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GridSensor3DExample.csproj

@@ -0,0 +1,10 @@
+<Project Sdk="Godot.NET.Sdk/4.2.1">
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <EnableDynamicLoading>true</EnableDynamicLoading>
+    <RootNamespace>GodotRLAgents</RootNamespace>
+  </PropertyGroup>
+  <ItemGroup>
+    <PackageReference Include="Microsoft.ML.OnnxRuntime" Version="1.15.1" />
+  </ItemGroup>
+</Project>

GridSensor3DExample.csproj.old

@@ -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="1.15.1" />
+  </ItemGroup>
+</Project>

Ships.sln

@@ -0,0 +1,25 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.5.002.0
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "GridSensor3DExample", "GridSensor3DExample.csproj", "{A868A006-56AC-4F69-96E4-F5035575497C}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{A868A006-56AC-4F69-96E4-F5035575497C}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{A868A006-56AC-4F69-96E4-F5035575497C}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{A868A006-56AC-4F69-96E4-F5035575497C}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{A868A006-56AC-4F69-96E4-F5035575497C}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {CE243986-53C0-46FC-BBE8-16608759C311}
+	EndGlobalSection
+EndGlobal

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd

@@ -61,11 +61,15 @@ var geo = null
 
 func _update():
 	if Engine.is_editor_hint():
-		_spawn_nodes()	
-
+		if is_node_ready():
+			_spawn_nodes()	
 
 func _ready() -> void:
-	_spawn_nodes()
+	if Engine.is_editor_hint():	
+		if get_child_count() == 0:
+			_spawn_nodes()
+	else:
+		_spawn_nodes()
 
 func _spawn_nodes():
 	print("spawning nodes")

addons/godot_rl_agents/sync.gd

@@ -1,5 +1,9 @@
 extends Node
+
 # --fixed-fps 2000 --disable-render-loop
+
+enum ControlModes {HUMAN, TRAINING, ONNX_INFERENCE}
+@export var control_mode: ControlModes = ControlModes.TRAINING
 @export_range(1, 10, 1, "or_greater") var action_repeat := 8
 @export_range(1, 10, 1, "or_greater") var speed_up = 1
 @export var onnx_model_path := ""
@@ -26,7 +30,6 @@ 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) 
@@ -43,26 +46,27 @@ func _initialize():
 	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_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")	
+	
 	_set_seed()
 	_set_action_repeat()
 	initialized = true  
 
-func _physics_process(delta): 
+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:

bin/Ships.exe

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2de407f42a3db0dece9ff075b69219a30493b90c67f0a14bc450b414fba39125
-size 71425536
+oid sha256:910d1661cf406eb788be65369b4784b8bde02dd16e327fac690b501d08e9e886
+size 69051392

bin/Ships.pck

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:1ba3c3f08ad9b3b0b750fd116ffa92683db8db2a39fb1acb457a5f88abb91c6c
-size 3509200
+oid sha256:263f8fcb2b07f49d3ea0f8b9e417b39cb07f1f2e93653d1e49f98e9ecf8f4268
+size 3509248

bin/Ships.x86_64

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:843a1e5f8df1e6b2fe57ff86ca637436c7e1216f8409f2b079090c373548e86f
-size 72784744
+oid sha256:fb6fa01639dd98489aac3e0dd5f9ecf0691b25b37a717f7380b1350d91ed23a4
+size 61637496

health_bar.gd

@@ -2,10 +2,10 @@ extends Sprite3D
 
 @onready var health_bar_2d = $SubViewport/HealthBar2D
 
+
 func _ready():
-	#texture = $SubViewport.get_texture()
 	update_health(3.0)
-	pass
+
 
 func update_health(value):
 	health_bar_2d.update_health(value, 3.0)

mine.gd

@@ -2,14 +2,6 @@ extends Node3D
 
 @onready var area_3d = $Area3D
 
-# Called when the node enters the scene tree for the first time.
-func _ready():
-	pass # Replace with function body.
-
-# Called every frame. 'delta' is the elapsed time since the previous frame.
-func _process(delta):
-	pass
-
 func _on_area_3d_body_entered(body):
 	if body is Player:
 		body.mine_hit()