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AIController3D.gd

@@ -0,0 +1,40 @@
+extends AIController3D
+
+
+func _physics_process(_delta):
+	n_steps += 1
+	if n_steps >= reset_after:
+		done = true
+		needs_reset = true
+
+	if needs_reset:
+		reset()
+
+
+func set_action(action):
+	_player.move_action = action["move"][0]
+	_player.turn_action = action["turn"][0]
+
+
+func get_obs():
+	return {
+		"camera_2d": _player.virtual_camera.get_camera_pixel_encoding(),
+	}
+
+
+func get_obs_space():
+	# types of obs space: box, discrete, repeated
+	return {
+		"camera_2d": {"size": _player.virtual_camera.get_camera_shape(), "space": "box"},
+	}
+
+
+func get_action_space():
+	return {
+		"move": {"size": 1, "action_type": "continuous"},
+		"turn": {"size": 1, "action_type": "continuous"}
+	}
+
+
+func get_reward():
+	return reward

ColorRoom.tscn

@@ -1,118 +1,119 @@
-[gd_scene load_steps=12 format=2]
+[gd_scene load_steps=12 format=3 uid="uid://bf3qfs06lw0gv"]
 
-[ext_resource path="res://Player.tscn" type="PackedScene" id=1]
+[ext_resource type="PackedScene" uid="uid://dwipllxvgnle4" path="res://Player.tscn" id="1"]
 
-[sub_resource type="CubeMesh" id=1]
-size = Vector3( 20, 0.1, 20 )
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_ell48"]
+albedo_color = Color(1, 1, 0.705882, 1)
 
-[sub_resource type="SpatialMaterial" id=9]
-albedo_color = Color( 0.145098, 0.145098, 0.145098, 1 )
+[sub_resource type="BoxMesh" id="1"]
+material = SubResource("StandardMaterial3D_ell48")
+size = Vector3(20, 0.1, 20)
 
-[sub_resource type="ConcavePolygonShape" id=2]
-data = PoolVector3Array( -10, 0.05, 10, 10, 0.05, 10, -10, -0.05, 10, 10, 0.05, 10, 10, -0.05, 10, -10, -0.05, 10, 10, 0.05, -10, -10, 0.05, -10, 10, -0.05, -10, -10, 0.05, -10, -10, -0.05, -10, 10, -0.05, -10, 10, 0.05, 10, 10, 0.05, -10, 10, -0.05, 10, 10, 0.05, -10, 10, -0.05, -10, 10, -0.05, 10, -10, 0.05, -10, -10, 0.05, 10, -10, -0.05, -10, -10, 0.05, 10, -10, -0.05, 10, -10, -0.05, -10, 10, 0.05, 10, -10, 0.05, 10, 10, 0.05, -10, -10, 0.05, 10, -10, 0.05, -10, 10, 0.05, -10, -10, -0.05, 10, 10, -0.05, 10, -10, -0.05, -10, 10, -0.05, 10, 10, -0.05, -10, -10, -0.05, -10 )
+[sub_resource type="ConcavePolygonShape3D" id="2"]
+data = PackedVector3Array(-10, 0.05, 10, 10, 0.05, 10, -10, -0.05, 10, 10, 0.05, 10, 10, -0.05, 10, -10, -0.05, 10, 10, 0.05, -10, -10, 0.05, -10, 10, -0.05, -10, -10, 0.05, -10, -10, -0.05, -10, 10, -0.05, -10, 10, 0.05, 10, 10, 0.05, -10, 10, -0.05, 10, 10, 0.05, -10, 10, -0.05, -10, 10, -0.05, 10, -10, 0.05, -10, -10, 0.05, 10, -10, -0.05, -10, -10, 0.05, 10, -10, -0.05, 10, -10, -0.05, -10, 10, 0.05, 10, -10, 0.05, 10, 10, 0.05, -10, -10, 0.05, 10, -10, 0.05, -10, 10, 0.05, -10, -10, -0.05, 10, 10, -0.05, 10, -10, -0.05, -10, 10, -0.05, 10, 10, -0.05, -10, -10, -0.05, -10)
 
-[sub_resource type="CubeMesh" id=3]
-size = Vector3( 20, 5, 2 )
+[sub_resource type="BoxMesh" id="3"]
+size = Vector3(20, 5, 2)
 
-[sub_resource type="SpatialMaterial" id=8]
-albedo_color = Color( 0.541176, 0.247059, 0.760784, 1 )
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_1ci10"]
+albedo_color = Color(0, 1, 0.184314, 1)
 
-[sub_resource type="ConcavePolygonShape" id=4]
-data = PoolVector3Array( -10, 2.5, 1, 10, 2.5, 1, -10, -2.5, 1, 10, 2.5, 1, 10, -2.5, 1, -10, -2.5, 1, 10, 2.5, -1, -10, 2.5, -1, 10, -2.5, -1, -10, 2.5, -1, -10, -2.5, -1, 10, -2.5, -1, 10, 2.5, 1, 10, 2.5, -1, 10, -2.5, 1, 10, 2.5, -1, 10, -2.5, -1, 10, -2.5, 1, -10, 2.5, -1, -10, 2.5, 1, -10, -2.5, -1, -10, 2.5, 1, -10, -2.5, 1, -10, -2.5, -1, 10, 2.5, 1, -10, 2.5, 1, 10, 2.5, -1, -10, 2.5, 1, -10, 2.5, -1, 10, 2.5, -1, -10, -2.5, 1, 10, -2.5, 1, -10, -2.5, -1, 10, -2.5, 1, 10, -2.5, -1, -10, -2.5, -1 )
+[sub_resource type="ConcavePolygonShape3D" id="4"]
+data = PackedVector3Array(-10, 2.5, 1, 10, 2.5, 1, -10, -2.5, 1, 10, 2.5, 1, 10, -2.5, 1, -10, -2.5, 1, 10, 2.5, -1, -10, 2.5, -1, 10, -2.5, -1, -10, 2.5, -1, -10, -2.5, -1, 10, -2.5, -1, 10, 2.5, 1, 10, 2.5, -1, 10, -2.5, 1, 10, 2.5, -1, 10, -2.5, -1, 10, -2.5, 1, -10, 2.5, -1, -10, 2.5, 1, -10, -2.5, -1, -10, 2.5, 1, -10, -2.5, 1, -10, -2.5, -1, 10, 2.5, 1, -10, 2.5, 1, 10, 2.5, -1, -10, 2.5, 1, -10, 2.5, -1, 10, 2.5, -1, -10, -2.5, 1, 10, -2.5, 1, -10, -2.5, -1, 10, -2.5, 1, 10, -2.5, -1, -10, -2.5, -1)
 
-[sub_resource type="SpatialMaterial" id=7]
-albedo_color = Color( 0.0627451, 0.670588, 0.215686, 1 )
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_rnma1"]
+albedo_color = Color(1, 0.34902, 1, 1)
 
-[sub_resource type="SpatialMaterial" id=6]
-albedo_color = Color( 0.137255, 0.34902, 0.909804, 1 )
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_jlxwb"]
+albedo_color = Color(0.266667, 0.431373, 1, 1)
 
-[sub_resource type="SpatialMaterial" id=5]
-albedo_color = Color( 0.784314, 0.129412, 0.129412, 1 )
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_nulvw"]
+albedo_color = Color(1, 0.258824, 0.270588, 1)
 
-[sub_resource type="BoxShape" id=10]
-extents = Vector3( 0.4, 1, 8.97105 )
+[sub_resource type="BoxShape3D" id="10"]
+size = Vector3(0.8, 2, 17.9421)
 
-[node name="ColorRoom" type="Spatial"]
+[node name="ColorRoom" type="Node3D"]
 
-[node name="Player" parent="." instance=ExtResource( 1 )]
+[node name="Player" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2, 0)
 
-[node name="Camera" type="Camera" parent="Player"]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.7, -0.199591 )
+[node name="Camera" type="Camera3D" parent="Player"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.7, -0.199591)
 
-[node name="Walls" type="Spatial" parent="."]
+[node name="Walls" type="Node3D" parent="."]
 
-[node name="MeshInstance" type="MeshInstance" parent="Walls"]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.05, 0 )
-mesh = SubResource( 1 )
+[node name="MeshInstance" type="MeshInstance3D" parent="Walls"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.05, 0)
+mesh = SubResource("1")
 skeleton = NodePath("../..")
-material/0 = SubResource( 9 )
 
-[node name="StaticBody" type="StaticBody" parent="Walls/MeshInstance"]
+[node name="StaticBody" type="StaticBody3D" parent="Walls/MeshInstance"]
 
-[node name="CollisionShape" type="CollisionShape" parent="Walls/MeshInstance/StaticBody"]
-shape = SubResource( 2 )
+[node name="CollisionShape" type="CollisionShape3D" parent="Walls/MeshInstance/StaticBody"]
+shape = SubResource("2")
 
-[node name="MeshInstance2" type="MeshInstance" parent="Walls"]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2.5, -11 )
-mesh = SubResource( 3 )
+[node name="MeshInstance2" type="MeshInstance3D" parent="Walls"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2.5, -11)
+mesh = SubResource("3")
 skeleton = NodePath("../..")
-material/0 = SubResource( 8 )
+surface_material_override/0 = SubResource("StandardMaterial3D_1ci10")
 
-[node name="StaticBody" type="StaticBody" parent="Walls/MeshInstance2"]
+[node name="StaticBody" type="StaticBody3D" parent="Walls/MeshInstance2"]
 
-[node name="CollisionShape" type="CollisionShape" parent="Walls/MeshInstance2/StaticBody"]
-shape = SubResource( 4 )
+[node name="CollisionShape" type="CollisionShape3D" parent="Walls/MeshInstance2/StaticBody"]
+shape = SubResource("4")
 
-[node name="MeshInstance3" type="MeshInstance" parent="Walls"]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2.5, 11 )
-mesh = SubResource( 3 )
+[node name="MeshInstance3" type="MeshInstance3D" parent="Walls"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2.5, 11)
+mesh = SubResource("3")
 skeleton = NodePath("../..")
-material/0 = SubResource( 7 )
+surface_material_override/0 = SubResource("StandardMaterial3D_rnma1")
 
-[node name="StaticBody" type="StaticBody" parent="Walls/MeshInstance3"]
+[node name="StaticBody" type="StaticBody3D" parent="Walls/MeshInstance3"]
 
-[node name="CollisionShape" type="CollisionShape" parent="Walls/MeshInstance3/StaticBody"]
-shape = SubResource( 4 )
+[node name="CollisionShape" type="CollisionShape3D" parent="Walls/MeshInstance3/StaticBody"]
+shape = SubResource("4")
 
-[node name="MeshInstance4" type="MeshInstance" parent="Walls"]
-transform = Transform( -4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, 11, 2.5, 0 )
-mesh = SubResource( 3 )
+[node name="MeshInstance4" type="MeshInstance3D" parent="Walls"]
+transform = Transform3D(-4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, 11, 2.5, 0)
+mesh = SubResource("3")
 skeleton = NodePath("../..")
-material/0 = SubResource( 6 )
+surface_material_override/0 = SubResource("StandardMaterial3D_jlxwb")
 
-[node name="StaticBody" type="StaticBody" parent="Walls/MeshInstance4"]
+[node name="StaticBody" type="StaticBody3D" parent="Walls/MeshInstance4"]
 
-[node name="CollisionShape" type="CollisionShape" parent="Walls/MeshInstance4/StaticBody"]
-shape = SubResource( 4 )
+[node name="CollisionShape" type="CollisionShape3D" parent="Walls/MeshInstance4/StaticBody"]
+shape = SubResource("4")
 
-[node name="MeshInstance5" type="MeshInstance" parent="Walls"]
-transform = Transform( -4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, -11, 2.5, 0 )
-mesh = SubResource( 3 )
+[node name="MeshInstance5" type="MeshInstance3D" parent="Walls"]
+transform = Transform3D(-4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, -11, 2.5, 0)
+mesh = SubResource("3")
 skeleton = NodePath("../..")
-material/0 = SubResource( 5 )
+surface_material_override/0 = SubResource("StandardMaterial3D_nulvw")
 
-[node name="StaticBody" type="StaticBody" parent="Walls/MeshInstance5"]
+[node name="StaticBody" type="StaticBody3D" parent="Walls/MeshInstance5"]
 
-[node name="CollisionShape" type="CollisionShape" parent="Walls/MeshInstance5/StaticBody"]
-shape = SubResource( 4 )
+[node name="CollisionShape" type="CollisionShape3D" parent="Walls/MeshInstance5/StaticBody"]
+shape = SubResource("4")
 
-[node name="Goals" type="Spatial" parent="."]
+[node name="Goals" type="Node3D" parent="."]
 
-[node name="NegativeGoal" type="Area" parent="Goals"]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -8.71839, 0.0416299, -0.292424 )
+[node name="NegativeGoal" type="Area3D" parent="Goals"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -8.71839, 0.0416299, -0.292424)
 collision_layer = 0
 
-[node name="CollisionShape" type="CollisionShape" parent="Goals/NegativeGoal"]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.47999, 0 )
-shape = SubResource( 10 )
+[node name="CollisionShape" type="CollisionShape3D" parent="Goals/NegativeGoal"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.47999, 0)
+shape = SubResource("10")
 
-[node name="PositiveGoal" type="Area" parent="Goals"]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 8.93574, -0.068549, -0.292424 )
+[node name="PositiveGoal" type="Area3D" parent="Goals"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 8.93574, -0.068549, -0.292424)
 collision_layer = 0
 
-[node name="CollisionShape" type="CollisionShape" parent="Goals/PositiveGoal"]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.47999, 0 )
-shape = SubResource( 10 )
+[node name="CollisionShape" type="CollisionShape3D" parent="Goals/PositiveGoal"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.47999, 0)
+shape = SubResource("10")
 
 [connection signal="body_entered" from="Goals/NegativeGoal" to="Player" method="_on_NegativeGoal_body_entered"]
 [connection signal="body_entered" from="Goals/PositiveGoal" to="Player" method="_on_PositiveGoal_body_entered"]

Env.tscn

@@ -1,62 +1,62 @@
-[gd_scene load_steps=3 format=2]
+[gd_scene load_steps=3 format=3 uid="uid://b6watdl4c1jdq"]
 
-[ext_resource path="res://ColorRoom.tscn" type="PackedScene" id=1]
-[ext_resource path="res://addons/godot_rl_agents/sync.gd" type="Script" id=2]
+[ext_resource type="PackedScene" uid="uid://bf3qfs06lw0gv" path="res://ColorRoom.tscn" id="1"]
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sync.gd" id="2"]
 
-[node name="Env" type="Spatial"]
+[node name="Env" type="Node3D"]
 
-[node name="ColorRoom" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 25 )
+[node name="ColorRoom" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 25)
 
-[node name="ColorRoom2" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 0 )
+[node name="ColorRoom2" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 0)
 
-[node name="ColorRoom3" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, -25 )
+[node name="ColorRoom3" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, -25)
 
-[node name="ColorRoom4" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, -50 )
+[node name="ColorRoom4" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, -50)
 
-[node name="ColorRoom5" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 13, 0, 25 )
+[node name="ColorRoom5" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 13, 0, 25)
 
-[node name="ColorRoom6" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 13, 0, 0 )
+[node name="ColorRoom6" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 13, 0, 0)
 
-[node name="ColorRoom7" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 13, 0, -25 )
+[node name="ColorRoom7" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 13, 0, -25)
 
-[node name="ColorRoom8" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 13, 0, -50 )
+[node name="ColorRoom8" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 13, 0, -50)
 
-[node name="ColorRoom9" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 38, 0, 25 )
+[node name="ColorRoom9" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 38, 0, 25)
 
-[node name="ColorRoom10" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 38, 0, 0 )
+[node name="ColorRoom10" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 38, 0, 0)
 
-[node name="ColorRoom11" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 38, 0, -25 )
+[node name="ColorRoom11" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 38, 0, -25)
 
-[node name="ColorRoom12" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 38, 0, -50 )
+[node name="ColorRoom12" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 38, 0, -50)
 
-[node name="ColorRoom13" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 63, 0, 25 )
+[node name="ColorRoom13" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 63, 0, 25)
 
-[node name="ColorRoom14" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 63, 0, 0 )
+[node name="ColorRoom14" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 63, 0, 0)
 
-[node name="ColorRoom15" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 63, 0, -25 )
+[node name="ColorRoom15" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 63, 0, -25)
 
-[node name="ColorRoom16" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 63, 0, -50 )
+[node name="ColorRoom16" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 63, 0, -50)
 
 [node name="Sync" type="Node" parent="."]
 process_priority = -1
-script = ExtResource( 2 )
+script = ExtResource("2")
 
-[node name="Camera" type="Camera" parent="."]
-transform = Transform( 1, 0, 0, 0, 0.0220418, 0.999757, 0, -0.999757, 0.0220418, 25.3538, 75.4275, -10.0795 )
+[node name="Camera" type="Camera3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 0.0220418, 0.999757, 0, -0.999757, 0.0220418, 25.3538, 75.4275, -10.0795)
 current = true

Env2.tscn

@@ -1,17 +1,17 @@
-[gd_scene load_steps=3 format=2]
+[gd_scene load_steps=3 format=3 uid="uid://dvo48erm7rfmf"]
 
-[ext_resource path="res://ColorRoom.tscn" type="PackedScene" id=1]
-[ext_resource path="res://addons/godot_rl_agents/sync.gd" type="Script" id=2]
+[ext_resource type="PackedScene" uid="uid://bf3qfs06lw0gv" path="res://ColorRoom.tscn" id="1"]
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sync.gd" id="2"]
 
-[node name="Env" type="Spatial"]
+[node name="Env" type="Node3D"]
 
-[node name="T-Maze" parent="." instance=ExtResource( 1 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 25 )
+[node name="T-Maze" parent="." instance=ExtResource("1")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12, 0, 25)
 
 [node name="Sync" type="Node" parent="."]
 process_priority = -1
-script = ExtResource( 2 )
+script = ExtResource("2")
 
-[node name="Camera" type="Camera" parent="."]
-transform = Transform( 1, 0, 0, 0, 0.0220418, 0.999757, 0, -0.999757, 0.0220418, 25.3538, 75.4275, -10.0795 )
+[node name="Camera" type="Camera3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 0.0220418, 0.999757, 0, -0.999757, 0.0220418, 25.3538, 75.4275, -10.0795)
 current = true

Player.gd

@@ -1,218 +1,138 @@
-extends KinematicBody
+extends CharacterBody3D
 class_name Player
 const MOVE_SPEED = 12
 const JUMP_FORCE = 30
 const GRAVITY = 0.98
 const MAX_FALL_SPEED = 30
 const TURN_SENS = 2.0
-const MAX_STEPS = 10000
- 
-onready var cam = $Camera
+
+@onready var cam = $Camera
 var move_vec = Vector3()
 var y_velo = 0
 
 # RL related variables
-onready var robot = $Robot
-onready var virtual_camera = $RGBCameraSensor3D
+@onready var ai_controller := $AIController3D
+@onready var robot = $Robot
+@onready var virtual_camera = $RGBCameraSensor3D
 
 var next = 1
-var done = false
-var needs_reset = false
 var just_reached_negative = false
 var just_reached_positive = false
 var just_fell_off = false
 var best_goal_distance := 10000.0
 var grounded := false
-var _heuristic := "player"
 var move_action := 0.0
 var turn_action := 0.0
 var jump_action := false
-var n_steps = 0
 
-var reward = 0.0
 
 func _ready():
-    return
-    #reset()
+	ai_controller.init(self)
+
 
 func _physics_process(_delta):
-    
-    n_steps +=1    
-    if n_steps >= MAX_STEPS:
-        done = true
-        needs_reset = true
-
-    if needs_reset:
-        needs_reset = false
-        reset()
-        return
-    
-    move_vec *= 0
-    move_vec = get_move_vec()
-    #move_vec = move_vec.normalized()
-    
-    move_vec = move_vec.rotated(Vector3(0, 1, 0), rotation.y)
-    move_vec *= MOVE_SPEED
-    move_vec.y = y_velo
-    move_and_slide(move_vec, Vector3(0, 1, 0))
-    
-    # turning
-    
-    var turn_vec = get_turn_vec()
-    rotation_degrees.y += turn_vec*TURN_SENS
- 
-    grounded = is_on_floor()
-
-    y_velo -= GRAVITY
-    var just_jumped = false
-
-    if grounded and y_velo <= 0:
-        y_velo = -0.1
-    if y_velo < -MAX_FALL_SPEED:
-        y_velo = -MAX_FALL_SPEED
-    
-    if y_velo < 0 and !grounded :
-        robot.set_animation("falling-cycle")
-    
-    var horizontal_speed = Vector2(move_vec.x, move_vec.z)
-    if horizontal_speed.length() < 0.1 and grounded:
-        robot.set_animation("idle")
-    elif horizontal_speed.length() >=1.0 and grounded:
-        robot.set_animation("walk-cycle")    
+	move_vec = get_move_vec()
+	#move_vec = move_vec.normalized()
+	move_vec = move_vec.rotated(Vector3(0, 1, 0), rotation.y)
+	move_vec *= MOVE_SPEED
+	move_vec.y = y_velo
+	velocity = move_vec
+	move_and_slide()
+
+	# turning
+
+	var turn_vec = get_turn_vec()
+	rotation_degrees.y += turn_vec * TURN_SENS
+
+	grounded = is_on_floor()
+
+	y_velo -= GRAVITY
+
+	if grounded and y_velo <= 0:
+		y_velo = -0.1
+	if y_velo < -MAX_FALL_SPEED:
+		y_velo = -MAX_FALL_SPEED
+
+	if y_velo < 0 and !grounded:
+		robot.set_animation("falling-cycle")
+
+	var horizontal_speed = Vector2(move_vec.x, move_vec.z)
+	if horizontal_speed.length() < 0.1 and grounded:
+		robot.set_animation("idle")
+	elif horizontal_speed.length() >= 1.0 and grounded:
+		robot.set_animation("walk-cycle")
 #    elif horizontal_speed.length() >= 1.0 and grounded:
 #        robot.set_animation("run-cycle")
-    
-    update_reward()
-    
-    if Input.is_action_just_pressed("r_key"):
-        reset()
-        
+
+	update_reward()
+
+	if Input.is_action_just_pressed("r_key"):
+		reset()
+
 
 func get_move_vec() -> Vector3:
-    if done:
-        move_vec = Vector3.ZERO
-        return move_vec
-    
-    if _heuristic == "model":
-        return Vector3(
-        0,
-        0,
-        clamp(move_action, -1.0, 0.5)
-    )
-        
-    var move_vec := Vector3(
-        0,
-        0,
-        clamp(Input.get_action_strength("move_backwards") - Input.get_action_strength("move_forwards"),-1.0, 0.5)
-        
-    )
-    return move_vec
+	if ai_controller.done:
+		return Vector3.ZERO
+
+	if ai_controller.heuristic == "model":
+		return Vector3(0, 0, clamp(move_action, -1.0, 0.5))
+
+	return Vector3(
+		0,
+		0,
+		clamp(
+			(
+				Input.get_action_strength("move_backwards")
+				- Input.get_action_strength("move_forwards")
+			),
+			-1.0,
+			0.5
+		)
+	)
+
 
 func get_turn_vec() -> float:
-    if _heuristic == "model":
-        return turn_action
-    var rotation_amount = Input.get_action_strength("turn_left") - Input.get_action_strength("turn_right")
+	if ai_controller.heuristic == "model":
+		return turn_action
+	var rotation_amount = (
+		Input.get_action_strength("turn_left") - Input.get_action_strength("turn_right")
+	)
+
+	return rotation_amount
 
-    return rotation_amount
 
-  
 func reset():
-    needs_reset = false
-    next = 1
-    n_steps = 0
-    #done = false
-    just_reached_negative = false
-    just_reached_positive = false
-    jump_action = false
-     # Replace with function body.
-    set_translation(Vector3(0,1.5,0))
-    rotation_degrees.y = rand_range(-180,180)
-    y_velo = 0.1
-    
-func set_action(action):
-    move_action = action["move"][0]
-    turn_action = action["turn"][0]
-    
-func reset_if_done():
-    if done:
-        reset()
-
-func get_obs():
-    #print(virtual_camera.get_camera_pixel_encoding())
-    return {
-        "camera_2d": virtual_camera.get_camera_pixel_encoding(),
-       }
-    
-func get_obs_space():
-    # typs of obs space: box, discrete, repeated
-    return {
-        "camera_2d":{
-            "size": virtual_camera.get_camera_shape(),
-            "space":"box"
-           },
-       }
-    
-    
+	next = 1
+	just_reached_negative = false
+	just_reached_positive = false
+	jump_action = false
+	set_position(Vector3(0, 1.5, 0))
+	rotation_degrees.y = randf_range(-180, 180)
+	y_velo = 0.1
+	ai_controller.reset()
+
+
 func update_reward():
-    reward -= 0.01 # step penalty
-    reward += shaping_reward()
-    
-    
-    
-func get_reward():
-    return reward
-    
-func zero_reward():
-    reward = 0.0
-    
-func shaping_reward():
-    var s_reward = 0.0
-    return s_reward   
- 
-
-func set_heuristic(heuristic):
-    self._heuristic = heuristic
-
-func get_obs_size():
-    return len(get_obs())
-   
-func get_action_space():
-    return {
-        "move" : {
-             "size": 1,
-            "action_type": "continuous"
-           },        
-        "turn" : {
-             "size": 1,
-            "action_type": "continuous"
-           }
-       }
-
-func get_done():
-    return done
-    
-func set_done_false():
-    done = false
-
-
-func calculate_translation(other_pad_translation : Vector3) -> Vector3:
-    var new_translation := Vector3.ZERO
-    var distance = rand_range(12,16)
-    var angle = rand_range(-180,180)
-    new_translation.z = other_pad_translation.z + sin(deg2rad(angle))*distance 
-    new_translation.x = other_pad_translation.x + cos(deg2rad(angle))*distance
-    
-    return new_translation
-
-
-
-func _on_NegativeGoal_body_entered(body: Node) -> void:
-    reward -= 1.0
-    done = true
-    reset()
-
-
-func _on_PositiveGoal_body_entered(body: Node) -> void:
-    reward += 1.0
-    done = true
-    reset()
+	ai_controller.reward -= 0.01  # step penalty
+
+
+func calculate_translation(other_pad_translation: Vector3) -> Vector3:
+	var new_translation := Vector3.ZERO
+	var distance = randf_range(12, 16)
+	var angle = randf_range(-180, 180)
+	new_translation.z = other_pad_translation.z + sin(deg_to_rad(angle)) * distance
+	new_translation.x = other_pad_translation.x + cos(deg_to_rad(angle)) * distance
+
+	return new_translation
+
+
+func _on_NegativeGoal_body_entered(_body: Node) -> void:
+	ai_controller.reward -= 1.0
+	ai_controller.done = true
+	reset()
+
+
+func _on_PositiveGoal_body_entered(_body: Node) -> void:
+	ai_controller.reward += 1.0
+	ai_controller.done = true
+	reset()

Player.tscn

@@ -1,34 +1,34 @@
-[gd_scene load_steps=7 format=2]
+[gd_scene load_steps=7 format=3 uid="uid://dwipllxvgnle4"]
 
-[ext_resource path="res://Player.gd" type="Script" id=1]
-[ext_resource path="res://Robot.tscn" type="PackedScene" id=2]
-[ext_resource path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn" type="PackedScene" id=3]
+[ext_resource type="Script" path="res://Player.gd" id="1"]
+[ext_resource type="PackedScene" uid="uid://b4hphc8dab5h" path="res://Robot.tscn" id="2"]
+[ext_resource type="PackedScene" uid="uid://b30vsuwotx0u2" path="res://VirtualCamera.tscn" id="3_tv0v5"]
+[ext_resource type="Script" path="res://AIController3D.gd" id="4_rq7t7"]
 
-[sub_resource type="CapsuleShape" id=1]
+[sub_resource type="CapsuleShape3D" id="1"]
 radius = 1.6
+height = 3.2
 
-[sub_resource type="CapsuleMesh" id=2]
+[sub_resource type="CapsuleMesh" id="2"]
 
-[sub_resource type="SpatialMaterial" id=3]
-albedo_color = Color( 0.109804, 0.317647, 0.458824, 1 )
+[node name="Player" type="CharacterBody3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.5, 0)
+script = ExtResource("1")
 
-[node name="Player" type="KinematicBody" groups=["AGENT"]]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.5, 0 )
-collision_mask = 0
-script = ExtResource( 1 )
+[node name="CollisionShape" type="CollisionShape3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 0, 0, 0)
+shape = SubResource("1")
 
-[node name="CollisionShape" type="CollisionShape" parent="."]
-transform = Transform( 1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 0, 0, 0 )
-shape = SubResource( 1 )
-
-[node name="MeshInstance" type="MeshInstance" parent="."]
-transform = Transform( 1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 0, 0, 0 )
+[node name="MeshInstance" type="MeshInstance3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 0, 0, 0)
 visible = false
-mesh = SubResource( 2 )
-material/0 = SubResource( 3 )
+mesh = SubResource("2")
+
+[node name="Robot" parent="." instance=ExtResource("2")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -1.43952, 0.0576344)
 
-[node name="Robot" parent="." instance=ExtResource( 2 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -1.43952, 0.0576344 )
+[node name="RGBCameraSensor3D" parent="." instance=ExtResource("3_tv0v5")]
 
-[node name="RGBCameraSensor3D" parent="." instance=ExtResource( 3 )]
-transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.5, -1 )
+[node name="AIController3D" type="Node3D" parent="."]
+script = ExtResource("4_rq7t7")
+reset_after = 10000

Robot.gd

@@ -1,20 +1,10 @@
-extends Spatial
-
-
-# Declare member variables here. Examples:
-# var a = 2
-# var b = "text"
-
-onready var player = $AnimationPlayer
-
-# Called when the node enters the scene tree for the first time.
-func _ready():
-    pass # Replace with function body.
+extends Node3D
 
+@onready var player = $AnimationPlayer
 
 
 func set_animation(anim):
-    if player.current_animation == anim:
-        return
-    
-    player.play(anim)
+	if player.current_animation == anim:
+		return
+	
+	player.play(anim)

VirtualCamera.tscn

@@ -1,42 +1,36 @@
-[gd_scene load_steps=3 format=2]
+[gd_scene load_steps=3 format=3 uid="uid://b30vsuwotx0u2"]
 
-[ext_resource path="res://VirtualCamera.gd" type="Script" id=1]
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" id="1_p152a"]
 
-[sub_resource type="ViewportTexture" id=1]
-viewport_path = NodePath("Viewport")
+[sub_resource type="ViewportTexture" id="1"]
+viewport_path = NodePath("SubViewport")
 
-[node name="VirtualCamera" type="Spatial"]
-script = ExtResource( 1 )
+[node name="VirtualCamera" type="Node3D"]
+script = ExtResource("1_p152a")
 
-[node name="RemoteTransform" type="RemoteTransform" parent="."]
-remote_path = NodePath("../Viewport/Camera")
+[node name="RemoteTransform" type="RemoteTransform3D" parent="."]
+remote_path = NodePath("../SubViewport/Camera")
 
-[node name="Viewport" type="Viewport" parent="."]
-size = Vector2( 16, 16 )
+[node name="SubViewport" type="SubViewport" parent="."]
+size = Vector2i(36, 36)
 render_target_update_mode = 3
 
-[node name="Camera" type="Camera" parent="Viewport"]
+[node name="Camera" type="Camera3D" parent="SubViewport"]
 near = 0.5
 
 [node name="Control" type="Control" parent="."]
+layout_mode = 3
+anchors_preset = 15
 anchor_right = 1.0
 anchor_bottom = 1.0
-__meta__ = {
-"_edit_use_anchors_": false
-}
+grow_horizontal = 2
+grow_vertical = 2
 
 [node name="TextureRect" type="ColorRect" parent="Control"]
-margin_left = 1096.0
-margin_top = 534.0
-margin_right = 1114.0
-margin_bottom = 552.0
-rect_scale = Vector2( 10, 10 )
-color = Color( 0.00784314, 0.00784314, 0.00784314, 1 )
-__meta__ = {
-"_edit_use_anchors_": false
-}
-
-[node name="CameraTexture" type="Sprite" parent="Control/TextureRect"]
-texture = SubResource( 1 )
-offset = Vector2( 9, 9 )
-flip_v = true
+layout_mode = 0
+color = Color(0.00784314, 0.00784314, 0.00784314, 1)
+
+[node name="CameraTexture" type="Sprite2D" parent="Control/TextureRect"]
+scale = Vector2(8, 8)
+texture = SubResource("1")
+centered = false

addons/godot_rl_agents/controller/ai_controller_2d.gd

@@ -1,8 +1,82 @@
-extends AIController
+extends Node2D
 class_name AIController2D
 
-# ------------------ Godot RL Agents Logic ------------------------------------#
+@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

@@ -1,8 +1,80 @@
-extends AIController
+extends Node3D
 class_name AIController3D
 
-# ------------------ Godot RL Agents Logic ------------------------------------#
+@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/onnx/csharp/ONNXInference.cs

@@ -1,93 +1,103 @@
 using Godot;
-using System.Collections.Generic;
-using System.Linq;
 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 : Node
+namespace GodotONNX
 {
-		
-	private InferenceSession session;
-	/// <summary>
-	/// Path to the ONNX model. Use Initialize to change it. 
-	/// </summary>
-	private string modelPath;
-	private int batchSize;
+	/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/ONNXInference/*'/>
+	public partial class ONNXInference : GodotObject
+	{
 
-	private SessionOptions SessionOpt;
+		private InferenceSession session;
+		/// <summary>
+		/// Path to the ONNX model. Use Initialize to change it. 
+		/// </summary>
+		private string modelPath;
+		private int batchSize;
 
-	//init function
-/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Initialize/*'/>
-	public void Initialize(string Path, int BatchSize)
-	{
-		modelPath = Path;
-		batchSize = BatchSize;
-		SessionConfigurator.SystemCheck();
-		SessionOpt = SessionConfigurator.GetSessionOptions();
-		session = LoadModel(modelPath);
+		private SessionOptions SessionOpt;
 
-	}
-/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Run/*'/>
-	public Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> 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++)
+		//init function
+		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Initialize/*'/>
+		public void Initialize(string Path, int BatchSize)
 		{
-			span[i] = obs[i];
+			modelPath = Path;
+			batchSize = BatchSize;
+            SessionOpt = SessionConfigurator.MakeConfiguredSessionOptions();
+            session = LoadModel(modelPath);
+
 		}
-				
-		IReadOnlyCollection<NamedOnnxValue> inputs = new List<NamedOnnxValue> 
+		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Run/*'/>
+		public Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> 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
+			};
+			IReadOnlyCollection<string> outputNames = new List<string> { "output", "state_outs" }; //ONNX is sensible to these names, as well as the input names
 
-			IDisposableReadOnlyCollection<DisposableNamedOnnxValue> results;
-		
-		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<float>> output = new Godot.Collections.Dictionary<string, Godot.Collections.Array<float>>();
-		DisposableNamedOnnxValue output1 = results.First();
-		DisposableNamedOnnxValue output2 = results.Last();
-		Godot.Collections.Array<float> output1Array = new Godot.Collections.Array<float>();
-		Godot.Collections.Array<float> output2Array = new Godot.Collections.Array<float>();
+			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<float>> output = new Godot.Collections.Dictionary<string, Godot.Collections.Array<float>>();
+			DisposableNamedOnnxValue output1 = results.First();
+			DisposableNamedOnnxValue output2 = results.Last();
+			Godot.Collections.Array<float> output1Array = new Godot.Collections.Array<float>();
+			Godot.Collections.Array<float> output2Array = new Godot.Collections.Array<float>();
 
-		foreach (float f in output1.AsEnumerable<float>()) {
-			output1Array.Add(f);
-		}
+			foreach (float f in output1.AsEnumerable<float>())
+			{
+				output1Array.Add(f);
+			}
 
-		foreach (float f in output2.AsEnumerable<float>()) {
-			output2Array.Add(f);
-		}
+			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, ...]}
-		return output;
-	}	
-/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Load/*'/>
-	public InferenceSession LoadModel(string Path) 
-	{
-		Godot.FileAccess file = FileAccess.Open(Path, Godot.FileAccess.ModeFlags.Read);
-		byte[] model = file.GetBuffer((int)file.GetLength());
-		file.Close();
-		return new InferenceSession(model, SessionOpt); //Load the model
-	}
+			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 Godot.FileAccess file = FileAccess.Open(Path, Godot.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

@@ -1,106 +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 {
-
-		private static SessionOptions options = new SessionOptions();
-		
-/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/GetSessionOptions/*'/>
-		public static SessionOptions GetSessionOptions() {
-			options = new SessionOptions();
-			options.LogSeverityLevel = OrtLoggingLevel.ORT_LOGGING_LEVEL_WARNING; 
-			// see warnings
-			SystemCheck();
-			return options;
-		}
-/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SystemCheck/*'/>
+namespace GodotONNX
+{
+	/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SessionConfigurator/*'/>
 
-static public void SystemCheck()  
+	public static class SessionConfigurator
 	{
-		//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
-		int ComputeAPIID = 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
-		
-		string [] ComputeNames = {"CUDA", "DirectML/ROCm", "DirectML", "CoreML", "CPU"};
-		//match OS and Compute API
-		options.AppendExecutionProvider_CPU(0); // Always use CPU
-		GD.Print("OS: " + OSName, " | Compute API: " + ComputeNames[ComputeAPIID]);
-
-		switch (OSName) 
+		public enum ComputeName
 		{
-		case "Windows": //Can use CUDA, DirectML
-			if (ComputeAPIID == 0) 
-				{
-				//CUDA 
-				//options.AppendExecutionProvider_CUDA(0);
-				options.AppendExecutionProvider_DML(0);
-					}
-			else if (ComputeAPIID == 1) 
-				{ 
-				//DirectML
-				options.AppendExecutionProvider_DML(0);
-				}
-			break;
-		case "X11": //Can use CUDA, ROCm
-			if (ComputeAPIID == 0) 
-				{ 
-				//CUDA
-				//options.AppendExecutionProvider_CUDA(0);
-				}
-			if (ComputeAPIID == 1) 
-				{
-				//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.");
-				options.AppendExecutionProvider_CPU(0);
-				}
-			
-			break;
-		case "OSX": //Can use CoreML
-			if (ComputeAPIID == 0) { //CoreML
-			//TODO: Needs testing
-				options.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;
+			CUDA,
+			ROCm,
+			DirectML,
+			CoreML,
+			CPU
 		}
-	}
-/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/ComputeCheck/*'/>
 
-	public static int 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 2, should use DirectML only
-		return 2;}
-	if (adapterName.Contains("AMD")) {
-		//Return 1, should use DirectML, check later for ROCm
-		return 1;}
-	if (adapterName.Contains("NVIDIA")){
-		//Return 0, should use CUDA
-		return 0;}
-	
-	GD.Print("Graphics Card not recognized."); //Return -1, should use CPU
-	return -1;
+        /// <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/wrapper/ONNX_wrapper.gd

@@ -1,4 +1,4 @@
-extends Node
+extends Resource
 class_name ONNXModel
 var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInference.cs")
 
@@ -17,3 +17,8 @@ func run_inference(obs : Array, state_ins : int) -> Dictionary:
 		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/sensors/sensors_2d/ExampleRaycastSensor2D.tscn

@@ -1,6 +1,6 @@
 [gd_scene load_steps=5 format=3 uid="uid://ddeq7mn1ealyc"]
 
-[ext_resource type="Script" path="res://sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
+[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

addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd

@@ -0,0 +1,216 @@
+@tool
+extends ISensor2D
+class_name GridSensor2D
+
+@export var debug_view := false:
+	get: return debug_view
+	set(value):
+		debug_view = value
+		_update()
+		
+@export_flags_2d_physics var detection_mask := 0:
+	get: return detection_mask
+	set(value):
+		detection_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_range(1, 200, 0.1) var cell_width := 20.0:
+	get: return cell_width
+	set(value):
+		cell_width = value
+		_update()
+
+@export_range(1, 200, 0.1) var cell_height := 20.0:
+	get: return cell_height
+	set(value):
+		cell_height = value
+		_update()	
+
+@export_range(1, 21, 2, "or_greater") var grid_size_x := 3:
+	get: return grid_size_x
+	set(value):
+		grid_size_x = value
+		_update()
+
+@export_range(1, 21, 2, "or_greater") var grid_size_y := 3:
+	get: return grid_size_y
+	set(value):
+		grid_size_y = value
+		_update()
+
+var _obs_buffer: PackedFloat64Array
+var _rectangle_shape: RectangleShape2D
+var _collision_mapping: Dictionary
+var _n_layers_per_cell: int
+
+var _highlighted_cell_color: Color
+var _standard_cell_color: Color
+
+func get_observation():
+	return _obs_buffer
+	
+func _update():
+	if Engine.is_editor_hint():
+		if is_node_ready():
+			_spawn_nodes()	
+
+func _ready() -> void:
+	_set_colors()
+	
+	if Engine.is_editor_hint():	
+		if get_child_count() == 0:
+			_spawn_nodes()
+	else:
+		_spawn_nodes()
+		
+	
+func _set_colors() -> void:
+	_standard_cell_color = Color(100.0/255.0, 100.0/255.0, 100.0/255.0, 100.0/255.0)
+	_highlighted_cell_color = Color(255.0/255.0, 100.0/255.0, 100.0/255.0, 100.0/255.0)
+
+func _get_collision_mapping() -> Dictionary:
+	# defines which layer is mapped to which cell obs index
+	var total_bits = 0
+	var collision_mapping = {} 
+	for i in 32:
+		var bit_mask = 2**i
+		if (detection_mask & bit_mask) > 0:
+			collision_mapping[i] = total_bits
+			total_bits += 1
+		
+	return collision_mapping
+
+func _spawn_nodes():
+	for cell in get_children():
+		cell.name = "_%s" % cell.name # Otherwise naming below will fail
+		cell.queue_free()
+	
+	_collision_mapping = _get_collision_mapping()
+	#prints("collision_mapping", _collision_mapping, len(_collision_mapping))
+	# allocate memory for the observations
+	_n_layers_per_cell = len(_collision_mapping)
+	_obs_buffer = PackedFloat64Array()
+	_obs_buffer.resize(grid_size_x*grid_size_y*_n_layers_per_cell)
+	_obs_buffer.fill(0)
+	#prints(len(_obs_buffer), _obs_buffer )
+	
+	_rectangle_shape = RectangleShape2D.new()
+	_rectangle_shape.set_size(Vector2(cell_width, cell_height))
+	
+	var shift := Vector2(
+		-(grid_size_x/2)*cell_width,
+		-(grid_size_y/2)*cell_height,
+	)
+	
+	for i in grid_size_x:
+		for j in grid_size_y:
+			var cell_position =  Vector2(i*cell_width, j*cell_height) + shift
+			_create_cell(i, j, cell_position)
+		
+
+func _create_cell(i:int, j:int, position: Vector2):
+	var cell : = Area2D.new()
+	cell.position = position
+	cell.name = "GridCell %s %s" %[i, j]
+	cell.modulate = _standard_cell_color
+	
+	if collide_with_areas:
+		cell.area_entered.connect(_on_cell_area_entered.bind(i, j))
+		cell.area_exited.connect(_on_cell_area_exited.bind(i, j))
+		
+	if collide_with_bodies:
+		cell.body_entered.connect(_on_cell_body_entered.bind(i, j))
+		cell.body_exited.connect(_on_cell_body_exited.bind(i, j))
+	
+	cell.collision_layer = 0
+	cell.collision_mask = detection_mask
+	cell.monitorable = true
+	add_child(cell)
+	cell.set_owner(get_tree().edited_scene_root)
+
+	var col_shape : = CollisionShape2D.new()
+	col_shape.shape = _rectangle_shape
+	col_shape.name = "CollisionShape2D"
+	cell.add_child(col_shape)
+	col_shape.set_owner(get_tree().edited_scene_root)
+	
+	if debug_view:
+		var quad = MeshInstance2D.new()
+		quad.name = "MeshInstance2D"
+		var quad_mesh = QuadMesh.new()
+		
+		quad_mesh.set_size(Vector2(cell_width, cell_height))
+		
+		quad.mesh = quad_mesh
+		cell.add_child(quad)
+		quad.set_owner(get_tree().edited_scene_root)
+
+func _update_obs(cell_i:int, cell_j:int, collision_layer:int, entered: bool):
+	for key in _collision_mapping:
+		var bit_mask = 2**key
+		if (collision_layer & bit_mask) > 0:
+			var collison_map_index = _collision_mapping[key]
+			
+			var obs_index = (
+							(cell_i * grid_size_x * _n_layers_per_cell) + 
+							(cell_j * _n_layers_per_cell) + 
+							collison_map_index
+							)
+			#prints(obs_index, cell_i, cell_j)
+			if entered:
+				_obs_buffer[obs_index] += 1
+			else:
+				_obs_buffer[obs_index] -= 1
+
+func _toggle_cell(cell_i:int, cell_j:int):
+	var cell = get_node_or_null("GridCell %s %s" %[cell_i, cell_j])
+	
+	if cell == null:
+		print("cell not found, returning")
+		
+	var n_hits = 0
+	var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell)
+	for i in _n_layers_per_cell:
+		n_hits += _obs_buffer[start_index+i]
+		
+	if n_hits > 0:
+		cell.modulate = _highlighted_cell_color
+	else:
+		cell.modulate = _standard_cell_color
+		
+func _on_cell_area_entered(area:Area2D, cell_i:int, cell_j:int):
+	#prints("_on_cell_area_entered", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, area.collision_layer, true)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+	#print(_obs_buffer)
+
+func _on_cell_area_exited(area:Area2D, cell_i:int, cell_j:int):
+	#prints("_on_cell_area_exited", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, area.collision_layer, false)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+
+func _on_cell_body_entered(body: Node2D, cell_i:int, cell_j:int):
+	#prints("_on_cell_body_entered", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, body.collision_layer, true)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+
+func _on_cell_body_exited(body: Node2D, cell_i:int, cell_j:int):
+	#prints("_on_cell_body_exited", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, body.collision_layer, false)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)

addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd

@@ -0,0 +1,233 @@
+@tool
+extends ISensor3D
+class_name GridSensor3D
+
+@export var debug_view := false:
+	get: return debug_view
+	set(value):
+		debug_view = value
+		_update()
+		
+@export_flags_3d_physics var detection_mask := 0:
+	get: return detection_mask
+	set(value):
+		detection_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 := false:
+	# NOTE! The sensor will not detect StaticBody3D, add an area to static bodies to detect them
+	get: return collide_with_bodies
+	set(value):
+		collide_with_bodies = value
+		_update()
+
+@export_range(0.1, 2, 0.1) var cell_width := 1.0:
+	get: return cell_width
+	set(value):
+		cell_width = value
+		_update()
+
+@export_range(0.1, 2, 0.1) var cell_height := 1.0:
+	get: return cell_height
+	set(value):
+		cell_height = value
+		_update()	
+
+@export_range(1, 21, 2, "or_greater") var grid_size_x := 3:
+	get: return grid_size_x
+	set(value):
+		grid_size_x = value
+		_update()
+
+@export_range(1, 21, 2, "or_greater") var grid_size_z := 3:
+	get: return grid_size_z
+	set(value):
+		grid_size_z = value
+		_update()
+
+var _obs_buffer: PackedFloat64Array
+var _box_shape: BoxShape3D
+var _collision_mapping: Dictionary
+var _n_layers_per_cell: int
+
+var _highlighted_box_material: StandardMaterial3D
+var _standard_box_material: StandardMaterial3D
+
+func get_observation():
+	return _obs_buffer
+
+func reset():
+	_obs_buffer.fill(0)
+
+func _update():
+	if Engine.is_editor_hint():
+		if is_node_ready():
+			_spawn_nodes()	
+
+func _ready() -> void:
+	_make_materials()
+	
+	if Engine.is_editor_hint():	
+		if get_child_count() == 0:
+			_spawn_nodes()
+	else:
+		_spawn_nodes()
+	
+func _make_materials() -> void:
+	if _highlighted_box_material != null and _standard_box_material != null:
+		return
+		
+	_standard_box_material = StandardMaterial3D.new()
+	_standard_box_material.set_transparency(1) # ALPHA
+	_standard_box_material.albedo_color = Color(100.0/255.0, 100.0/255.0, 100.0/255.0, 100.0/255.0)
+	
+	_highlighted_box_material = StandardMaterial3D.new()
+	_highlighted_box_material.set_transparency(1) # ALPHA
+	_highlighted_box_material.albedo_color = Color(255.0/255.0, 100.0/255.0, 100.0/255.0, 100.0/255.0)
+
+func _get_collision_mapping() -> Dictionary:
+	# defines which layer is mapped to which cell obs index
+	var total_bits = 0
+	var collision_mapping = {} 
+	for i in 32:
+		var bit_mask = 2**i
+		if (detection_mask & bit_mask) > 0:
+			collision_mapping[i] = total_bits
+			total_bits += 1
+		
+	return collision_mapping
+
+func _spawn_nodes():
+	for cell in get_children():
+		cell.name = "_%s" % cell.name # Otherwise naming below will fail
+		cell.queue_free()
+	
+	_collision_mapping = _get_collision_mapping()
+	#prints("collision_mapping", _collision_mapping, len(_collision_mapping))
+	# allocate memory for the observations
+	_n_layers_per_cell = len(_collision_mapping)
+	_obs_buffer = PackedFloat64Array()
+	_obs_buffer.resize(grid_size_x*grid_size_z*_n_layers_per_cell)
+	_obs_buffer.fill(0)
+	#prints(len(_obs_buffer), _obs_buffer )
+	
+	_box_shape = BoxShape3D.new()
+	_box_shape.set_size(Vector3(cell_width, cell_height, cell_width))
+	
+	var shift := Vector3(
+		-(grid_size_x/2)*cell_width,
+		0,
+		-(grid_size_z/2)*cell_width,
+	)
+	
+	for i in grid_size_x:
+		for j in grid_size_z:
+			var cell_position =  Vector3(i*cell_width, 0.0, j*cell_width) + shift
+			_create_cell(i, j, cell_position)
+		
+
+func _create_cell(i:int, j:int, position: Vector3):
+	var cell : = Area3D.new()
+	cell.position = position
+	cell.name = "GridCell %s %s" %[i, j]
+	
+	if collide_with_areas:
+		cell.area_entered.connect(_on_cell_area_entered.bind(i, j))
+		cell.area_exited.connect(_on_cell_area_exited.bind(i, j))
+		
+	if collide_with_bodies:
+		cell.body_entered.connect(_on_cell_body_entered.bind(i, j))
+		cell.body_exited.connect(_on_cell_body_exited.bind(i, j))
+		
+#		cell.body_shape_entered.connect(_on_cell_body_shape_entered.bind(i, j))
+#		cell.body_shape_exited.connect(_on_cell_body_shape_exited.bind(i, j))
+	
+	cell.collision_layer = 0
+	cell.collision_mask = detection_mask
+	cell.monitorable = true
+	cell.input_ray_pickable = false
+	add_child(cell)
+	cell.set_owner(get_tree().edited_scene_root)
+
+	var col_shape : = CollisionShape3D.new()
+	col_shape.shape = _box_shape
+	col_shape.name = "CollisionShape3D"
+	cell.add_child(col_shape)
+	col_shape.set_owner(get_tree().edited_scene_root)
+	
+	if debug_view:
+		var box = MeshInstance3D.new()
+		box.name = "MeshInstance3D"
+		var box_mesh = BoxMesh.new()
+		
+		box_mesh.set_size(Vector3(cell_width, cell_height, cell_width))
+		box_mesh.material = _standard_box_material
+		
+		box.mesh = box_mesh
+		cell.add_child(box)
+		box.set_owner(get_tree().edited_scene_root)
+
+func _update_obs(cell_i:int, cell_j:int, collision_layer:int, entered: bool):
+	for key in _collision_mapping:
+		var bit_mask = 2**key
+		if (collision_layer & bit_mask) > 0:
+			var collison_map_index = _collision_mapping[key]
+			
+			var obs_index = (
+							(cell_i * grid_size_x * _n_layers_per_cell) + 
+							(cell_j * _n_layers_per_cell) + 
+							collison_map_index
+							)
+			#prints(obs_index, cell_i, cell_j)
+			if entered:
+				_obs_buffer[obs_index] += 1
+			else:
+				_obs_buffer[obs_index] -= 1
+
+func _toggle_cell(cell_i:int, cell_j:int):
+	var cell = get_node_or_null("GridCell %s %s" %[cell_i, cell_j])
+	
+	if cell == null:
+		print("cell not found, returning")
+		
+	var n_hits = 0
+	var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell)
+	for i in _n_layers_per_cell:
+		n_hits += _obs_buffer[start_index+i]
+		
+	var cell_mesh = cell.get_node_or_null("MeshInstance3D")
+	if n_hits > 0:
+		cell_mesh.mesh.material = _highlighted_box_material
+	else:
+		cell_mesh.mesh.material = _standard_box_material
+		
+func _on_cell_area_entered(area:Area3D, cell_i:int, cell_j:int):
+	#prints("_on_cell_area_entered", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, area.collision_layer, true)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+	#print(_obs_buffer)
+
+func _on_cell_area_exited(area:Area3D, cell_i:int, cell_j:int):
+	#prints("_on_cell_area_exited", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, area.collision_layer, false)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+
+func _on_cell_body_entered(body: Node3D, cell_i:int, cell_j:int):
+	#prints("_on_cell_body_entered", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, body.collision_layer, true)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+
+func _on_cell_body_exited(body: Node3D, cell_i:int, cell_j:int):
+	#prints("_on_cell_body_exited", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, body.collision_layer, false)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)

addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd

@@ -3,9 +3,19 @@ class_name RGBCameraSensor3D
 var camera_pixels = null
 
 @onready var camera_texture := $Control/TextureRect/CameraTexture as Sprite2D
+@onready var sub_viewport := $SubViewport as SubViewport
+
 
 func get_camera_pixel_encoding():
-	return camera_texture.get_texture().get_data().data["data"].hex_encode()
+	return camera_texture.get_texture().get_image().get_data().hex_encode()
+
 
-func get_camera_shape()-> Array:
-	return [$SubViewport.size[0], $SubViewport.size[1], 4]
+func get_camera_shape() -> Array:
+	assert(
+		sub_viewport.size.x >= 36 and sub_viewport.size.y >= 36,
+		"SubViewport size must be 36x36 or larger."
+	)
+	if sub_viewport.transparent_bg:
+		return [4, sub_viewport.size.y, sub_viewport.size.x]
+	else:
+		return [3, sub_viewport.size.y, sub_viewport.size.x]

addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn

@@ -1,42 +1,41 @@
-[gd_scene load_steps=3 format=2]
+[gd_scene load_steps=3 format=3 uid="uid://baaywi3arsl2m"]
 
-[ext_resource path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" type="Script" id=1]
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" id="1"]
 
-[sub_resource type="ViewportTexture" id=1]
+[sub_resource type="ViewportTexture" id="1"]
 viewport_path = NodePath("SubViewport")
 
 [node name="RGBCameraSensor3D" type="Node3D"]
-script = ExtResource( 1 )
+script = ExtResource("1")
 
 [node name="RemoteTransform3D" type="RemoteTransform3D" parent="."]
 remote_path = NodePath("../SubViewport/Camera3D")
 
 [node name="SubViewport" type="SubViewport" parent="."]
-size = Vector2( 32, 32 )
+size = Vector2i(32, 32)
 render_target_update_mode = 3
 
 [node name="Camera3D" type="Camera3D" parent="SubViewport"]
 near = 0.5
 
 [node name="Control" type="Control" parent="."]
+layout_mode = 3
+anchors_preset = 15
 anchor_right = 1.0
 anchor_bottom = 1.0
-__meta__ = {
-"_edit_use_anchors_": false
-}
+grow_horizontal = 2
+grow_vertical = 2
 
 [node name="TextureRect" type="ColorRect" parent="Control"]
+layout_mode = 0
 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
-}
+scale = Vector2(10, 10)
+color = Color(0.00784314, 0.00784314, 0.00784314, 1)
 
 [node name="CameraTexture" type="Sprite2D" parent="Control/TextureRect"]
-texture = SubResource( 1 )
-offset = Vector2( 9, 9 )
+texture = SubResource("1")
+offset = Vector2(9, 9)
 flip_v = true

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn

@@ -8,26 +8,20 @@ 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="."]
+[node name="node_1 0" type="RayCast3D" parent="."]
 target_position = Vector3(-1.38686, -2.84701, 10.5343)
 
-[node name="@node_1 1@18993" type="RayCast3D" parent="."]
+[node name="node_1 1" type="RayCast3D" parent="."]
 target_position = Vector3(-1.38686, 2.84701, 10.5343)
 
-[node name="@node_2 0@18994" type="RayCast3D" parent="."]
+[node name="node_2 0" type="RayCast3D" parent="."]
 target_position = Vector3(1.38686, -2.84701, 10.5343)
 
-[node name="@node_2 1@18995" type="RayCast3D" parent="."]
+[node name="node_2 1" type="RayCast3D" parent="."]
 target_position = Vector3(1.38686, 2.84701, 10.5343)
 
-[node name="@node_3 0@18996" type="RayCast3D" parent="."]
+[node name="node_3 0" type="RayCast3D" parent="."]
 target_position = Vector3(4.06608, -2.84701, 9.81639)
 
-[node name="@node_3 1@18997" type="RayCast3D" parent="."]
+[node name="node_3 1" type="RayCast3D" parent="."]
 target_position = Vector3(4.06608, 2.84701, 9.81639)

addons/godot_rl_agents/sync.gd

@@ -1,7 +1,7 @@
 extends Node
 # --fixed-fps 2000 --disable-render-loop
-@export var action_repeat := 8
-@export var speed_up = 1
+@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()
@@ -10,7 +10,6 @@ const MAJOR_VERSION := "0"
 const MINOR_VERSION := "3" 
 const DEFAULT_PORT := "11008"
 const DEFAULT_SEED := "1"
-const DEFAULT_ACTION_REPEAT := "8"
 var stream : StreamPeerTCP = null
 var connected = false
 var message_center
@@ -44,17 +43,20 @@ func _initialize():
 	Engine.time_scale = _get_speedup() * 1.0
 	prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up)
 	
-
-	connected = connect_to_server()
-	if connected:
-		_set_heuristic("model")
-		_handshake()
-		_send_env_info()
-	elif onnx_model_path != "":
+	# 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:
-		_set_heuristic("human")  
+	else:		
+		connected = connect_to_server()
+		if connected:
+			_set_heuristic("model")
+			_handshake()
+			_send_env_info()
+		else:
+			_set_heuristic("human")  
 		
 	_set_seed()
 	_set_action_repeat()
@@ -232,7 +234,7 @@ func _set_seed():
 	seed(_seed)
 
 func _set_action_repeat():
-	action_repeat = args.get("action_repeat", DEFAULT_ACTION_REPEAT).to_int()
+	action_repeat = args.get("action_repeat", str(action_repeat)).to_int()
 	
 func disconnect_from_server():
 	stream.disconnect_from_host()

bin/VirtualCamera.exe

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

bin/VirtualCamera.x86_64

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

project.godot

@@ -8,45 +8,11 @@
 
 config_version=5
 
-_global_script_classes=[{
-"base": "Node2D",
-"class": &"ISensor2D",
-"language": &"GDScript",
-"path": "res://addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd"
-}, {
-"base": "Node3D",
-"class": &"ISensor3D",
-"language": &"GDScript",
-"path": "res://addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd"
-}, {
-"base": "Node3D",
-"class": &"RGBCameraSensor3D",
-"language": &"GDScript",
-"path": "res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd"
-}, {
-"base": "ISensor3D",
-"class": &"RayCastSensor3D",
-"language": &"GDScript",
-"path": "res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd"
-}, {
-"base": "ISensor2D",
-"class": &"RaycastSensor2D",
-"language": &"GDScript",
-"path": "res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd"
-}]
-_global_script_class_icons={
-"ISensor2D": "",
-"ISensor3D": "",
-"RGBCameraSensor3D": "",
-"RayCastSensor3D": "",
-"RaycastSensor2D": ""
-}
-
 [application]
 
 config/name="VirtualCamera"
 run/main_scene="res://Env.tscn"
-config/features=PackedStringArray("4.0")
+config/features=PackedStringArray("4.2")
 config/icon="res://icon.png"
 
 [display]
@@ -54,35 +20,39 @@ config/icon="res://icon.png"
 window/size/width=1280
 window/size/height=720
 
+[dotnet]
+
+project/assembly_name="VirtualCamera"
+
 [editor_plugins]
 
-enabled=PackedStringArray()
+enabled=PackedStringArray("res://addons/godot_rl_agents/plugin.cfg")
 
 [input]
 
 turn_left={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":0,"unicode":0,"echo":false,"script":null)
+"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":65,"physical_keycode":0,"key_label":0,"unicode":97,"echo":false,"script":null)
 ]
 }
 turn_right={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":0,"unicode":0,"echo":false,"script":null)
+"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":68,"physical_keycode":0,"key_label":0,"unicode":100,"echo":false,"script":null)
 ]
 }
 move_forwards={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":0,"unicode":0,"echo":false,"script":null)
+"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":87,"physical_keycode":0,"key_label":0,"unicode":119,"echo":false,"script":null)
 ]
 }
 move_backwards={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":0,"unicode":0,"echo":false,"script":null)
+"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":83,"physical_keycode":0,"key_label":0,"unicode":115,"echo":false,"script":null)
 ]
 }
 r_key={
 "deadzone": 0.5,
-"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":0,"unicode":0,"echo":false,"script":null)
+"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":82,"physical_keycode":0,"key_label":0,"unicode":114,"echo":false,"script":null)
 ]
 }