time = Time.get_ticks_msec()
+
+const MAJOR_VERSION := "0"
+const MINOR_VERSION := "3" 
+const DEFAULT_PORT := "11008"
+const DEFAULT_SEED := "1"
+var stream : StreamPeerTCP = null
+var connected = false
+var message_center
+var should_connect = true
+var agents
+var need_to_send_obs = false
+var args = null
+var initialized = false
+var just_reset = false
+var onnx_model = null
+var n_action_steps = 0
+
+var _action_space : Dictionary
+var _obs_space : Dictionary
+
+# Called when the node enters the scene tree for the first time.
+
+func _ready():
+	await get_tree().root.ready
+	get_tree().set_pause(true) 
+	_initialize()
+	await get_tree().create_timer(1.0).timeout
+	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.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:		
+		connected = connect_to_server()
+		if connected:
+			_set_heuristic("model")
+			_handshake()
+			_send_env_info()
+		else:
+			_set_heuristic("human")  
+		
+	_set_seed()
+	_set_action_repeat()
+	initialized = true  
+
+func _physics_process(delta): 
+	# two modes, human control, agent control
+	# pause tree, send obs, get actions, set actions, unpause tree
+	if n_action_steps % action_repeat != 0:
+		n_action_steps += 1
+		return
+
+	n_action_steps += 1
+	
+	if connected:
+		get_tree().set_pause(true) 
+		
+		if just_reset:
+			just_reset = false
+			var obs = _get_obs_from_agents()
+		
+			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) 
+			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
+			}
+			_send_dict_as_json_message(reply)
+		
+		var handled = handle_message()
+	
+	elif onnx_model != null:
+		var obs : Array = _get_obs_from_agents()
+	
+		var actions = []
+		for o in obs:
+			var action = onnx_model.run_inference(o["obs"], 1.0)
+			var action_dict = _extract_action_dict(action["output"])
+			actions.append(action_dict)
+		
+		_set_agent_actions(actions) 
+		need_to_send_obs = true
+		get_tree().set_pause(false) 
+		_reset_agents_if_done()	
+		
+	else:
+		_reset_agents_if_done()	
+
+func _extract_action_dict(action_array: Array):
+	var index = 0
+	var result = {}
+	for key in _action_space.keys():
+		var size = _action_space[key]["size"]
+		if _action_space[key]["action_type"] == "discrete":
+			var action = action_array[index]
+			# If the action received from inference is discrete, it will be received as int
+			# If it is a float, convert it to a binary discrete action
+			if (typeof(action) == TYPE_FLOAT):		
+				result[key] = int(action > 0)
+			elif (typeof(action) == TYPE_INT):
+				result[key] = action
+			else:
+				assert(false, "Unexpected action type received, expected float or int.")
+			index += 1
+		else:
+			result[key] = clamp_array(action_array.slice(index,index+size), -1, 1)
+			index += size
+	return result
+
+func _get_agents():
+	agents = get_tree().get_nodes_in_group("AGENT")
+
+func _set_heuristic(heuristic):
+	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)  
+	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
+	while stream.get_available_bytes() == 0:
+		stream.poll()
+		if stream.get_status() != 2:
+			print("server disconnected status, closing")
+			get_tree().quit()
+			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))
+
+func _send_env_info():
+	var json_dict = _get_dict_json_message()
+	assert(json_dict["type"] == "env_info")
+
+		
+	var message = {
+		"type" : "env_info",
+		"observation_space": _obs_space,
+		"action_space":_action_space,
+		"n_agents": len(agents)
+		}
+	_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.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 = {}
+	for argument in OS.get_cmdline_args():
+		print(argument)
+		if argument.find("=") > -1:
+			var key_value = argument.split("=")
+			arguments[key_value[0].lstrip("--")] = key_value[1]
+		else:
+			# Options without an argument will be present in the dictionary,
+			# with the value set to an empty string.
+			arguments[argument.lstrip("--")] = ""
+
+	return arguments   
+
+func _get_speedup():
+	print(args)
+	return args.get("speedup", str(speed_up)).to_int()
+
+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) 
+		return true
+		
+	if message["type"] == "reset":
+		print("resetting all agents")
+		_reset_all_agents()
+		just_reset = true
+		get_tree().set_pause(false) 
+		#print("resetting forcing draw")
+#        RenderingServer.force_draw()
+#        var obs = _get_obs_from_agents()
+#        print("obs ", obs)
+#        var reply = {
+#            "type": "reset",
+#            "obs": obs
+#        }
+#        _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
+		}
+		print("calling method from Python")
+		_send_dict_as_json_message(reply)   
+		return handle_message()
+	
+	if message["type"] == "action":
+		var action = message["action"]
+		_set_agent_actions(action) 
+		need_to_send_obs = true
+		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:
+		returns.append(agent.call(method))
+		
+	return returns
+
+
+func _reset_agents_if_done():
+	for agent in agents:
+		if agent.get_done(): 
+			agent.set_done_false()
+
+func _reset_all_agents():
+	for agent in agents:
+		agent.needs_reset = true
+		#agent.reset()   
+
+func _get_obs_from_agents():
+	var obs = []
+	for agent in agents:
+		obs.append(agent.get_obs())
+
+	return obs
+	
+func _get_reward_from_agents():
+	var rewards = [] 
+	for agent in agents:
+		rewards.append(agent.get_reward())
+		agent.zero_reward()
+	return rewards    
+	
+func _get_done_from_agents():
+	var dones = [] 
+	for agent in agents:
+		var done = agent.get_done()
+		if done: agent.set_done_false()
+		dones.append(done)
+	return dones    
+	
+func _set_agent_actions(actions):
+	for i in range(len(actions)):
+		agents[i].set_action(actions[i])
+	
+func clamp_array(arr : Array, min:float, max:float):
+	var output : Array = []
+	for a in arr:
+		output.append(clamp(a, min, max))
+	return output

asset-license.md

@@ -0,0 +1,5 @@
+3DLander Environment made by Ivan-267 using Godot, Godot RL Agents, and Blender. 
+
+The following license is only for the assets (.blend files) in the folder "blender":
+Author: https://github.com/Ivan-267
+License: https://creativecommons.org/licenses/by/4.0/

blender/.gitignore

@@ -0,0 +1,2 @@
+## Needs the import files to work correctly
+!*.import

blender/lander.blend.import

@@ -0,0 +1,50 @@
+[remap]
+
+importer="scene"
+importer_version=1
+type="PackedScene"
+uid="uid://c5sv7fju6uiew"
+path="res://.godot/imported/lander.blend-f9a5f8cc1cc4747a914fa5968f7bc25e.scn"
+
+[deps]
+
+source_file="res://blender/lander.blend"
+dest_files=["res://.godot/imported/lander.blend-f9a5f8cc1cc4747a914fa5968f7bc25e.scn"]
+
+[params]
+
+nodes/root_type="RigidBody3D"
+nodes/root_name="Lander"
+nodes/apply_root_scale=true
+nodes/root_scale=1.0
+meshes/ensure_tangents=true
+meshes/generate_lods=true
+meshes/create_shadow_meshes=true
+meshes/light_baking=1
+meshes/lightmap_texel_size=0.2
+meshes/force_disable_compression=false
+skins/use_named_skins=true
+animation/import=true
+animation/fps=30
+animation/trimming=false
+animation/remove_immutable_tracks=true
+import_script/path=""
+_subresources={}
+gltf/naming_version=0
+gltf/embedded_image_handling=1
+blender/nodes/visible=0
+blender/nodes/punctual_lights=true
+blender/nodes/cameras=true
+blender/nodes/custom_properties=true
+blender/nodes/modifiers=1
+blender/meshes/colors=false
+blender/meshes/uvs=true
+blender/meshes/normals=true
+blender/meshes/tangents=true
+blender/meshes/skins=2
+blender/meshes/export_bones_deforming_mesh_only=false
+blender/materials/unpack_enabled=true
+blender/materials/export_materials=1
+blender/animation/limit_playback=true
+blender/animation/always_sample=true
+blender/animation/group_tracks=true

blender/landing-leg.blend.import

@@ -0,0 +1,50 @@
+[remap]
+
+importer="scene"
+importer_version=1
+type="PackedScene"
+uid="uid://drqbjpjw2hiic"
+path="res://.godot/imported/landing-leg.blend-49137b7f84c9ab66b10d0c88cd578255.scn"
+
+[deps]
+
+source_file="res://blender/landing-leg.blend"
+dest_files=["res://.godot/imported/landing-leg.blend-49137b7f84c9ab66b10d0c88cd578255.scn"]
+
+[params]
+
+nodes/root_type="RigidBody3D"
+nodes/root_name="LandingLeg"
+nodes/apply_root_scale=true
+nodes/root_scale=1.0
+meshes/ensure_tangents=true
+meshes/generate_lods=true
+meshes/create_shadow_meshes=true
+meshes/light_baking=1
+meshes/lightmap_texel_size=0.2
+meshes/force_disable_compression=false
+skins/use_named_skins=true
+animation/import=true
+animation/fps=30
+animation/trimming=false
+animation/remove_immutable_tracks=true
+import_script/path=""
+_subresources={}
+gltf/naming_version=0
+gltf/embedded_image_handling=1
+blender/nodes/visible=0
+blender/nodes/punctual_lights=true
+blender/nodes/cameras=true
+blender/nodes/custom_properties=true
+blender/nodes/modifiers=1
+blender/meshes/colors=false
+blender/meshes/uvs=true
+blender/meshes/normals=true
+blender/meshes/tangents=true
+blender/meshes/skins=2
+blender/meshes/export_bones_deforming_mesh_only=false
+blender/materials/unpack_enabled=true
+blender/materials/export_materials=1
+blender/animation/limit_playback=true
+blender/animation/always_sample=true
+blender/animation/group_tracks=true

icon.svg.import

@@ -0,0 +1,37 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://d4liren10vldg"
+path="res://.godot/imported/icon.svg-218a8f2b3041327d8a5756f3a245f83b.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://icon.svg"
+dest_files=["res://.godot/imported/icon.svg-218a8f2b3041327d8a5756f3a245f83b.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/normal_map=0
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1
+svg/scale=1.0
+editor/scale_with_editor_scale=false
+editor/convert_colors_with_editor_theme=false

onnx/model.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29ea0e922e2690d3073b12386179e24a248a5a28193d41d03cdbe8b42400b875
+size 67297

project.godot

@@ -0,0 +1,66 @@
+; Engine configuration file.
+; It's best edited using the editor UI and not directly,
+; since the parameters that go here are not all obvious.
+;
+; Format:
+;   [section] ; section goes between []
+;   param=value ; assign values to parameters
+
+config_version=5
+
+[application]
+
+config/name="Lander3D"
+run/main_scene="res://scenes/training_scene/training_scene.tscn"
+config/features=PackedStringArray("4.2", "C#", "Forward Plus")
+config/icon="res://icon.svg"
+
+[audio]
+
+buses/default_bus_layout=""
+
+[dotnet]
+
+project/assembly_name="Spaceship"
+
+[editor_plugins]
+
+enabled=PackedStringArray("res://addons/godot_rl_agents/plugin.cfg")
+
+[input]
+
+up_thruster={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":32,"key_label":0,"unicode":32,"echo":false,"script":null)
+]
+}
+forward_thruster={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":87,"key_label":0,"unicode":119,"echo":false,"script":null)
+]
+}
+back_thruster={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":83,"key_label":0,"unicode":115,"echo":false,"script":null)
+]
+}
+left_thruster={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":65,"key_label":0,"unicode":97,"echo":false,"script":null)
+]
+}
+right_thruster={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":68,"key_label":0,"unicode":100,"echo":false,"script":null)
+]
+}
+turn_left_thruster={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":81,"key_label":0,"unicode":113,"echo":false,"script":null)
+]
+}
+turn_right_thruster={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":69,"key_label":0,"unicode":101,"echo":false,"script":null)
+]
+}

readme.md

@@ -0,0 +1,151 @@
+## 3D Lander Environment
+
+![lander_scr_1](https://github.com/edbeeching/godot_rl_agents_examples/assets/61947090/66bca4d4-17cb-4618-b4be-ac5a04144927)
+
+This environment was inspired by the gymnasium Lunar Lander env. 
+
+The goal is to land safely as close to the goal as possible. 
+It is not required to land inside the goal zone, but landing closer to the center of the zone gives a higher reward.
+
+On each (re)start, the lander is randomly positioned with a random velocity added.
+
+### Observations:
+Vector based, including:
+
+- Linear and angular velocity of the lander in the lander's frame of reference,
+- Current step / episode length in steps,
+- How many of the lander's legs are currently in contact with the ground,
+- The orientation of the lander (basis y and x vectors),
+- The position of the goal (landing zone) relative to the lander,
+- The direction difference between the goal direction (Y axis pointing upward) and the current direction,
+- Observations from a RayCast sensor attached to the lander.
+
+### Action space:
+For each thruster that the RL agent can control, a discrete action is used of size 2 (with possible values being 0 - thruster off, or 1 - thruster on). 
+The entire action space is defined as:
+
+```gdscript
+func get_action_space() -> Dictionary:
+	return {
+		"back_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		"forward_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		"left_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		"right_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		"turn_left_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		"turn_right_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		"up_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+	}
+```
+
+### Rewards and episode end conditions:
+The requirement for "successfully landing" includes all legs being on the ground, velocities being low and thruster activity being very low (the thresholds can be adjusted in the `_is_goal_reached()` method of `Lander.gd`).
+
+Every time a leg collides the ground, a positive reward is given. Every time a leg loses contact with the ground, a negative reward is given (in the current version, there may be a case where the negative reward is given after restarting the episode, this hasn't been checked in-depth). 
+
+The episode is restarted if:
+- The lander successfully lands (along with a positive reward reduced by the distance from the center of the landing area).
+- The body of lander collides with the ground or one of the walls around the game area (along with a negative reward)
+- The episodes times out (along with a negative reward)
+
+On every physics step, a reward is added based on:
+- Distance to goal delta (reward is positive or negative depending on whether the distance is decreasing or increasing)
+- Linear velocity delta (positive if the velocity is decreasing, negative if increasing)
+- Angular velocity delta (same as above)
+- Direction to goal difference delta (positive if the difference from the goal direction is decreasing, negative if increasing)
+- Thruster usage delta (positive if less thrusters are used than before, negative if more thrusters are used than before)
+
+### Lander:
+![lander](https://github.com/edbeeching/godot_rl_agents_examples/assets/61947090/290d73b1-789d-4af0-8911-3be584b9c0a8)
+
+The lander consists of a RigidBody for the main body and a RigidBody for each leg.
+The legs are connected by a `Generic6DOFJoint3D` to the body.
+
+A 360 degree RayCast sensor is added to the lander to enable it to detect the terrain features as well as the invisible walls / game area boundaries.
+
+The motion of the lander is caused by applying forces from the locations of the thrusters.
+
+### Terrain generation:
+`Terrain` class attached to the Terrain node in GameScene generates the terrain for the environment:
+
+![lander_terrain](https://github.com/edbeeching/godot_rl_agents_examples/assets/61947090/ff3aa7d7-259a-436e-85b4-039b66f0ff01)
+
+The `training mode`, enabled by default but disabled for the testing scenes, makes the generation slightly faster for training, as it does not calculate the normals or ambient occlusion texture.
+In addition, it makes the terrain regenerate only some of the times on episode restart, rather than every time which is used during inference.
+
+![terrain_parameters_noise](https://github.com/edbeeching/godot_rl_agents_examples/assets/61947090/0e3f5176-2c7f-48c6-ad46-b98e880b7b26)
+
+Altering the main noise texture, along with changing `size`, `subdivisions` and the `height multiplier`,
+ affects the main shape of the terrain.
+
+A part of the terrain is made relatively flat so that there is always somewhere the lander can land safely. 
+You can adjust the radius of that area by changing `Landing Surface Radius`. 
+
+![surface_radius_changes](https://github.com/edbeeching/godot_rl_agents_examples/assets/61947090/29361c4b-2b9d-42e5-bcdc-5b7fa7131775)
+(Left: Landing Surface Radius = 10, Right: Landing Surface Radius = 60)
+
+The position of the landing surface is randomized when the terrain is generated.
+You can adjust how far away from the center it can be by using the `Landing Surface Max Dist From Center Ratio` parameter.
+
+`Regenerate Terrain` can be used to regenerate the terrain in the inspector after changing settings. This is not done automatically after every change as regenerating the terrain could take some time, especially if a lot of subdivisions are used.
+
+## Training:
+The included onnx file was trained with SB3.
+
+Because this is the first environment to use only discrete actions which are not fully supported with Godot-RL with SB3 at this moment, this  environment was trained using relevant files [from the discrete actions branch](https://github.com/edbeeching/godot_rl_agents/tree/discrete_actions_experimental) of Godot-RL.
+
+You may be able to train the environment with the main branch and run inference from Python, but exporting to onnx will need require this branch and is recommended for training as well.
+
+The parameters used during training were (you can set them by modifying [sb3_example](https://github.com/edbeeching/godot_rl_agents/blob/main/examples/stable_baselines3_example.py)):
+```
+model = PPO("MultiInputPolicy", env, ent_coef=0.02, n_steps=768, verbose=2, tensorboard_log=args.experiment_dir,
+                learning_rate=learning_rate, n_epochs=4)
+```
+
+And also, `n_parallel=4` argument was used when for training.
+
+Training stats screenshot from Tensorboard:
+![lander3d_training_stats](https://github.com/edbeeching/godot_rl_agents_examples/assets/61947090/6e6e432f-6e99-4451-93d2-66c9936ebf8d)
+
+## Running inference:
+To start inference using the pretrained onnx, open the `testing_scene` in Godot Editor, then press `F6` or click on the scene starting icon:
+
+![lander3d_testing_scene](https://github.com/edbeeching/godot_rl_agents_examples/assets/61947090/4d54189d-4749-46af-8ba7-2edc955f7b3a)
+
+You can adjust the `Speed Up` parameter of the `Sync` node to change the speed of the environment.
+
+Due to using discrete actions, this environment comes packaged with the plugin from the [discrete actions PR](https://github.com/edbeeching/godot_rl_agents_plugin/pull/16), which adds the support.
+
+## Manually playing:
+You can start the `Manual Test Scene` to control the environment manually.
+
+https://github.com/edbeeching/godot_rl_agents_examples/assets/61947090/03b3b316-e2e0-4340-b739-73487484f02a
+
+`WASD` activate the 4-direction `navigation` thrusters, 
+`Q` and `E` activate the `rotation` thrusters,
+`SPACE` activates the main `up` thruster.
+
+The camera is not optimally adjusted for human control, as the scene is mainly there to test out the behavior of the environment.
+
+## Known issues:
+There is a rare error caused by an `inf` value being sent by an observation noticed during training.

scenes/game_scene/CameraFollowLander.gd

@@ -0,0 +1,19 @@
+extends Camera3D
+
+## Camera extended to follow the lander. 
+
+@onready var _lander = $"../Lander"._lander
+
+func _ready():
+	global_transform = Transform3D.IDENTITY.rotated_local(Vector3.LEFT, 0.25) 
+
+# Called every frame. 'delta' is the elapsed time since the previous frame.
+func _physics_process(delta):
+	var temporary_transform = Transform3D(global_transform)
+	
+	temporary_transform.origin = (
+		_lander.global_position + global_transform.basis.y + global_transform.basis.z * 7.0
+	)
+	
+	global_transform = global_transform.interpolate_with(temporary_transform, 10.0 * delta)
+	pass

scenes/game_scene/Lander.gd

@@ -0,0 +1,329 @@
+extends Node3D
+class_name Lander
+
+## Main class for the Lander, also handles setting rewards and restarting the episode.
+@export var show_successful_landing_debug_text := false
+
+@export var min_initial_velocity: float = 5.0
+@export var max_initial_velocity: float = 10.0
+@export var max_random_position_distance_from_center: float = 50.0
+
+@export var up_thruster_max_force: float = 500.0
+@export var navigation_thruster_max_force: float = 250.0
+
+@onready var ai_controller: LanderAIController = $AIController3D
+
+# In case of error: "Trying to assign value of type 'Node3D'...",
+# try to double click on blender\lander.blend in Godot and click reimport.
+# (if needed, repeat for landing-leg.blend too)
+@onready var _lander: RigidBody3D = $Lander
+var _landing_legs: Array[RigidBody3D]
+var _landing_leg_initial_transforms: Dictionary
+
+@export var terrain: Terrain
+@export var raycast_sensor: RayCastSensor3D
+
+@export var up_thruster: Thruster
+@export var left_thruster: Thruster
+@export var right_thruster: Thruster
+@export var forward_thruster: Thruster
+@export var back_thruster: Thruster
+@export var turn_left_thruster: Thruster
+@export var turn_right_thruster: Thruster
+
+var thrusters: Array
+
+var landing_position := Vector3(0.0, 0.0, 0.0)
+var episode_ended_unsuccessfully_reward := -5.0
+
+var times_restarted := 0
+var _initial_transform: Transform3D
+
+var _legs_in_contact_with_ground: int
+
+var	_previous_goal_distance: float
+var	_previous_angular_velocity: float
+var	_previous_direction_difference: float
+var	_previous_linear_velocity: float
+
+var _thruster_reward_multiplier: float = 0.0325
+var _shaped_reward_multiplier: float = 0.3
+
+var _previous_thruster_usage: float
+
+func _ready():
+	ai_controller.init(self)
+
+	_landing_legs.append_array([
+		$LandingLeg,
+		$LandingLeg2,
+		$LandingLeg3,
+		$LandingLeg4
+	])
+
+	for landing_leg in _landing_legs:
+		_landing_leg_initial_transforms[landing_leg] = landing_leg.global_transform
+
+	_initial_transform = _lander.global_transform
+
+	thrusters.append_array([
+		up_thruster,
+		left_thruster,
+		right_thruster,
+		forward_thruster,
+		back_thruster,
+		turn_left_thruster,
+		turn_right_thruster
+	])
+
+	reset()
+
+func reset():
+	terrain.maybe_generate_terrain()
+	times_restarted += 1
+
+	var random_velocity = Vector3(
+		randf_range(-1.0, 1.0),
+		randf_range(-1.0, 1.0),
+		randf_range(-1.0, 1.0)
+	).normalized() * randf_range(min_initial_velocity, max_initial_velocity)
+
+	var random_position_offset = Vector3(
+		randf_range(-1.0, 1.0),
+		0,
+		randf_range(-1.0, 1.0)
+	).normalized() * randf_range(0.0, max_random_position_distance_from_center)
+
+	_lander.global_transform = _initial_transform
+	_lander.global_transform.origin += random_position_offset
+	_lander.linear_velocity = random_velocity
+	_lander.angular_velocity = Vector3.ZERO
+
+	for landing_leg in _landing_legs:
+		landing_leg.global_transform = _landing_leg_initial_transforms[landing_leg]
+		landing_leg.global_transform.origin += random_position_offset
+		landing_leg.linear_velocity = random_velocity
+		landing_leg.angular_velocity = Vector3.ZERO
+
+	for thruster in thrusters:
+		thruster.thruster_strength = 0.0
+
+	landing_position = terrain.landing_position
+
+	_previous_linear_velocity = get_normalized_linear_velocity()
+	_previous_goal_distance = _get_normalized_distance_to_goal()
+	_previous_angular_velocity = get_normalized_angular_velocity()
+	_previous_direction_difference = get_player_goal_direction_difference()
+	
+	_previous_thruster_usage = _get_normalized_current_total_thruster_strength()
+	pass
+
+func _physics_process(delta):
+	_end_episode_on_goal_reached()
+	_update_reward()
+
+	if (ai_controller.heuristic == "human"):
+		up_thruster.thruster_strength = (
+			int(Input.is_action_pressed("up_thruster"))
+		) * up_thruster_max_force
+
+		left_thruster.thruster_strength = (
+			int(Input.is_action_pressed("left_thruster"))
+		) * navigation_thruster_max_force
+
+		right_thruster.thruster_strength = (
+			int(Input.is_action_pressed("right_thruster"))
+		) * navigation_thruster_max_force
+
+		forward_thruster.thruster_strength = (
+			int(Input.is_action_pressed("forward_thruster"))
+		) * navigation_thruster_max_force
+
+		back_thruster.thruster_strength = (
+			int(Input.is_action_pressed("back_thruster"))
+		) * navigation_thruster_max_force
+
+		turn_left_thruster.thruster_strength = (
+			int(Input.is_action_pressed("turn_left_thruster"))
+		) * navigation_thruster_max_force
+
+		turn_right_thruster.thruster_strength = (
+			int(Input.is_action_pressed("turn_right_thruster"))
+		) * navigation_thruster_max_force
+
+	for thruster in thrusters:
+		_lander.apply_force(
+			thruster.global_transform.basis.y * thruster.thruster_strength,
+			thruster.global_position - _lander.global_position
+		)
+
+	_reset_if_needed()
+	pass
+
+func _end_episode_on_goal_reached():
+	if _is_goal_reached():
+		if show_successful_landing_debug_text:
+			print("Successfully landed")
+
+		# The reward for succesfully landing is reduced by
+		# the distance from the goal position
+		var successfully_landed_reward: float = (
+			10.0
+			- _get_normalized_distance_to_goal() * 6.0
+		)
+		_end_episode(successfully_landed_reward)
+
+func _end_episode(final_reward: float = 0.0):
+	ai_controller.reward += final_reward
+	ai_controller.needs_reset = true
+	ai_controller.done = true
+
+func _reset_if_needed():
+	if ai_controller.needs_reset:
+		reset()
+		ai_controller.reset()
+
+func _update_reward():
+	if times_restarted == 0:
+		return
+
+	# Positive reward if the parameters are approaching the goal values,
+	# negative reward if they are moving away from the goal values	
+	var vel_reward := (_previous_linear_velocity - get_normalized_linear_velocity())
+	var thruster_usage_reward := (_previous_thruster_usage - _get_normalized_current_total_thruster_strength()) * 0.06
+	var ang_vel_reward := (_previous_angular_velocity - get_normalized_angular_velocity())
+		
+	var dist_reward := 0.0
+	var dir_reward := 0.0
+
+	if _legs_in_contact_with_ground == 0:
+		dist_reward = (_previous_goal_distance - _get_normalized_distance_to_goal()) * 6.0
+		dir_reward = (_previous_direction_difference - get_player_goal_direction_difference()) * 0.25
+
+	ai_controller.reward += (
+		dist_reward +
+		vel_reward +
+		dir_reward +
+		ang_vel_reward + 
+		thruster_usage_reward
+		) * 65.0 * _shaped_reward_multiplier
+
+	_previous_linear_velocity = get_normalized_linear_velocity()
+	_previous_goal_distance = _get_normalized_distance_to_goal()
+	_previous_angular_velocity = get_normalized_angular_velocity()
+	_previous_direction_difference = get_player_goal_direction_difference()
+	
+	_previous_thruster_usage = _get_normalized_current_total_thruster_strength()
+	pass
+
+# Returns the difference between current direction and goal direction in range 0,1
+# If 1, the angle is 180 degrees, if 0, the direction is perfectly aligned.
+func get_player_goal_direction_difference() -> float:
+	return (1.0 + _lander.global_transform.basis.y.dot(-Vector3.UP)) / 2.0
+
+func _is_goal_reached() -> bool:
+	return (
+		not ai_controller.done and
+		_legs_in_contact_with_ground == 4 and
+		_lander.linear_velocity.length() < 0.015 and
+		_lander.angular_velocity.length() < 0.5 and
+		_get_normalized_current_total_thruster_strength() < 0.01
+	)
+
+func _get_current_distance_to_goal() -> float:
+	return _lander.global_position.distance_to(landing_position)
+
+func _get_normalized_distance_to_goal() -> float:
+	var playing_area_size = get_playing_area_size()
+	return (
+		_lander.global_position.distance_to(landing_position) /
+		Vector3(
+			playing_area_size.x / 2,
+			playing_area_size.y,
+			playing_area_size.x / 2,
+		).length()
+	)
+
+func get_goal_position_in_player_reference() -> Vector3:
+
+	var local_position: Vector3 = _lander.to_local(landing_position)
+	var playing_area_size: Vector3 = get_playing_area_size()
+
+	var local_size: Vector3 = (
+		_lander.global_transform.basis.inverse() *
+		Vector3(
+			playing_area_size.x / 2.0,
+			playing_area_size.y,
+			playing_area_size.z / 2.0,
+		)
+	)
+	return local_position / local_size
+
+## Returns the normalized position of the center of the terrain in player's reference
+func get_terrain_center_position_in_player_reference() -> Vector3:
+	var local_position = _lander.to_local(terrain.global_position)
+	var playing_area_size = get_playing_area_size()
+	var local_size = (
+		_lander.global_transform.basis.inverse() *
+		Vector3(
+			playing_area_size.x / 2,
+			playing_area_size.y,
+			playing_area_size.x / 2,
+		)
+	)
+	return local_position / local_size
+
+func get_velocity_in_player_reference() -> Vector3:
+	return (
+		_lander.global_transform.basis.inverse() *
+		_lander.linear_velocity
+		)
+
+func _get_normalized_current_total_thruster_strength() -> float:
+	var thruster_strength_total: float = 0.0
+	for thruster in thrusters:
+		thruster_strength_total += thruster.thruster_strength / up_thruster_max_force
+	return thruster_strength_total
+
+func get_angular_velocity_in_player_reference() -> Vector3:
+	return _lander.global_transform.basis.inverse() * _lander.angular_velocity
+
+func get_playing_area_size() -> Vector3:
+	return Vector3(
+		terrain.size.x,
+		250.0,
+		terrain.size.y
+	)
+
+func get_orientation_as_array() -> Array[float]:
+	var basis_y: Vector3 = _lander.global_transform.basis.y
+	var basis_x: Vector3 = _lander.global_transform.basis.x
+	return [
+		basis_y.x,
+		basis_y.y,
+		basis_y.z,
+		basis_x.x,
+		basis_x.y,
+		basis_x.z
+	]
+	
+func get_normalized_linear_velocity() -> float:
+	return minf(50.0, _lander.linear_velocity.length()) / 50.0
+
+func get_normalized_angular_velocity() -> float:
+	return minf(10.0, _lander.angular_velocity.length()) / 10.0
+
+func _on_lander_body_entered(body):
+	_end_episode(episode_ended_unsuccessfully_reward)
+
+func get_lander_global_position():
+	return _lander.global_position
+
+func _on_landing_leg_body_exited(body):
+	# Possible bug to consider: upon restarting, this reward may be given in the first frame of the next episode
+	_legs_in_contact_with_ground -= 1
+	ai_controller.reward -= 0.25
+
+func _on_landing_leg_body_entered(body):
+	_legs_in_contact_with_ground += 1
+	ai_controller.reward += 0.25

scenes/game_scene/Lander.tscn

@@ -0,0 +1,871 @@
+[gd_scene load_steps=37 format=3 uid="uid://dxflbek2f52ks"]
+
+[ext_resource type="Script" path="res://scenes/game_scene/Lander.gd" id="1_2yq6u"]
+[ext_resource type="PackedScene" uid="uid://c5sv7fju6uiew" path="res://blender/lander.blend" id="2_s4oxe"]
+[ext_resource type="Script" path="res://scenes/game_scene/Thruster.gd" id="3_ylucp"]
+[ext_resource type="PackedScene" uid="uid://drqbjpjw2hiic" path="res://blender/landing-leg.blend" id="4_gp4fc"]
+[ext_resource type="Script" path="res://scenes/game_scene/LanderAIController3D.gd" id="5_w0bd1"]
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" id="6_03nxx"]
+
+[sub_resource type="Gradient" id="Gradient_nkj1p"]
+offsets = PackedFloat32Array(0, 0.568075)
+colors = PackedColorArray(0.64, 0.64, 0.64, 0.831373, 0.42, 0.42, 0.42, 0)
+
+[sub_resource type="GradientTexture1D" id="GradientTexture1D_0sn4e"]
+gradient = SubResource("Gradient_nkj1p")
+width = 128
+
+[sub_resource type="Curve" id="Curve_id7xf"]
+_data = [Vector2(0.00218819, 0.210526), 0.0, 0.0, 0, 0, Vector2(1, 0.757895), 0.0, 0.0, 0, 0]
+point_count = 2
+
+[sub_resource type="CurveTexture" id="CurveTexture_867j3"]
+curve = SubResource("Curve_id7xf")
+
+[sub_resource type="ParticleProcessMaterial" id="ParticleProcessMaterial_rsa34"]
+direction = Vector3(0, -1, 0)
+spread = 0.0
+initial_velocity_min = 1.0
+initial_velocity_max = 1.0
+gravity = Vector3(0, 0, 0)
+scale_max = 2.0
+scale_curve = SubResource("CurveTexture_867j3")
+color_ramp = SubResource("GradientTexture1D_0sn4e")
+
+[sub_resource type="Gradient" id="Gradient_0sav6"]
+offsets = PackedFloat32Array(0, 0.643541)
+colors = PackedColorArray(1, 1, 1, 1, 1, 1, 1, 0)
+
+[sub_resource type="GradientTexture2D" id="GradientTexture2D_vxa0k"]
+gradient = SubResource("Gradient_0sav6")
+use_hdr = true
+fill = 1
+fill_from = Vector2(0.5, 0.5)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_vp3n7"]
+transparency = 1
+shading_mode = 0
+vertex_color_use_as_albedo = true
+albedo_color = Color(1, 1, 1, 0.529412)
+albedo_texture = SubResource("GradientTexture2D_vxa0k")
+billboard_mode = 3
+billboard_keep_scale = true
+particles_anim_h_frames = 1
+particles_anim_v_frames = 1
+particles_anim_loop = false
+
+[sub_resource type="QuadMesh" id="QuadMesh_u5of1"]
+material = SubResource("StandardMaterial3D_vp3n7")
+size = Vector2(0.6, 0.6)
+
+[sub_resource type="ParticleProcessMaterial" id="ParticleProcessMaterial_ot7am"]
+direction = Vector3(0, -1, 0)
+spread = 0.0
+initial_velocity_min = 1.0
+initial_velocity_max = 1.0
+gravity = Vector3(0, 0, 0)
+scale_max = 1.5
+scale_curve = SubResource("CurveTexture_867j3")
+color_ramp = SubResource("GradientTexture1D_0sn4e")
+
+[sub_resource type="ParticleProcessMaterial" id="ParticleProcessMaterial_3l3es"]
+direction = Vector3(0, -1, 0)
+spread = 0.0
+initial_velocity_min = 1.0
+initial_velocity_max = 1.0
+gravity = Vector3(0, 0, 0)
+scale_curve = SubResource("CurveTexture_867j3")
+color_ramp = SubResource("GradientTexture1D_0sn4e")
+
+[sub_resource type="ParticleProcessMaterial" id="ParticleProcessMaterial_k81u0"]
+direction = Vector3(0, -1, 0)
+spread = 0.0
+initial_velocity_min = 1.0
+initial_velocity_max = 1.0
+gravity = Vector3(0, 0, 0)
+scale_curve = SubResource("CurveTexture_867j3")
+color_ramp = SubResource("GradientTexture1D_0sn4e")
+
+[sub_resource type="ParticleProcessMaterial" id="ParticleProcessMaterial_5yx2o"]
+direction = Vector3(0, -1, 0)
+spread = 0.0
+initial_velocity_min = 1.0
+initial_velocity_max = 1.0
+gravity = Vector3(0, 0, 0)
+scale_curve = SubResource("CurveTexture_867j3")
+color_ramp = SubResource("GradientTexture1D_0sn4e")
+
+[sub_resource type="ParticleProcessMaterial" id="ParticleProcessMaterial_pnaje"]
+direction = Vector3(0, -1, 0)
+spread = 0.0
+initial_velocity_min = 1.0
+initial_velocity_max = 1.0
+gravity = Vector3(0, 0, 0)
+scale_curve = SubResource("CurveTexture_867j3")
+color_ramp = SubResource("GradientTexture1D_0sn4e")
+
+[sub_resource type="ParticleProcessMaterial" id="ParticleProcessMaterial_krfta"]
+direction = Vector3(0, -1, 0)
+spread = 0.0
+initial_velocity_min = 1.0
+initial_velocity_max = 1.0
+gravity = Vector3(0, 0, 0)
+scale_curve = SubResource("CurveTexture_867j3")
+color_ramp = SubResource("GradientTexture1D_0sn4e")
+
+[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_tvjil"]
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+[node name="node_4 6" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-170.753, 64.7048, 170.753)
+
+[node name="@RayCast3D@31294" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-125, 176.777, 125)
+
+[node name="@RayCast3D@31295" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-45.7532, 241.481, 45.7532)
+
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+target_position = Vector3(45.7532, 241.481, -45.7532)
+
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+target_position = Vector3(125, 176.777, -125)
+
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+target_position = Vector3(170.753, 64.7048, -170.753)
+
+[node name="node_5 0" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(62.5, -64.7048, -233.253)
+
+[node name="node_5 1" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(45.7532, -176.777, -170.753)
+
+[node name="node_5 2" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(16.7468, -241.481, -62.5)
+
+[node name="node_5 3" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-16.7468, -241.481, 62.5)
+
+[node name="node_5 4" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-45.7532, -176.777, 170.753)
+
+[node name="node_5 5" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-62.5, -64.7048, 233.253)
+
+[node name="node_5 6" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-62.5, 64.7048, 233.253)
+
+[node name="@RayCast3D@31299" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-45.7532, 176.777, 170.753)
+
+[node name="@RayCast3D@31300" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-16.7468, 241.481, 62.5)
+
+[node name="@RayCast3D@31301" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(16.7468, 241.481, -62.5)
+
+[node name="@RayCast3D@31302" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(45.7532, 176.777, -170.753)
+
+[node name="@RayCast3D@31303" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(62.5, 64.7048, -233.253)
+
+[node name="@RayCast3D@31304" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-62.5, -64.7048, -233.253)
+
+[node name="@RayCast3D@31305" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-45.7532, -176.777, -170.753)
+
+[node name="@RayCast3D@31306" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-16.7468, -241.481, -62.5)
+
+[node name="@RayCast3D@31307" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(16.7468, -241.481, 62.5)
+
+[node name="@RayCast3D@31308" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(45.7532, -176.777, 170.753)
+
+[node name="@RayCast3D@31309" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(62.5, -64.7048, 233.253)
+
+[node name="node_6 6" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(62.5, 64.7048, 233.253)
+
+[node name="@RayCast3D@31310" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(45.7532, 176.777, 170.753)
+
+[node name="@RayCast3D@31311" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(16.7468, 241.481, 62.5)
+
+[node name="@RayCast3D@31312" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-16.7468, 241.481, -62.5)
+
+[node name="@RayCast3D@31313" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-45.7532, 176.777, -170.753)
+
+[node name="@RayCast3D@31314" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-62.5, 64.7048, -233.253)
+
+[node name="@RayCast3D@31315" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-170.753, -64.7048, -170.753)
+
+[node name="@RayCast3D@31316" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-125, -176.777, -125)
+
+[node name="@RayCast3D@31317" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-45.7532, -241.481, -45.7532)
+
+[node name="@RayCast3D@31318" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(45.7532, -241.481, 45.7532)
+
+[node name="@RayCast3D@31319" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(125, -176.777, 125)
+
+[node name="@RayCast3D@31320" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(170.753, -64.7048, 170.753)
+
+[node name="@RayCast3D@31321" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(170.753, 64.7048, 170.753)
+
+[node name="@RayCast3D@31322" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(125, 176.777, 125)
+
+[node name="@RayCast3D@31323" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(45.7532, 241.481, 45.7532)
+
+[node name="@RayCast3D@31324" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-45.7532, 241.481, -45.7532)
+
+[node name="@RayCast3D@31325" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-125, 176.777, -125)
+
+[node name="@RayCast3D@31326" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-170.753, 64.7048, -170.753)
+
+[node name="node_8 0" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-233.253, -64.7048, -62.5)
+
+[node name="node_8 1" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-170.753, -176.777, -45.7532)
+
+[node name="node_8 2" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-62.5, -241.481, -16.7468)
+
+[node name="node_8 3" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(62.5, -241.481, 16.7468)
+
+[node name="node_8 4" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(170.753, -176.777, 45.7532)
+
+[node name="node_8 5" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(233.253, -64.7048, 62.5)
+
+[node name="node_8 6" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(233.253, 64.7048, 62.5)
+
+[node name="@RayCast3D@31327" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(170.753, 176.777, 45.7532)
+
+[node name="@RayCast3D@31328" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(62.5, 241.481, 16.7468)
+
+[node name="@RayCast3D@31329" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-62.5, 241.481, -16.7468)
+
+[node name="@RayCast3D@31330" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-170.753, 176.777, -45.7532)
+
+[node name="@RayCast3D@31331" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-233.253, 64.7048, -62.5)
+
+[node name="@RayCast3D@31332" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-233.253, -64.7048, 62.5)
+
+[node name="@RayCast3D@31333" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-170.753, -176.777, 45.7532)
+
+[node name="@RayCast3D@31334" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-62.5, -241.481, 16.7468)
+
+[node name="@RayCast3D@31335" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(62.5, -241.481, -16.7468)
+
+[node name="@RayCast3D@31336" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(170.753, -176.777, -45.7532)
+
+[node name="@RayCast3D@31337" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(233.253, -64.7048, -62.5)
+
+[node name="@RayCast3D@31338" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(233.253, 64.7048, -62.5)
+
+[node name="@RayCast3D@31339" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(170.753, 176.777, -45.7532)
+
+[node name="@RayCast3D@31340" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(62.5, 241.481, -16.7468)
+
+[node name="@RayCast3D@31341" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-62.5, 241.481, 16.7468)
+
+[node name="@RayCast3D@31342" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-170.753, 176.777, 45.7532)
+
+[node name="@RayCast3D@31343" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-233.253, 64.7048, 62.5)
+
+[node name="node_10 0" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-170.753, -64.7048, 170.753)
+
+[node name="node_10 1" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-125, -176.777, 125)
+
+[node name="node_10 2" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-45.7532, -241.481, 45.7532)
+
+[node name="node_10 3" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(45.7532, -241.481, -45.7532)
+
+[node name="node_10 4" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(125, -176.777, -125)
+
+[node name="node_10 5" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(170.753, -64.7048, -170.753)
+
+[node name="node_10 6" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(170.753, 64.7048, -170.753)
+
+[node name="node_10 7" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(125, 176.777, -125)
+
+[node name="node_10 8" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(45.7532, 241.481, -45.7532)
+
+[node name="node_10 9" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-45.7532, 241.481, 45.7532)
+
+[node name="@RayCast3D@31344" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-125, 176.777, 125)
+
+[node name="@RayCast3D@31345" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-170.753, 64.7048, 170.753)
+
+[node name="node_11 0" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-62.5, -64.7048, 233.253)
+
+[node name="node_11 1" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-45.7532, -176.777, 170.753)
+
+[node name="node_11 2" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-16.7468, -241.481, 62.5)
+
+[node name="node_11 3" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(16.7468, -241.481, -62.5)
+
+[node name="node_11 4" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(45.7532, -176.777, -170.753)
+
+[node name="node_11 5" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(62.5, -64.7048, -233.253)
+
+[node name="node_11 6" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(62.5, 64.7048, -233.253)
+
+[node name="node_11 7" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(45.7532, 176.777, -170.753)
+
+[node name="node_11 8" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(16.7468, 241.481, -62.5)
+
+[node name="node_11 9" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-16.7468, 241.481, 62.5)
+
+[node name="@RayCast3D@31346" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-45.7532, 176.777, 170.753)
+
+[node name="@RayCast3D@31347" type="RayCast3D" parent="Lander/RayCastSensor3D"]
+target_position = Vector3(-62.5, 64.7048, 233.253)
+
+[node name="LandingLeg" parent="." instance=ExtResource("4_gp4fc")]
+collision_layer = 2
+gravity_scale = 0.17
+center_of_mass_mode = 1
+center_of_mass = Vector3(-1.17917, -1.72518, 1.02244)
+continuous_cd = true
+max_contacts_reported = 1
+contact_monitor = true
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="LandingLeg"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1.17917, -1.72518, 1.02244)
+shape = SubResource("ConvexPolygonShape3D_bigji")
+
+[node name="CollisionShape3D2" type="CollisionShape3D" parent="LandingLeg"]
+transform = Transform3D(0.707107, 0, 0.707107, 0, 1, 0, -0.707107, 0, 0.707107, -1.05984, -1.20306, 0.903108)
+shape = SubResource("ConvexPolygonShape3D_teqnf")
+
+[node name="LandingLeg2" parent="." instance=ExtResource("4_gp4fc")]
+collision_layer = 2
+gravity_scale = 0.17
+center_of_mass_mode = 1
+center_of_mass = Vector3(-1.179, -1.725, -1.022)
+continuous_cd = true
+max_contacts_reported = 1
+contact_monitor = true
+
+[node name="Leg" parent="LandingLeg2" index="0"]
+transform = Transform3D(-4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, -1.179, -1.725, -1.022)
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="LandingLeg2"]
+transform = Transform3D(-4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, -1.179, -1.725, -1.022)
+shape = SubResource("ConvexPolygonShape3D_bigji")
+
+[node name="CollisionShape3D2" type="CollisionShape3D" parent="LandingLeg2"]
+transform = Transform3D(0.707107, 0, -0.707107, 0, 1, 0, 0.707107, 0, 0.707107, -1.05967, -1.20288, -0.902668)
+shape = SubResource("ConvexPolygonShape3D_teqnf")
+
+[node name="LandingLeg3" parent="." instance=ExtResource("4_gp4fc")]
+collision_layer = 2
+gravity_scale = 0.17
+center_of_mass_mode = 1
+center_of_mass = Vector3(1.179, -1.725, 1.022)
+continuous_cd = true
+max_contacts_reported = 1
+contact_monitor = true
+
+[node name="Leg" parent="LandingLeg3" index="0"]
+transform = Transform3D(-4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, 1.179, -1.725, 1.022)
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="LandingLeg3"]
+transform = Transform3D(-4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, 1.179, -1.725, 1.022)
+shape = SubResource("ConvexPolygonShape3D_bigji")
+
+[node name="CollisionShape3D2" type="CollisionShape3D" parent="LandingLeg3"]
+transform = Transform3D(-0.707107, 0, 0.707107, 0, 1, 0, -0.707107, 0, -0.707107, 1.05967, -1.20288, 0.902668)
+shape = SubResource("ConvexPolygonShape3D_teqnf")
+
+[node name="LandingLeg4" parent="." instance=ExtResource("4_gp4fc")]
+collision_layer = 2
+gravity_scale = 0.17
+center_of_mass_mode = 1
+center_of_mass = Vector3(1.179, -1.725, -1.022)
+continuous_cd = true
+max_contacts_reported = 1
+contact_monitor = true
+
+[node name="Leg" parent="LandingLeg4" index="0"]
+transform = Transform3D(-1, 0, -8.74228e-08, 0, 1, 0, 8.74228e-08, 0, -1, 1.179, -1.725, -1.022)
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="LandingLeg4"]
+transform = Transform3D(-1, 0, -8.74228e-08, 0, 1, 0, 8.74228e-08, 0, -1, 1.179, -1.725, -1.022)
+shape = SubResource("ConvexPolygonShape3D_bigji")
+
+[node name="CollisionShape3D2" type="CollisionShape3D" parent="LandingLeg4"]
+transform = Transform3D(-0.707107, 0, -0.707107, 0, 1, 0, 0.707107, 0, -0.707107, 1.05967, -1.20288, -0.902671)
+shape = SubResource("ConvexPolygonShape3D_teqnf")
+
+[node name="Generic6DOFJoint3D" type="Generic6DOFJoint3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1.17917, -1.72518, 1.02244)
+node_a = NodePath("../Lander")
+node_b = NodePath("../LandingLeg")
+linear_limit_y/softness = 0.3
+linear_limit_y/restitution = 0.01
+linear_limit_y/damping = 0.06
+
+[node name="Generic6DOFJoint3D2" type="Generic6DOFJoint3D" parent="."]
+transform = Transform3D(-4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, -1.179, -1.725, -1.022)
+node_a = NodePath("../Lander")
+node_b = NodePath("../LandingLeg2")
+linear_limit_y/softness = 0.3
+linear_limit_y/restitution = 0.01
+linear_limit_y/damping = 0.06
+
+[node name="Generic6DOFJoint3D3" type="Generic6DOFJoint3D" parent="."]
+transform = Transform3D(-4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, 1.179, -1.725, 1.022)
+node_a = NodePath("../Lander")
+node_b = NodePath("../LandingLeg3")
+linear_limit_y/softness = 0.3
+linear_limit_y/restitution = 0.01
+linear_limit_y/damping = 0.06
+
+[node name="Generic6DOFJoint3D4" type="Generic6DOFJoint3D" parent="."]
+transform = Transform3D(-1, 0, -8.74228e-08, 0, 1, 0, 8.74228e-08, 0, -1, 1.179, -1.725, -1.022)
+node_a = NodePath("../Lander")
+node_b = NodePath("../LandingLeg4")
+linear_limit_y/softness = 0.3
+linear_limit_y/restitution = 0.01
+linear_limit_y/damping = 0.06
+
+[node name="AIController3D" type="Node3D" parent="."]
+script = ExtResource("5_w0bd1")
+reset_after = 6000
+
+[connection signal="body_entered" from="Lander" to="." method="_on_lander_body_entered"]
+[connection signal="body_entered" from="LandingLeg" to="." method="_on_landing_leg_body_entered"]
+[connection signal="body_exited" from="LandingLeg" to="." method="_on_landing_leg_body_exited"]
+[connection signal="body_entered" from="LandingLeg2" to="." method="_on_landing_leg_body_entered"]
+[connection signal="body_exited" from="LandingLeg2" to="." method="_on_landing_leg_body_exited"]
+[connection signal="body_entered" from="LandingLeg3" to="." method="_on_landing_leg_body_entered"]
+[connection signal="body_exited" from="LandingLeg3" to="." method="_on_landing_leg_body_exited"]
+[connection signal="body_entered" from="LandingLeg4" to="." method="_on_landing_leg_body_entered"]
+[connection signal="body_exited" from="LandingLeg4" to="." method="_on_landing_leg_body_exited"]
+
+[editable path="Lander"]
+[editable path="LandingLeg"]
+[editable path="LandingLeg2"]
+[editable path="LandingLeg3"]
+[editable path="LandingLeg4"]

scenes/game_scene/LanderAIController3D.gd

@@ -0,0 +1,108 @@
+extends AIController3D
+class_name LanderAIController
+
+## AIController for the Lander. Handles the action definitions, actions, observations, 
+## passes the rewards and resets the episode on timeout.
+
+func get_obs() -> Dictionary:
+	_player = _player as Lander
+
+	# Positions and velocities are converted to the player's frame of reference
+	var player_velocity = _player.get_velocity_in_player_reference() / 50.0
+	var player_angular_velocity = _player.get_angular_velocity_in_player_reference() / 10.0
+
+	var observations : Array = [
+		n_steps / float(reset_after),
+		player_velocity.x,
+		player_velocity.y,
+		player_velocity.z,
+		player_angular_velocity.x,
+		player_angular_velocity.y,
+		player_angular_velocity.z,
+		_player._legs_in_contact_with_ground / 4.0
+	]
+
+	observations.append_array(_player.get_orientation_as_array())
+
+	# After the first reset, the landing position will be assigned
+	if _player.times_restarted == 0:
+		observations.append_array([0.0, 0.0, 0.0, 0.0])
+	else:
+		var goal_position: Vector3 = (
+		_player.get_goal_position_in_player_reference()
+		)
+		observations.append_array(
+			[
+				goal_position.x,
+				goal_position.y,
+				goal_position.z,
+				_player.get_player_goal_direction_difference()
+			]
+		)
+	observations.append_array(_player.raycast_sensor.get_observation())
+	return {"obs": observations}
+
+func get_reward() -> float:
+	return reward
+
+func get_action_space() -> Dictionary:
+	return {
+		"back_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		"forward_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		"left_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		"right_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		"turn_left_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		"turn_right_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		"up_thruster" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+	}
+
+func _physics_process(delta):
+	n_steps += 1
+	if n_steps > reset_after:
+		needs_reset = true
+		done = true
+		reward = _player.episode_ended_unsuccessfully_reward / 10.0
+
+func set_action(action) -> void:
+	_player.up_thruster.thruster_strength = (
+		action.up_thruster
+		) * _player.up_thruster_max_force
+	_player.forward_thruster.thruster_strength = (
+		action.forward_thruster
+		) * _player.navigation_thruster_max_force
+	_player.back_thruster.thruster_strength = (
+		action.back_thruster
+		) * _player.navigation_thruster_max_force
+	_player.left_thruster.thruster_strength = (
+		action.left_thruster
+		) * _player.navigation_thruster_max_force
+	_player.right_thruster.thruster_strength = (
+		action.right_thruster
+		) * _player.navigation_thruster_max_force
+	_player.turn_left_thruster.thruster_strength = (
+		action.turn_left_thruster
+		) * _player.navigation_thruster_max_force
+	_player.turn_right_thruster.thruster_strength = (
+		action.turn_right_thruster
+		) * _player.navigation_thruster_max_force

scenes/game_scene/Terrain.gd

@@ -0,0 +1,169 @@
+@tool
+extends StaticBody3D
+class_name Terrain
+
+## Generates the terrain for the environment.
+
+## Training mode disables calculating normals 
+## and ambient occlusion texture to speed up generation.
+## The maybe_generate_terrain() method will not generate terrain
+## every time it is called if this is set to true.
+@export var training_mode: bool = true
+
+## Noise used for the terrain generation.
+@export var noise: FastNoiseLite
+@onready var _meshInstance3D = $MeshInstance3D
+@onready var _collisionShape3D = $CollisionShape3D
+
+## The size of the terrain.
+@export var size := Vector2(80.0, 80.0)
+
+## How many subdivisions the terrain will have.
+## Setting this too high could cause performance issues.
+@export var subdivisions := Vector2i(20, 20)
+@export var noise_seed := 0
+
+## The height of the terrain is scaled by this multiplier.
+@export var height_multiplier := 10.0
+
+## When enabled, the terrain shape will be random every time it is generated.
+## If disabled, the terrain shape depends on the noise seed entered.
+@export var use_random_seed := true
+
+## Radius of the landing surface which will be mostly flat to make it easier to land.
+@export var landing_surface_radius := 10.0
+
+## How far away from the center of the terrain can the randomly selected landing position be.
+@export_range(0.0, 0.8) var landing_surface_max_dist_from_center_ratio := 0.5
+
+@export var wall_colliders: Array[CollisionShape3D]
+
+## Click to regenerate the terrain in editor. 
+@export var regenerate_terrain := false:
+	get:
+		return false
+	set(_value):
+		generate_terrain()
+		
+@export var LandingSpotMarker: MeshInstance3D
+var landing_position := Vector3(0.0, 0.0, 0.0)
+		
+func _ready():
+	generate_terrain()
+
+## Will always generate terrain if not in training mode,
+## otherwise it will only sometimes generate terrain
+## to slightly increase training fps.
+func maybe_generate_terrain():
+	if not training_mode:
+		generate_terrain()
+	else:
+		if randi_range(0, 3) == 0:
+			generate_terrain()
+
+func generate_terrain():
+	#print("generating terrain")
+	if use_random_seed:
+		noise.seed = randi()
+	else:
+		noise.seed = noise_seed
+		
+	# Create a temporary plane mesh
+	var plane = PlaneMesh.new()
+	plane.size = size
+	plane.subdivide_depth = subdivisions.y
+	plane.subdivide_width = subdivisions.x
+	
+	# Modify the height of vertices based on the noise data
+	var vertices = plane.get_mesh_arrays()[Mesh.ARRAY_VERTEX]
+	
+	var range_multiplier = landing_surface_max_dist_from_center_ratio / 2
+	
+	var landing_center := Vector2(
+		randf_range(-size.x * range_multiplier, size.x * range_multiplier), 
+		randf_range(-size.y * range_multiplier, size.y * range_multiplier) 
+		)
+		
+	landing_position = to_global(Vector3(landing_center.x, 0.0, landing_center.y))
+	
+	var edge_radius = landing_surface_radius * 3
+					
+	for i in range(0, vertices.size()):
+		var height = height_multiplier	
+		var vertex = vertices[i]
+		var dist_from_center = Vector2(vertex.x, vertex.z).distance_to(landing_center)
+		
+		# Flatten a part of the terrain around the landing position
+		if dist_from_center <= landing_surface_radius:
+			height = 0
+		elif dist_from_center <= edge_radius: 
+			height *= (dist_from_center - landing_surface_radius) / (edge_radius - landing_surface_radius)
+
+		vertices[i].y = noise.get_noise_2d(vertex.x, vertex.z) * height
+	
+	# Create a new mesh and assign the vertices
+	var new_mesh = ArrayMesh.new()
+	var arrays = plane.get_mesh_arrays()
+	arrays[Mesh.ARRAY_VERTEX] = vertices
+	new_mesh.add_surface_from_arrays(Mesh.PRIMITIVE_TRIANGLES, arrays)
+	# Use the new mesh as the terrain mesh
+	_meshInstance3D.mesh = new_mesh
+	
+	# Generate the normals for the terrain mesh
+	if not training_mode:
+		var st = SurfaceTool.new()
+		st.create_from(_meshInstance3D.mesh, 0)
+		st.generate_normals()
+		st.commit(_meshInstance3D.mesh)
+	
+	# Set the collision shape for the terrain
+	_collisionShape3D.shape = _meshInstance3D.mesh.create_trimesh_shape()
+	
+	# Set the ambient occlusion texture for the terrain
+	if not training_mode:
+		var texture: NoiseTexture2D = NoiseTexture2D.new()
+		texture.noise = noise.duplicate()
+		texture.width = size.x
+		texture.height = size.y
+		texture.noise.offset = Vector3(-size.x / 2.0, -size.y / 2.0, 0)
+		texture.normalize = false
+		var material: StandardMaterial3D = _meshInstance3D.get_active_material(0)
+		material.ao_texture = texture
+		material.ao_light_affect = 0.7
+	
+	# Update the invisible wall collider positions
+	for wall_collider in wall_colliders:
+		wall_collider.shape.size.x = size.x
+		wall_collider.shape.size.y = 800
+		wall_collider.shape.size.z = size.y
+		
+	wall_colliders[0].position = Vector3(
+		size.x,
+		100,
+		0
+	)
+	wall_colliders[1].position = Vector3(
+		-size.x,
+		100,
+		0
+	)
+	wall_colliders[2].position = Vector3(
+		0,
+		100,
+		size.y
+	)
+	wall_colliders[3].position = Vector3(
+		0,
+		100,
+		-size.y
+	)
+	wall_colliders[4].position = Vector3(
+		0,
+		800,
+		0
+	)
+	
+	LandingSpotMarker.global_position = landing_position + Vector3.DOWN * 0.05
+	var LandingSpotMarkerMesh = LandingSpotMarker.mesh as SphereMesh
+	LandingSpotMarkerMesh.radius = landing_surface_radius
+	LandingSpotMarkerMesh.height = landing_surface_radius

scenes/game_scene/Thruster.gd

@@ -0,0 +1,22 @@
+extends MeshInstance3D
+class_name Thruster
+
+## Lander thruster. This class keeps track of current activation strength 
+## and handles the particle effects.  
+
+var thruster_strength: float
+@onready var _particles: GPUParticles3D = $GPUParticles3D
+var _material: ParticleProcessMaterial
+
+func _ready():
+	_material = _particles.process_material
+
+func _physics_process(delta):
+	if thruster_strength > 0.01:
+		if not _particles.emitting:
+			_particles.emitting = true
+			_material.initial_velocity_max = 0.01 + thruster_strength / 300.0
+			_material.initial_velocity_min = _material.initial_velocity_max
+	else:
+		if _particles.emitting:
+			_particles.emitting = false

scenes/training_scene/SyncAddControlModeSelection.gd

@@ -0,0 +1,36 @@
+extends "res://addons/godot_rl_agents/sync.gd"
+
+## Adds the control mode selection from: https://github.com/edbeeching/godot_rl_agents_plugin/pull/19
+enum ControlModes {HUMAN, TRAINING, ONNX_INFERENCE}
+@export var control_mode: ControlModes = ControlModes.TRAINING
+
+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 
+	Engine.time_scale = _get_speedup() * 1.0
+	prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up)
+	
+	_set_heuristic("human")
+	match control_mode:
+		ControlModes.TRAINING:
+			connected = connect_to_server()
+			if connected:
+				_set_heuristic("model")
+				_handshake()
+				_send_env_info()  
+			else:
+				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?")
+		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_model = ONNXModel.new(onnx_model_path, 1)
+				_set_heuristic("model")	
+		ControlModes.HUMAN:
+			_reset_all_agents()
+	
+	_set_seed()
+	_set_action_repeat()
+	initialized = true  

scenes/training_scene/training_scene.tscn

@@ -0,0 +1,61 @@
+[gd_scene load_steps=3 format=3 uid="uid://dwwqctrnbhrru"]
+
+[ext_resource type="PackedScene" uid="uid://bkebr724kehsw" path="res://scenes/game_scene/game_scene.tscn" id="1_7pikd"]
+[ext_resource type="Script" path="res://scenes/training_scene/SyncAddControlModeSelection.gd" id="2_st3rd"]
+
+[node name="TrainingScene" type="Node3D"]
+
+[node name="GameScene" parent="." instance=ExtResource("1_7pikd")]
+
+[node name="GameScene2" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 3093, 0, 0)
+
+[node name="GameScene3" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -3053)
+
+[node name="GameScene4" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 3093, 0, -3053)
+
+[node name="GameScene5" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 3013)
+
+[node name="GameScene6" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 3093, 0, 3013)
+
+[node name="GameScene7" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -6033, 0, 0)
+
+[node name="GameScene8" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -2940, 0, 0)
+
+[node name="GameScene9" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -6033, 0, -3053)
+
+[node name="GameScene10" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -2940, 0, -3053)
+
+[node name="GameScene11" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -6033, 0, 3013)
+
+[node name="GameScene12" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -2940, 0, 3013)
+
+[node name="GameScene13" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12116, 0, -3053)
+
+[node name="GameScene14" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -9023, 0, -3053)
+
+[node name="GameScene15" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12116, 0, 3013)
+
+[node name="GameScene16" parent="." instance=ExtResource("1_7pikd")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -9023, 0, 3013)
+
+[node name="Sync" type="Node" parent="."]
+script = ExtResource("2_st3rd")
+speed_up = 10
+
+[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 0.707107, 0.707107, 0, -0.707107, 0.707107, 0, 0, 0)
+sky_mode = 1