Upload folder using huggingface_hub

.gitignore

@@ -0,0 +1,2 @@
+# png-files extracted by Godot import
+assets/glb_files/**/*.png

AIController3D.gd

@@ -0,0 +1,86 @@
+extends AIController3D
+
+var n_steps_without_positive_reward = 0
+
+
+func reset():
+	done = true
+	n_steps = 0
+	n_steps_without_positive_reward = 0
+	reward = 0.0
+	needs_reset = false
+
+
+func get_obs():
+	var next_waypoint_position = GameManager.get_next_waypoint(_player).position
+
+	var goal_distance = position.distance_to(next_waypoint_position)
+	goal_distance = clamp(goal_distance, 0.0, 40.0)
+	var goal_vector = (next_waypoint_position - position).normalized()
+	goal_vector = goal_vector.rotated(Vector3.UP, -rotation.y)
+	var obs = []
+	obs.append(goal_distance / 40.0)
+	obs.append_array([goal_vector.x, goal_vector.y, goal_vector.z])
+
+	var next_next_waypoint_position = GameManager.get_next_next_waypoint(_player).position
+
+	var next_next_goal_distance = position.distance_to(next_next_waypoint_position)
+	next_next_goal_distance = clamp(next_next_goal_distance, 0.0, 80.0)
+	var next_next_goal_vector = (next_next_waypoint_position - position).normalized()
+	next_next_goal_vector = next_next_goal_vector.rotated(Vector3.UP, -rotation.y)
+	obs.append(next_next_goal_distance / 80.0)
+	obs.append_array([next_next_goal_vector.x, next_next_goal_vector.y, next_next_goal_vector.z])
+
+	obs.append(clamp(_player.brake / 40.0, -1.0, 1.0))
+	obs.append(clamp(_player.engine_force / 40.0, -1.0, 1.0))
+	obs.append(clamp(_player.steering, -1.0, 1.0))
+	obs.append_array(
+		[
+			clamp(_player.linear_velocity.x / 40.0, -1.0, 1.0),
+			clamp(_player.linear_velocity.y / 40.0, -1.0, 1.0),
+			clamp(_player.linear_velocity.z / 40.0, -1.0, 1.0)
+		]
+	)
+	obs.append_array(_player.sensor.get_observation())
+	return {"obs": obs}
+
+
+func get_action_space():
+	return {
+		"turn": {"size": 1, "action_type": "continuous"},
+		"accelerate": {"size": 2, "action_type": "discrete"},
+		"brake": {"size": 2, "action_type": "discrete"},
+	}
+
+
+func set_action(action):
+	_player.turn_action = action["turn"][0]
+	_player.acc_action = action["accelerate"] == 1
+	_player.brake_action = action["brake"] == 1
+
+
+func get_reward():
+	var total_reward = reward + shaping_reward()
+	if total_reward <= 0.0:
+		n_steps_without_positive_reward += 1
+	else:
+		n_steps_without_positive_reward -= 1
+		n_steps_without_positive_reward = max(0, n_steps_without_positive_reward)
+	return total_reward
+
+
+func shaping_reward():
+	var s_reward = 0.0
+	var goal_distance = _player.position.distance_to(
+		GameManager.get_next_waypoint(_player).position
+	)
+	#prints(goal_distance, best_goal_distance, best_goal_distance - goal_distance)
+	if goal_distance < _player.best_goal_distance:
+		s_reward += _player.best_goal_distance - goal_distance
+		_player.best_goal_distance = goal_distance
+
+	# A speed based reward
+	var speed_reward = _player.linear_velocity.length() / 100
+	speed_reward = clamp(speed_reward, 0.0, 0.1)
+
+	return s_reward + speed_reward

Camera3D.gd

@@ -3,7 +3,7 @@ extends Camera3D
 
 
 @export var lerp_speed = 3.0
-@export_node_path(VehicleBody3D) var target_path
+@export_node_path("VehicleBody3D") var target_path
 @export var offset := Vector3.ZERO
 
 var target = null

FlyCam.gd

@@ -12,7 +12,7 @@ func set_control(value):
 	$Camera3D.current = value
 	
 	
-func _process(delta):
+func _process(_delta):
 	var input_dir = Input.get_vector("turn_left", "turn_right", "accelerate", "reverse")
 	var direction = (transform.basis * Vector3(input_dir.x, 0, input_dir.y)).normalized()
 	direction.y =  Input.get_axis("cam_down", "cam_up")

Meshes.gd

@@ -1,15 +1,12 @@
 extends Node3D
 
 
-
-func set_mesh(name):
-	var node = get_node(name)
+func set_mesh(mesh_name):
+	var node = get_node(mesh_name)
 	if node == null:
 		print("mesh not found")
 		return
 	for child in get_children():
 		child.set_visible(false)
-		
+
 	node.set_visible(true)
-		
-	

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.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.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/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/Racer.exe

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

bin/Racer.pck

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6e01878b65dee5b9ee39064ebdb8fe3377eb84df6d0aa0f0f1441914bf2c5f68
-size 59464256
+oid sha256:f47ee489e09ef1b86b9751f5c453ccf6aad34c32c866885f63fbcb2682424e10
+size 59479568

bin/Racer.x86_64

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

bonus_reward.gd

@@ -1,16 +1,6 @@
 extends 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_body_entered(body):
 	body = body as VehicleBody3D
 	if body:

game.gd

@@ -1,14 +1,9 @@
 extends Node3D
 
-
-# Called when the node enters the scene tree for the first time.
 @export var speed_up = 1
+
+
 # Called when the node enters the scene tree for the first time.
 func _ready():
-	Engine.physics_ticks_per_second = speed_up*60 # Replace with function body.
+	Engine.physics_ticks_per_second = speed_up * 60
 	Engine.time_scale = speed_up * 1.0
-
-
-# Called every frame. 'delta' is the elapsed time since the previous frame.
-func _process(delta):
-	pass

game.tscn

@@ -1,6 +1,6 @@
 [gd_scene load_steps=18 format=3 uid="uid://4cc2pbxkyxe4"]
 
-[ext_resource type="Texture2D" uid="uid://cbb48twr7cska" path="res://assets/lilienstein_1k.hdr" id="1_005ev"]
+[ext_resource type="Texture2D" uid="uid://d0mpabcwlpoah" path="res://assets/lilienstein_1k.hdr" id="1_005ev"]
 [ext_resource type="Script" path="res://game.gd" id="1_6oqji"]
 [ext_resource type="PackedScene" uid="uid://b1bwg2tirgxwk" path="res://vehicle.tscn" id="6_lk73p"]
 [ext_resource type="Script" path="res://Waypoints.gd" id="7_60see"]
@@ -269,7 +269,9 @@ transform = Transform3D(0.637612, 0, 0.770357, 0, 0.875053, 0, -0.770357, 0, 0.6
 [node name="kenny_track2" parent="." instance=ExtResource("13_hx40f")]
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 36.2995, 0, -20.6384)
 
-[node name="CollisionShape3D" type="CollisionShape3D" parent="kenny_track2"]
+[node name="StaticBody3D" type="StaticBody3D" parent="kenny_track2"]
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="kenny_track2/StaticBody3D"]
 transform = Transform3D(0.965926, -0.258819, 0, 0.258819, 0.965926, 0, 0, 0, 1, -16, 2.63354, 21.0934)
 shape = SubResource("BoxShape3D_coivy")
 

grass.tres

@@ -1,7 +1,7 @@
 [gd_resource type="StandardMaterial3D" load_steps=3 format=3 uid="uid://bn5xuf3in8pv"]
 
-[ext_resource type="Texture2D" uid="uid://baph8xn1nuljv" path="res://assets/stable/grass6.png" id="1_t8e2h"]
-[ext_resource type="Texture2D" uid="uid://fj1710l08n7v" path="res://assets/stable/NormalMap.png" id="2_slclo"]
+[ext_resource type="Texture2D" uid="uid://cgeeok0gto7sj" path="res://assets/stable/grass6.png" id="1_t8e2h"]
+[ext_resource type="Texture2D" uid="uid://ctg6hrx4h3eqe" path="res://assets/stable/NormalMap.png" id="2_slclo"]
 
 [resource]
 albedo_texture = ExtResource("1_t8e2h")

managers/game_manager.gd

@@ -13,17 +13,8 @@ var player_list = []
 var countdown_scene = preload("res://UICountDown.tscn")
 var fly_cam : Node3D
 
-func _ready():
-	return
-	await get_tree().create_timer(1.0).timeout
-	var callable = Callable(self, "unpause_players")
-	callable.call()
-	return
-	var countdown = countdown_scene.instantiate()
-	add_child(countdown)
-	countdown.run_countdown(callable)
-	
-func _process(delta):
+
+func _process(_delta):
 	if Input.is_action_just_pressed("ui_cancel"): 
 		Input.mouse_mode = Input.MOUSE_MODE_CAPTURED if Input.mouse_mode == Input.MOUSE_MODE_VISIBLE else Input.MOUSE_MODE_VISIBLE	
 	

project.godot

@@ -8,63 +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": "VehicleBody3D",
-"class": &"Player",
-"language": &"GDScript",
-"path": "res://vehicle.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"
-}, {
-"base": "Control",
-"class": &"UICountDown",
-"language": &"GDScript",
-"path": "res://UICountDown.gd"
-}, {
-"base": "Node",
-"class": &"Utils",
-"language": &"GDScript",
-"path": "res://utils.gd"
-}]
-_global_script_class_icons={
-"ISensor2D": "",
-"ISensor3D": "",
-"Player": "",
-"RGBCameraSensor3D": "",
-"RayCastSensor3D": "",
-"RaycastSensor2D": "",
-"UICountDown": "",
-"Utils": ""
-}
-
 [application]
 
 config/name="GodotRacer"
 run/main_scene="res://train.tscn"
-config/features=PackedStringArray("4.0")
+config/features=PackedStringArray("4.1")
 config/icon="res://icon.png"
 
 [autoload]
@@ -72,9 +20,13 @@ config/icon="res://icon.png"
 GameManager="*res://managers/game_manager.gd"
 EventManager="*res://managers/event_manager.gd"
 
+[dotnet]
+
+project/assembly_name="GodotRacer"
+
 [editor_plugins]
 
-enabled=PackedStringArray()
+enabled=PackedStringArray("res://addons/godot_rl_agents/plugin.cfg")
 
 [filesystem]
 
@@ -84,47 +36,52 @@ import/blender/enabled=false
 
 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":65,"unicode":0,"echo":false,"script":null)
+"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":65,"key_label":0,"unicode":0,"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":68,"unicode":0,"echo":false,"script":null)
+"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":68,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 accelerate={
 "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":87,"unicode":0,"echo":false,"script":null)
+"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":87,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 reverse={
 "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":83,"unicode":0,"echo":false,"script":null)
+"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":83,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 next_player={
 "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":4194321,"unicode":0,"echo":false,"script":null)
+"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":4194321,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 previous_player={
 "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":4194319,"unicode":0,"echo":false,"script":null)
+"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":4194319,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 toggle_flycam={
 "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":67,"unicode":0,"echo":false,"script":null)
+"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":67,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 cam_up={
 "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":32,"unicode":0,"echo":false,"script":null)
+"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":32,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }
 cam_down={
 "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":4194326,"unicode":0,"echo":false,"script":null)
+"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":4194326,"key_label":0,"unicode":0,"echo":false,"script":null)
+]
+}
+r_key={
+"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":82,"key_label":0,"unicode":114,"echo":false,"script":null)
 ]
 }
 

resources/green_jeep.tres

@@ -1,6 +1,6 @@
 [gd_resource type="ArrayMesh" load_steps=7 format=3 uid="uid://bmafldwqk71je"]
 
-[sub_resource type="Image" id="Image_7fb8q"]
+[sub_resource type="Image" id="Image_eiuj6"]
 data = {
 "data": PackedByteArray(245, 245, 245, 228, 228, 228, 206, 206, 206, 177, 177, 177, 142, 142, 142, 102, 102, 102, 62, 62, 62, 31, 31, 31, 193, 234, 255, 142, 198, 226, 75, 147, 184, 24, 86, 118, 211, 233, 166, 156, 188, 98, 102, 145, 50, 54, 91, 19, 251, 180, 161, 220, 90, 58, 171, 58, 29, 126, 26, 9, 249, 243, 166, 248, 227, 37, 223, 183, 10, 175, 144, 0, 255, 198, 76, 253, 160, 0, 240, 121, 0, 198, 86, 0, 217, 185, 157, 189, 151, 117, 146, 104, 66, 101, 69, 29, 248, 213, 201, 241, 188, 169, 217, 161, 123, 190, 145, 108, 123, 91, 65, 98, 62, 43, 67, 40, 26, 37, 22, 10, 246, 218, 248, 239, 168, 246, 229, 84, 243, 173, 7, 189, 211, 175, 247, 164, 101, 226, 125, 58, 191, 72, 11, 131, 120, 180, 254, 44, 138, 251, 10, 97, 203, 3, 50, 106, 120, 254, 122, 53, 231, 29, 26, 151, 9, 11, 76, 2, 196, 217, 225, 151, 176, 186, 101, 120, 127, 55, 66, 71, 255, 217, 193, 247, 191, 177, 214, 162, 163, 140, 102, 125),
 "format": "RGB8",
@@ -10,7 +10,7 @@ data = {
 }
 
 [sub_resource type="ImageTexture" id="ImageTexture_16068"]
-image = SubResource("Image_7fb8q")
+image = SubResource("Image_eiuj6")
 
 [sub_resource type="StandardMaterial3D" id="StandardMaterial3D_sxmic"]
 resource_name = "Material"

resources/red_convertible.tres

@@ -1,6 +1,6 @@
 [gd_resource type="ArrayMesh" load_steps=6 format=3 uid="uid://45kjpktk2ec4"]
 
-[sub_resource type="Image" id="Image_ur17i"]
+[sub_resource type="Image" id="Image_eqtqe"]
 data = {
 "data": PackedByteArray(245, 245, 245, 228, 228, 228, 206, 206, 206, 177, 177, 177, 142, 142, 142, 102, 102, 102, 62, 62, 62, 31, 31, 31, 193, 234, 255, 142, 198, 226, 75, 147, 184, 24, 86, 118, 211, 233, 166, 156, 188, 98, 102, 145, 50, 54, 91, 19, 251, 180, 161, 220, 90, 58, 171, 58, 29, 126, 26, 9, 249, 243, 166, 248, 227, 37, 223, 183, 10, 175, 144, 0, 255, 198, 76, 253, 160, 0, 240, 121, 0, 198, 86, 0, 217, 185, 157, 189, 151, 117, 146, 104, 66, 101, 69, 29, 248, 213, 201, 241, 188, 169, 217, 161, 123, 190, 145, 108, 123, 91, 65, 98, 62, 43, 67, 40, 26, 37, 22, 10, 246, 218, 248, 239, 168, 246, 229, 84, 243, 173, 7, 189, 211, 175, 247, 164, 101, 226, 125, 58, 191, 72, 11, 131, 120, 180, 254, 44, 138, 251, 10, 97, 203, 3, 50, 106, 120, 254, 122, 53, 231, 29, 26, 151, 9, 11, 76, 2, 196, 217, 225, 151, 176, 186, 101, 120, 127, 55, 66, 71, 255, 217, 193, 247, 191, 177, 214, 162, 163, 140, 102, 125),
 "format": "RGB8",
@@ -10,7 +10,7 @@ data = {
 }
 
 [sub_resource type="ImageTexture" id="ImageTexture_8w6u5"]
-image = SubResource("Image_ur17i")
+image = SubResource("Image_eqtqe")
 
 [sub_resource type="StandardMaterial3D" id="StandardMaterial3D_6vwct"]
 resource_name = "Material.006"

resources/taxi.tres

@@ -1,6 +1,6 @@
 [gd_resource type="ArrayMesh" load_steps=6 format=3 uid="uid://b7menhm5bg0rq"]
 
-[sub_resource type="Image" id="Image_4xdxh"]
+[sub_resource type="Image" id="Image_8b4xe"]
 data = {
 "data": PackedByteArray(245, 245, 245, 228, 228, 228, 206, 206, 206, 177, 177, 177, 142, 142, 142, 102, 102, 102, 62, 62, 62, 31, 31, 31, 193, 234, 255, 142, 198, 226, 75, 147, 184, 24, 86, 118, 211, 233, 166, 156, 188, 98, 102, 145, 50, 54, 91, 19, 251, 180, 161, 220, 90, 58, 171, 58, 29, 126, 26, 9, 249, 243, 166, 248, 227, 37, 223, 183, 10, 175, 144, 0, 255, 198, 76, 253, 160, 0, 240, 121, 0, 198, 86, 0, 217, 185, 157, 189, 151, 117, 146, 104, 66, 101, 69, 29, 248, 213, 201, 241, 188, 169, 217, 161, 123, 190, 145, 108, 123, 91, 65, 98, 62, 43, 67, 40, 26, 37, 22, 10, 246, 218, 248, 239, 168, 246, 229, 84, 243, 173, 7, 189, 211, 175, 247, 164, 101, 226, 125, 58, 191, 72, 11, 131, 120, 180, 254, 44, 138, 251, 10, 97, 203, 3, 50, 106, 120, 254, 122, 53, 231, 29, 26, 151, 9, 11, 76, 2, 196, 217, 225, 151, 176, 186, 101, 120, 127, 55, 66, 71, 255, 217, 193, 247, 191, 177, 214, 162, 163, 140, 102, 125),
 "format": "RGB8",
@@ -10,7 +10,7 @@ data = {
 }
 
 [sub_resource type="ImageTexture" id="ImageTexture_ci2m6"]
-image = SubResource("Image_4xdxh")
+image = SubResource("Image_8b4xe")
 
 [sub_resource type="StandardMaterial3D" id="StandardMaterial3D_vh00m"]
 resource_name = "Material"

rock.tscn

@@ -1,6 +1,6 @@
 [gd_scene load_steps=6 format=3 uid="uid://boym8e5gw11rn"]
 
-[ext_resource type="Texture2D" uid="uid://bd1k1gjblubdt" path="res://assets/stable/rock1.png" id="1_bjstv"]
+[ext_resource type="Texture2D" uid="uid://peuef6xem1ud" path="res://assets/stable/rock1.png" id="1_bjstv"]
 
 [sub_resource type="StandardMaterial3D" id="StandardMaterial3D_wx26a"]
 albedo_color = Color(0.682353, 0.682353, 0.682353, 1)

tests/TestUI.gd

@@ -1,11 +1,6 @@
 extends Node3D
 
 
-# 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):
 	if Input.is_action_just_pressed("ui_accept"):

tree.tscn

@@ -1,8 +1,8 @@
 [gd_scene load_steps=8 format=3 uid="uid://bf3l8h10mqiae"]
 
 [ext_resource type="ArrayMesh" uid="uid://djjljl05k75qe" path="res://resources/tree.tres" id="1_cwaw2"]
-[ext_resource type="Texture2D" uid="uid://b5g25bnkmondu" path="res://assets/stable/tree_bark1.png" id="1_ph1l0"]
-[ext_resource type="Texture2D" uid="uid://207yv1hcluxv" path="res://assets/stable/tree_leaves5.png" id="2_bwuwj"]
+[ext_resource type="Texture2D" uid="uid://mifm3sxpvpb" path="res://assets/stable/tree_bark1.png" id="1_ph1l0"]
+[ext_resource type="Texture2D" uid="uid://baago1331i3ih" path="res://assets/stable/tree_leaves5.png" id="2_bwuwj"]
 [ext_resource type="ArrayMesh" uid="uid://bf53y70b82mye" path="res://resources/tree2.tres" id="3_vg6ye"]
 
 [sub_resource type="StandardMaterial3D" id="StandardMaterial3D_2x7jd"]

vehicle.gd

@@ -9,240 +9,142 @@ var steer_target = 0
 @export var engine_force_value = 40
 @export var brake_force_value = 60
 
-
-enum VEHICLE_TYPES {RedConvertible, Car, GreenJeep,PoliceCar, FireTruck, Delivery, GarbageTruck, Hatchback}
-var  VEHICLE_TYPES_STRINGS = ["RedConvertible", "Car", "GreenJeep","PoliceCar", "FireTruck", "Delivery", "GarbageTruck", "Hatchback"]
-@export var vehicle_type : VEHICLE_TYPES = VEHICLE_TYPES.RedConvertible
+enum VEHICLE_TYPES {
+	RedConvertible, Car, GreenJeep, PoliceCar, FireTruck, Delivery, GarbageTruck, Hatchback
+}
+var VEHICLE_TYPES_STRINGS = [
+	"RedConvertible",
+	"Car",
+	"GreenJeep",
+	"PoliceCar",
+	"FireTruck",
+	"Delivery",
+	"GarbageTruck",
+	"Hatchback"
+]
+@export var vehicle_type: VEHICLE_TYPES = VEHICLE_TYPES.RedConvertible
 
 # ------------------ Godot RL Agents Logic ------------------------------------#
-var _heuristic := "human"
-var done := false
-# example actions
 var turn_action := 0.0
 var acc_action := false
 var brake_action := false
-var needs_reset := false
-var reward := 0.0
-var starting_position : Vector3
-var starting_rotation : Vector3
-var best_goal_distance 
-var n_steps_without_positive_reward = 0
-var n_steps = 0
+var starting_position: Vector3
+var starting_rotation: Vector3
+var best_goal_distance
 @onready var sensor = $RayCastSensor3D
+@onready var ai_controller = $AIController3D
 
 
-	
-
 func reset():
 	position = starting_position
 	rotation = starting_rotation
-	n_steps_without_positive_reward = 0
-	n_steps = 0
-	reward = 0.0
+	linear_velocity = Vector3.ZERO
+	angular_velocity = Vector3.ZERO
 	GameManager.reset_waypoints(self)
 	best_goal_distance = position.distance_to(GameManager.get_next_waypoint(self).position)
-	# The reset logic e.g reset if a player dies etc, reset health, ammo, position, etc ...
-	pass
+	ai_controller.reset()
 
 
-func reset_if_done():
-	if done:
-		reset()
-
-func get_obs():
-	var next_waypoint_position = GameManager.get_next_waypoint(self).position
-		
-	var goal_distance = position.distance_to(next_waypoint_position)
-	goal_distance = clamp(goal_distance, 0.0, 40.0)
-	var goal_vector = (next_waypoint_position - position).normalized()
-	goal_vector = goal_vector.rotated(Vector3.UP, -rotation.y)
-	var obs = []
-	obs.append(goal_distance/40.0)
-	obs.append_array([goal_vector.x, 
-					goal_vector.y, 
-					goal_vector.z])
-					
-	var next_next_waypoint_position = GameManager.get_next_next_waypoint(self).position
-		
-	var next_next_goal_distance = position.distance_to(next_next_waypoint_position)
-	next_next_goal_distance = clamp(next_next_goal_distance, 0.0, 80.0)
-	var next_next_goal_vector = (next_next_waypoint_position - position).normalized()
-	next_next_goal_vector = next_next_goal_vector.rotated(Vector3.UP, -rotation.y)					
-	obs.append(next_next_goal_distance/80.0)
-	obs.append_array([next_next_goal_vector.x, 
-				next_next_goal_vector.y, 
-				next_next_goal_vector.z])	
-				
-	obs.append(clamp(brake/40.0,-1.0,1.0))	
-	obs.append(clamp(engine_force/40.0,-1.0,1.0))
-	obs.append(clamp(steering,-1.0, 1.0))
-	obs.append_array([clamp(linear_velocity.x/40.0,-1.0,1.0), 
-				clamp(linear_velocity.y/40.0,-1.0,1.0), 
-				clamp(linear_velocity.z/40.0,-1.0,1.0)])	
-	obs.append_array(sensor.get_observation())
-	return {
-		"obs":obs
-	}
-
-func get_reward():	
-	var  total_reward = reward + shaping_reward()
-	if total_reward <= 0.0:
-		n_steps_without_positive_reward += 1
-	else:
-		n_steps_without_positive_reward -= 1
-		n_steps_without_positive_reward = max(0, n_steps_without_positive_reward)
-	return total_reward
-
-func zero_reward():
-	reward = 0.0
-
-func shaping_reward():
-	var s_reward = 0.0
-	var goal_distance = position.distance_to(GameManager.get_next_waypoint(self).position)
-	#prints(goal_distance, best_goal_distance, best_goal_distance - goal_distance)
-	if goal_distance < best_goal_distance:
-		
-		s_reward += best_goal_distance - goal_distance
-		best_goal_distance = goal_distance
-	
-	# A speed based reward
-	var speed_reward = linear_velocity.length() / 100
-	speed_reward = clamp(speed_reward, 0.0, 0.1)
-
-	return s_reward + speed_reward
-
-
-func set_heuristic(heuristic):
-	# sets the heuristic from "human" or "model" nothing to change here
-	self._heuristic = heuristic
-   
-func get_obs_space():
-	var obs = get_obs()
-	return {
-		"obs": {
-			"size": [len(obs["obs"])],
-			"space": "box"
-		},
-	}
-
-func get_action_space():
-	return {
-		"turn" : {
-			"size": 1,
-			"action_type": "continuous"
-		},        
-		"accelerate" : {
-			"size": 2,
-			"action_type": "discrete"
-		},
-		"brake" : {
-			"size": 2,
-			"action_type": "discrete"
-		},
-	}
-
-func get_done():
-	return done
-
-
-func set_action(action):	
-	turn_action = action["turn"][0]
-	acc_action = action["accelerate"] == 1
-	brake_action = action["brake"] == 1
 # ----------------------------------------------------------------------------#
 
+
 func get_steer_target():
-	if _heuristic == "human":
+	if ai_controller.heuristic == "human":
 		return Input.get_axis("turn_right", "turn_left")
 	else:
 		return clamp(turn_action, -1.0, 1.0)
 
+
 func get_accelerate_value():
-	if _heuristic == "human":
+	if ai_controller.heuristic == "human":
 		return Input.is_action_pressed("accelerate")
 	else:
 		return acc_action
 
+
 func get_brake_value():
-	if _heuristic == "human":
+	if ai_controller.heuristic == "human":
 		return Input.is_action_pressed("reverse")
 	else:
 		return brake_action
 
+
 func _ready():
+	ai_controller.init(self)
 	GameManager.register_player(self)
 	best_goal_distance = position.distance_to(GameManager.get_next_waypoint(self).position)
 	$Node/Camera3D.current = controlled
 	starting_position = position
 	starting_rotation = rotation
-	
+
 	$Meshes.set_mesh(VEHICLE_TYPES_STRINGS[vehicle_type])
 
-func set_control(value:bool):
+
+func set_control(value: bool):
 	controlled = value
 	$Node/Camera3D.current = value
 
+
 func crossed_waypoint():
-	reward += 100.0
+	ai_controller.reward += 100.0
 
 	best_goal_distance = position.distance_to(GameManager.get_next_waypoint(self).position)
 
+
 func bonus_reward():
 	print("bonus reward")
-	reward += 50.0
+	ai_controller.reward += 50.0
 
-func set_done_false():
-	done = false
 
 func check_reset_conditions():
-	if done: 
+	if ai_controller.done:
 		return
 
-	n_steps += 1
-	
-	if n_steps > 10000:
-		print("resetting due to n_steps >10000")
-		done = true
+	if ai_controller.n_steps_without_positive_reward > 1000:
+		print(
+			(
+				"resetting "
+				+ VEHICLE_TYPES_STRINGS[vehicle_type]
+				+ " due to n_steps_without_positive_reward > 1000"
+			)
+		)
+		ai_controller.reward -= 10.0
 		reset()
-		return			
-	
-#	#var up_axis = transform
-	if n_steps_without_positive_reward > 1000:
-		print("resetting due to n_steps_without_positive_reward >1000")
-		reward -= 10.0
-		done = true
-		reset()
-		return		
-	
+		return
+
 	if transform.basis.y.dot(Vector3.UP) < 0.0:
-		print("resetting due to transform.basis.y.dot(Vector3.UP) < 0.0")
-		#reward -= 10.0
-		done = true
+		print(
+			(
+				"resetting "
+				+ VEHICLE_TYPES_STRINGS[vehicle_type]
+				+ " due to transform.basis.y.dot(Vector3.UP) < 0.0"
+			)
+		)
 		reset()
 		return
-	
+
 	if position.y < -5.0:
-		print("resetting due to position.y < -5.0")
-		reward -= 10.0
-		done = true	
+		print("resetting " + VEHICLE_TYPES_STRINGS[vehicle_type] + " due to position.y < -5.0")
+		ai_controller.reward -= 10.0
 		reset()
 		return
-	
+
 
 func _print_goal_info():
 	var next_waypoint_position = GameManager.get_next_waypoint(self).position
-		
+
 	var goal_distance = position.distance_to(next_waypoint_position)
 	goal_distance = clamp(goal_distance, 0.0, 20.0)
 	var goal_vector = (next_waypoint_position - position).normalized()
 	goal_vector = goal_vector.rotated(Vector3.UP, -rotation.y)
-	
+
 	prints(goal_distance, goal_vector)
 
+
 func _physics_process(delta):
-	if  _heuristic == "human" and not controlled: return
-	if needs_reset:
-		needs_reset = false
+	if ai_controller.heuristic == "human" and not controlled:
+		return
+	if ai_controller.needs_reset or Input.is_action_just_pressed("r_key"):
 		reset()
 		return
 	check_reset_conditions()
@@ -262,9 +164,9 @@ func _physics_process(delta):
 			engine_force = engine_force_value
 	else:
 		engine_force = 0
-		
+
 	$Arrow3D.look_at(GameManager.get_next_waypoint(self).position)
-	
+
 	if not accelerating and get_brake_value():
 		# Increase engine force at low speeds to make the initial acceleration faster.
 		if fwd_mps >= -1:
@@ -274,11 +176,8 @@ func _physics_process(delta):
 			else:
 				engine_force = -engine_force_value
 		else:
-			brake = 1*brake_force_value
+			brake = 1 * brake_force_value
 	else:
 		brake = 0.0
 
 	steering = move_toward(steering, steer_target, STEER_SPEED * delta)
-
-	
-		

vehicle.tscn

@@ -1,4 +1,4 @@
-[gd_scene load_steps=18 format=3 uid="uid://b1bwg2tirgxwk"]
+[gd_scene load_steps=19 format=3 uid="uid://b1bwg2tirgxwk"]
 
 [ext_resource type="Script" path="res://vehicle.gd" id="1"]
 [ext_resource type="PackedScene" uid="uid://c7ev21tk2uwfl" path="res://assets/wheelDefault.tscn" id="2_d8d30"]
@@ -15,6 +15,7 @@
 [ext_resource type="PackedScene" uid="uid://x4bpkxih2cfc" path="res://assets/hatchbackSports.tscn" id="12_keoic"]
 [ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" id="14_qlofu"]
 [ext_resource type="PackedScene" uid="uid://bs0osbn6djn0i" path="res://arrow_3d.tscn" id="15_irtpm"]
+[ext_resource type="Script" path="res://AIController3D.gd" id="16_3hqsi"]
 
 [sub_resource type="PhysicsMaterial" id="1"]
 friction = 0.5
@@ -22,7 +23,7 @@ friction = 0.5
 [sub_resource type="BoxShape3D" id="7"]
 size = Vector3(0.954078, 0.576755, 2.32662)
 
-[node name="Vehicle" type="VehicleBody3D" groups=["AGENT"]]
+[node name="Vehicle" type="VehicleBody3D"]
 transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -0.00169557, 0.222867, -0.0955184)
 collision_layer = 2
 center_of_mass_mode = 1
@@ -37,7 +38,6 @@ use_as_steering = true
 wheel_roll_influence = 0.4
 wheel_radius = 0.25
 wheel_friction_slip = 1.0
-suspension_travel = 0.2
 suspension_stiffness = 40.0
 damping_compression = 0.88
 
@@ -50,7 +50,6 @@ use_as_traction = true
 wheel_roll_influence = 0.4
 wheel_radius = 0.25
 wheel_friction_slip = 1.0
-suspension_travel = 0.2
 suspension_stiffness = 40.0
 damping_compression = 0.88
 
@@ -64,7 +63,6 @@ use_as_steering = true
 wheel_roll_influence = 0.4
 wheel_radius = 0.25
 wheel_friction_slip = 1.0
-suspension_travel = 0.2
 suspension_stiffness = 40.0
 damping_compression = 0.88
 
@@ -76,7 +74,6 @@ use_as_traction = true
 wheel_roll_influence = 0.4
 wheel_radius = 0.25
 wheel_friction_slip = 1.0
-suspension_travel = 0.2
 suspension_stiffness = 40.0
 damping_compression = 0.88
 
@@ -362,3 +359,7 @@ target_position = Vector3(52.2964, 10.4421, 59.6326)
 
 [node name="node_11 5" type="RayCast3D" parent="RayCastSensor3D"]
 target_position = Vector3(51.4973, 17.3152, 58.7215)
+
+[node name="AIController3D" type="Node3D" parent="."]
+script = ExtResource("16_3hqsi")
+reset_after = 10000