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@@ -53,3 +53,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.jpeg filter=lfs diff=lfs merge=lfs -text
 *.webp filter=lfs diff=lfs merge=lfs -text
 bin/VirtualCamera.x86_64 filter=lfs diff=lfs merge=lfs -text
+bin/VirtualCamera.exe filter=lfs diff=lfs merge=lfs -text

addons/godot_rl_agents/controller/ai_controller.gd

@@ -0,0 +1,77 @@
+extends Node
+class_name AIController
+
+# ------------------ 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
+
+func _ready():
+	add_to_group("AGENT")
+	
+#-- 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_2d.gd

@@ -0,0 +1,8 @@
+extends AIController
+class_name AIController2D
+
+# ------------------ Godot RL Agents Logic ------------------------------------#
+var _player: Node2D
+
+func init(player: Node2D):
+	_player = player

addons/godot_rl_agents/controller/ai_controller_3d.gd

@@ -0,0 +1,8 @@
+extends AIController
+class_name AIController3D
+
+# ------------------ Godot RL Agents Logic ------------------------------------#
+var _player: Node3D
+
+func init(player: Node3D):
+	_player = player

addons/godot_rl_agents/icon.png.import

@@ -2,7 +2,7 @@
 
 importer="texture"
 type="CompressedTexture2D"
-uid="uid://b7lwg3uk8v3pr"
+uid="uid://dn7mfntm1bfv4"
 path="res://.godot/imported/icon.png-45a871b53434e556222f5901d598ab34.ctex"
 metadata={
 "vram_texture": false
@@ -16,9 +16,9 @@ dest_files=["res://.godot/imported/icon.png-45a871b53434e556222f5901d598ab34.cte
 [params]
 
 compress/mode=0
+compress/high_quality=false
 compress/lossy_quality=0.7
 compress/hdr_compression=1
-compress/bptc_ldr=0
 compress/normal_map=0
 compress/channel_pack=0
 mipmaps/generate=false

addons/godot_rl_agents/onnx/csharp/ONNXInference.cs

@@ -0,0 +1,93 @@
+using Godot;
+using System.Collections.Generic;
+using System.Linq;
+using Microsoft.ML.OnnxRuntime;
+using Microsoft.ML.OnnxRuntime.Tensors;
+
+namespace GodotONNX{
+	/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/ONNXInference/*'/>
+ 	public partial class ONNXInference : Node
+{
+		
+	private InferenceSession session;
+	/// <summary>
+	/// Path to the ONNX model. Use Initialize to change it. 
+	/// </summary>
+	private string modelPath;
+	private int batchSize;
+
+	private SessionOptions SessionOpt;
+
+	//init function
+/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Initialize/*'/>
+	public void Initialize(string Path, int BatchSize)
+	{
+		modelPath = Path;
+		batchSize = BatchSize;
+		SessionConfigurator.SystemCheck();
+		SessionOpt = SessionConfigurator.GetSessionOptions();
+		session = LoadModel(modelPath);
+
+	}
+/// <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
+
+			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>();
+
+		foreach (float f in output1.AsEnumerable<float>()) {
+			output1Array.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
+	}
+	}
+}	

addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs

@@ -0,0 +1,106 @@
+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/*'/>
+
+static public void SystemCheck()  
+	{
+		//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) 
+		{
+		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;
+		}
+	}
+/// <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;
+			}
+		}
+}	

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

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

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

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

addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd

@@ -0,0 +1,19 @@
+extends Node
+class_name ONNXModel
+var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInference.cs")
+
+var inferencer = null
+
+# Must provide the path to the model and the batch size
+func _init(model_path, batch_size):
+	inferencer = inferencer_script.new()
+	inferencer.Initialize(model_path, batch_size)
+
+# This function is the one that will be called from the game, 
+# requires the observation as an array and the state_ins as an int
+# returns an Array containing the action the model takes. 
+func run_inference(obs : Array, state_ins : int) -> Dictionary:
+	if inferencer == null:
+		printerr("Inferencer not initialized")
+		return {}
+	return inferencer.RunInference(obs, state_ins)

addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn

@@ -1,8 +1,8 @@
-[gd_scene load_steps=5 format=2]
+[gd_scene load_steps=5 format=3 uid="uid://ddeq7mn1ealyc"]
 
-[ext_resource path="res://sensors/sensors_2d/RaycastSensor2D.gd" type="Script" id=1]
+[ext_resource type="Script" path="res://sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
 
-[sub_resource type="GDScript" id=2]
+[sub_resource type="GDScript" id="2"]
 script/source = "extends Node2D
 
 
@@ -12,7 +12,7 @@ func _physics_process(delta: float) -> void:
     
 "
 
-[sub_resource type="GDScript" id=1]
+[sub_resource type="GDScript" id="1"]
 script/source = "extends RayCast2D
 
 var steps = 1
@@ -26,23 +26,23 @@ func _physics_process(delta: float) -> void:
     print(is_colliding())
 "
 
-[sub_resource type="CircleShape2D" id=3]
+[sub_resource type="CircleShape2D" id="3"]
 
 [node name="ExampleRaycastSensor2D" type="Node2D"]
-script = SubResource( 2 )
+script = SubResource("2")
 
 [node name="ExampleAgent" type="Node2D" parent="."]
-position = Vector2( 573, 314 )
+position = Vector2(573, 314)
 rotation = 0.286234
 
 [node name="RaycastSensor2D" type="Node2D" parent="ExampleAgent"]
-script = ExtResource( 1 )
+script = ExtResource("1")
 
 [node name="TestRayCast2D" type="RayCast2D" parent="."]
-script = SubResource( 1 )
+script = SubResource("1")
 
 [node name="StaticBody2D" type="StaticBody2D" parent="."]
-position = Vector2( 1, 52 )
+position = Vector2(1, 52)
 
 [node name="CollisionShape2D" type="CollisionShape2D" parent="StaticBody2D"]
-shape = SubResource( 3 )
+shape = SubResource("3")

addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd

@@ -1,7 +1,7 @@
 extends Node2D
 class_name ISensor2D
 
-var _obs : Array
+var _obs : Array = []
 var _active := false
 
 func get_observation():

addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd

@@ -1,6 +1,24 @@
+@tool
 extends ISensor2D
 class_name RaycastSensor2D
-@tool
+
+@export_flags_2d_physics var collision_mask := 1:
+	get: return collision_mask
+	set(value):
+		collision_mask = value
+		_update()
+
+@export var collide_with_areas := false:
+	get: return collide_with_areas
+	set(value):
+		collide_with_areas = value
+		_update()
+
+@export var collide_with_bodies := true:
+	get: return collide_with_bodies
+	set(value):
+		collide_with_bodies = value
+		_update()
 
 @export var n_rays := 16.0:
 	get: return n_rays
@@ -8,18 +26,18 @@ class_name RaycastSensor2D
 		n_rays = value
 		_update()
 	
-@export var ray_length := 200:# (float,5,200,5.0)
+@export_range(5,200,5.0) var ray_length := 200:
 	get: return ray_length
 	set(value):
 		ray_length = value
 		_update()
-@export var cone_width := 360.0:# (float,5,360,5.0)
+@export_range(5,360,5.0) var cone_width := 360.0:
 	get: return cone_width
 	set(value):
 		cone_width = value
 		_update()
 	
-@export var debug_draw := false :
+@export var debug_draw := true :
 	get: return debug_draw 
 	set(value):
 		debug_draw = value
@@ -31,12 +49,16 @@ var rays := []
 
 func _update():
 	if Engine.is_editor_hint():
-		_spawn_nodes()	
+		if debug_draw:
+			_spawn_nodes()
+		else:
+			for ray in get_children():
+				if ray is RayCast2D:
+					remove_child(ray)
 
 func _ready() -> void:
 	_spawn_nodes()
 
-
 func _spawn_nodes():
 	for ray in rays:
 		ray.queue_free()
@@ -55,7 +77,9 @@ func _spawn_nodes():
 		))
 		ray.set_name("node_"+str(i))
 		ray.enabled  = true
-		ray.collide_with_areas = true
+		ray.collide_with_areas = collide_with_areas
+		ray.collide_with_bodies = collide_with_bodies
+		ray.collision_mask = collision_mask
 		add_child(ray)
 		rays.append(ray)
 		

addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn

@@ -1,6 +1,7 @@
-[gd_scene load_steps=2 format=2]
+[gd_scene load_steps=2 format=3 uid="uid://drvfihk5esgmv"]
 
-[ext_resource path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" type="Script" id=1]
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
 
 [node name="RaycastSensor2D" type="Node2D"]
-script = ExtResource( 1 )
+script = ExtResource("1")
+n_rays = 17.0

addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd

@@ -1,7 +1,7 @@
 extends Node3D
 class_name ISensor3D
 
-var _obs : Array
+var _obs : Array = []
 var _active := false
 
 func get_observation():

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd

@@ -1,6 +1,6 @@
+@tool
 extends ISensor3D
 class_name RayCastSensor3D
-@tool
 @export_flags_3d_physics var collision_mask = 1:
 	get: return collision_mask
 	set(value):
@@ -10,7 +10,7 @@ class_name RayCastSensor3D
 	get: return boolean_class_mask
 	set(value):
 		boolean_class_mask = value
-		_update()		
+		_update()
 
 @export var n_rays_width := 6.0:
 	get: return n_rays_width
@@ -42,18 +42,18 @@ class_name RayCastSensor3D
 		cone_height = value
 		_update()
 
-@export var collide_with_bodies := true:
-	get: return collide_with_bodies
-	set(value):
-		collide_with_bodies = value
-		_update()
-		
 @export var collide_with_areas := false:
 	get: return collide_with_areas
 	set(value):
 		collide_with_areas = value
 		_update()
 		
+@export var collide_with_bodies := true:
+	get: return collide_with_bodies
+	set(value):
+		collide_with_bodies = value
+		_update()
+
 @export var class_sensor := false
 		
 var rays := []

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn

@@ -1,49 +1,33 @@
-[gd_scene load_steps=2 format=2]
+[gd_scene load_steps=2 format=3 uid="uid://b803cbh1fmy66"]
 
-[ext_resource path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" type="Script" id=1]
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" id="1"]
 
 [node name="RaycastSensor3D" type="Node3D"]
-script = ExtResource( 1 )
+script = ExtResource("1")
 n_rays_width = 4.0
 n_rays_height = 2.0
 ray_length = 11.0
 
-[node name="node_0 2" type="RayCast3D" parent="."]
-enabled = true
-cast_to = Vector3( -4.06608, -2.84701, 9.81639 )
-collide_with_areas = true
-
-[node name="node_0 3" type="RayCast3D" parent="."]
-enabled = true
-cast_to = Vector3( -4.06608, 2.84701, 9.81639 )
-collide_with_areas = true
-
-[node name="node_1 0" type="RayCast3D" parent="."]
-enabled = true
-cast_to = Vector3( -1.38686, -2.84701, 10.5343 )
-collide_with_areas = true
-
-[node name="node_1 1" type="RayCast3D" parent="."]
-enabled = true
-cast_to = Vector3( -1.38686, 2.84701, 10.5343 )
-collide_with_areas = true
-
-[node name="node_2 0" type="RayCast3D" parent="."]
-enabled = true
-cast_to = Vector3( 1.38686, -2.84701, 10.5343 )
-collide_with_areas = true
-
-[node name="node_2 1" type="RayCast3D" parent="."]
-enabled = true
-cast_to = Vector3( 1.38686, 2.84701, 10.5343 )
-collide_with_areas = true
-
-[node name="node_3 0" type="RayCast3D" parent="."]
-enabled = true
-cast_to = Vector3( 4.06608, -2.84701, 9.81639 )
-collide_with_areas = true
-
-[node name="node_3 1" type="RayCast3D" parent="."]
-enabled = true
-cast_to = Vector3( 4.06608, 2.84701, 9.81639 )
-collide_with_areas = true
+[node name="@node_0 0@18991" type="RayCast3D" parent="."]
+target_position = Vector3(-4.06608, -2.84701, 9.81639)
+
+[node name="node_0 1" type="RayCast3D" parent="."]
+target_position = Vector3(-4.06608, 2.84701, 9.81639)
+
+[node name="@node_1 0@18992" type="RayCast3D" parent="."]
+target_position = Vector3(-1.38686, -2.84701, 10.5343)
+
+[node name="@node_1 1@18993" type="RayCast3D" parent="."]
+target_position = Vector3(-1.38686, 2.84701, 10.5343)
+
+[node name="@node_2 0@18994" type="RayCast3D" parent="."]
+target_position = Vector3(1.38686, -2.84701, 10.5343)
+
+[node name="@node_2 1@18995" type="RayCast3D" parent="."]
+target_position = Vector3(1.38686, 2.84701, 10.5343)
+
+[node name="@node_3 0@18996" type="RayCast3D" parent="."]
+target_position = Vector3(4.06608, -2.84701, 9.81639)
+
+[node name="@node_3 1@18997" type="RayCast3D" parent="."]
+target_position = Vector3(4.06608, 2.84701, 9.81639)

addons/godot_rl_agents/sync.gd

@@ -2,7 +2,9 @@ extends Node
 # --fixed-fps 2000 --disable-render-loop
 @export var action_repeat := 8
 @export var speed_up = 1
-var n_action_steps = 0
+@export var onnx_model_path := ""
+
+@onready var start_time = Time.get_ticks_msec()
 
 const MAJOR_VERSION := "0"
 const MINOR_VERSION := "3" 
@@ -16,21 +18,122 @@ var should_connect = true
 var agents
 var need_to_send_obs = false
 var args = null
-@onready var start_time = Time.get_ticks_msec()
 var initialized = false
 var just_reset = false
+var onnx_model = null
+var n_action_steps = 0
 
+var _action_space : Dictionary
+var _obs_space : Dictionary
 
 # Called when the node enters the scene tree for the first time.
 
 func _ready():
-
 	await get_tree().root.ready
 	get_tree().set_pause(true) 
 	_initialize()
 	await get_tree().create_timer(1.0).timeout
 	get_tree().set_pause(false) 
+	
+func _initialize():
+	_get_agents()
+	_obs_space = agents[0].get_obs_space()
+	_action_space = agents[0].get_action_space()
+	args = _get_args()
+	Engine.physics_ticks_per_second = _get_speedup() * 60 # Replace with function body.
+	Engine.time_scale = _get_speedup() * 1.0
+	prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up)
+	
+
+	connected = connect_to_server()
+	if connected:
+		_set_heuristic("model")
+		_handshake()
+		_send_env_info()
+	elif onnx_model_path != "":
+		onnx_model = ONNXModel.new(onnx_model_path, 1)
+		_set_heuristic("model")
+	else:
+		_set_heuristic("human")  
+		
+	_set_seed()
+	_set_action_repeat()
+	initialized = true  
+
+func _physics_process(delta): 
+	# two modes, human control, agent control
+	# pause tree, send obs, get actions, set actions, unpause tree
+	if n_action_steps % action_repeat != 0:
+		n_action_steps += 1
+		return
+
+	n_action_steps += 1
+	
+	if connected:
+		get_tree().set_pause(true) 
+		
+		if just_reset:
+			just_reset = false
+			var obs = _get_obs_from_agents()
+		
+			var reply = {
+				"type": "reset",
+				"obs": obs
+			}
+			_send_dict_as_json_message(reply)
+			# this should go straight to getting the action and setting it checked the agent, no need to perform one phyics tick
+			get_tree().set_pause(false) 
+			return
+		
+		if need_to_send_obs:
+			need_to_send_obs = false
+			var reward = _get_reward_from_agents()
+			var done = _get_done_from_agents()
+			#_reset_agents_if_done() # this ensures the new observation is from the next env instance : NEEDS REFACTOR
+			
+			var obs = _get_obs_from_agents()
+			
+			var reply = {
+				"type": "step",
+				"obs": obs,
+				"reward": reward,
+				"done": done
+			}
+			_send_dict_as_json_message(reply)
+		
+		var handled = handle_message()
+	
+	elif onnx_model != null:
+		var obs : Array = _get_obs_from_agents()
+	
+		var actions = []
+		for o in obs:
+			var action = onnx_model.run_inference(o["obs"], 1.0)
+			action["output"] = clamp_array(action["output"], -1.0, 1.0)
+			var action_dict = _extract_action_dict(action["output"])
+			actions.append(action_dict)
+		
+		_set_agent_actions(actions) 
+		need_to_send_obs = true
+		get_tree().set_pause(false) 
+		_reset_agents_if_done()	
 		
+	else:
+		_reset_agents_if_done()	
+
+func _extract_action_dict(action_array: Array):
+	var index = 0
+	var result = {}
+	for key in _action_space.keys():
+		var size = _action_space[key]["size"]
+		if _action_space[key]["action_type"] == "discrete":
+			result[key] = round(action_array[index])
+		else:
+			result[key] = action_array.slice(index,index+size)
+		index += size
+		
+	return result
+
 func _get_agents():
 	agents = get_tree().get_nodes_in_group("AGENT")
 
@@ -75,17 +178,16 @@ func _send_dict_as_json_message(dict):
 func _send_env_info():
 	var json_dict = _get_dict_json_message()
 	assert(json_dict["type"] == "env_info")
-	
+
+		
 	var message = {
 		"type" : "env_info",
-		#"obs_size": agents[0].get_obs_size(),
-		"observation_space": agents[0].get_obs_space(),
-		"action_space":agents[0].get_action_space(),
+		"observation_space": _obs_space,
+		"action_space":_action_space,
 		"n_agents": len(agents)
 		}
 	_send_dict_as_json_message(message)
 
-
 func connect_to_server():
 	print("Waiting for one second to allow server to start")
 	OS.delay_msec(1000)
@@ -98,17 +200,13 @@ func connect_to_server():
 	var connect = stream.connect_to_host(ip, port)
 	stream.set_no_delay(true) # TODO check if this improves performance or not
 	stream.poll()
+	# Fetch the status until it is either connected (2) or failed to connect (3)
+	while stream.get_status() < 2:
+		stream.poll()
 	return stream.get_status() == 2
 
 func _get_args():
 	print("getting command line arguments")
-#	var arguments = {}
-#	for argument in OS.get_cmdline_args():
-#		# Parse valid command-line arguments into a dictionary
-#		if argument.find("=") > -1:
-#			var key_value = argument.split("=")
-#			arguments[key_value[0].lstrip("--")] = key_value[1]
-			
 	var arguments = {}
 	for argument in OS.get_cmdline_args():
 		print(argument)
@@ -139,70 +237,7 @@ func _set_action_repeat():
 func disconnect_from_server():
 	stream.disconnect_from_host()
 
-func _initialize():
-	_get_agents()
-	
-	args = _get_args()
-	Engine.physics_ticks_per_second = _get_speedup() * 60 # Replace with function body.
-	Engine.time_scale = _get_speedup() * 1.0
-	prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up)
-	
-	connected = connect_to_server()
-	if connected:
-		_set_heuristic("model")
-		_handshake()
-		_send_env_info()
-	else:
-		_set_heuristic("human")  
-		
-	_set_seed()
-	_set_action_repeat()
-	initialized = true  
-
-func _physics_process(delta): 
-	# two modes, human control, agent control
-	# pause tree, send obs, get actions, set actions, unpause tree
-	if n_action_steps % action_repeat != 0:
-		n_action_steps += 1
-		return
 
-	n_action_steps += 1
-	
-	if connected:
-		get_tree().set_pause(true) 
-		
-		if just_reset:
-			just_reset = false
-			var obs = _get_obs_from_agents()
-		
-			var reply = {
-				"type": "reset",
-				"obs": obs
-			}
-			_send_dict_as_json_message(reply)
-			# this should go straight to getting the action and setting it checked the agent, no need to perform one phyics tick
-			get_tree().set_pause(false) 
-			return
-		
-		if need_to_send_obs:
-			need_to_send_obs = false
-			var reward = _get_reward_from_agents()
-			var done = _get_done_from_agents()
-			#_reset_agents_if_done() # this ensures the new observation is from the next env instance : NEEDS REFACTOR
-			
-			var obs = _get_obs_from_agents()
-			
-			var reply = {
-				"type": "step",
-				"obs": obs,
-				"reward": reward,
-				"done": done
-			}
-			_send_dict_as_json_message(reply)
-		
-		var handled = handle_message()
-	else:
-		_reset_agents_if_done()
 
 func handle_message() -> bool:
 	# get json message: reset, step, close
@@ -272,6 +307,7 @@ func _get_obs_from_agents():
 	var obs = []
 	for agent in agents:
 		obs.append(agent.get_obs())
+
 	return obs
 	
 func _get_reward_from_agents():
@@ -293,3 +329,8 @@ func _set_agent_actions(actions):
 	for i in range(len(actions)):
 		agents[i].set_action(actions[i])
 	
+func clamp_array(arr : Array, min:float, max:float):
+	var output : Array = []
+	for a in arr:
+		output.append(clamp(a, min, max))
+	return output

bin/VirtualCamera.exe

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:784e2e3b2022a9421df07c764fc394ff0576147b16d186b9ed17fb725e96d4d4
+size 68805120

bin/VirtualCamera.sh

@@ -0,0 +1,4 @@
+#!/bin/sh
+echo -ne '\033c\033]0;VirtualCamera\a'
+base_path="$(dirname "$(realpath "$0")")"
+"$base_path/VirtualCamera.x86_64" "$@"

bin/VirtualCamera.x86_64

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ed68d749a5bc6e3e78fdf5764fcbf5493e8b9ebdb629f470be3c64c1f205b58f
-size 64865512
+oid sha256:dda38dcc9dacc4e8d58d79f88a109bd36a30d97af1400a46b9d9d4e24278dbfe
+size 70085064

export_presets.cfg

@@ -3,22 +3,104 @@
 name="Linux/X11"
 platform="Linux/X11"
 runnable=true
+dedicated_server=false
 custom_features=""
 export_filter="all_resources"
 include_filter=""
 exclude_filter=""
-export_path="../../builds/VirtualCamera/virtual_camera.x86_64"
-script_export_mode=1
+export_path=""
+encryption_include_filters=""
+encryption_exclude_filters=""
+encrypt_pck=false
+encrypt_directory=false
 script_encryption_key=""
 
 [preset.0.options]
 
 custom_template/debug=""
 custom_template/release=""
-binary_format/64_bits=true
+debug/export_console_script=1
 binary_format/embed_pck=false
-texture_format/bptc=false
+texture_format/bptc=true
 texture_format/s3tc=true
 texture_format/etc=false
 texture_format/etc2=false
-texture_format/no_bptc_fallbacks=true
+binary_format/architecture="x86_64"
+ssh_remote_deploy/enabled=false
+ssh_remote_deploy/host="user@host_ip"
+ssh_remote_deploy/port="22"
+ssh_remote_deploy/extra_args_ssh=""
+ssh_remote_deploy/extra_args_scp=""
+ssh_remote_deploy/run_script="#!/usr/bin/env bash
+export DISPLAY=:0
+unzip -o -q \"{temp_dir}/{archive_name}\" -d \"{temp_dir}\"
+\"{temp_dir}/{exe_name}\" {cmd_args}"
+ssh_remote_deploy/cleanup_script="#!/usr/bin/env bash
+kill $(pgrep -x -f \"{temp_dir}/{exe_name} {cmd_args}\")
+rm -rf \"{temp_dir}\""
+
+[preset.1]
+
+name="Windows Desktop"
+platform="Windows Desktop"
+runnable=true
+dedicated_server=false
+custom_features=""
+export_filter="all_resources"
+include_filter=""
+exclude_filter=""
+export_path=""
+encryption_include_filters=""
+encryption_exclude_filters=""
+encrypt_pck=false
+encrypt_directory=false
+script_encryption_key=""
+
+[preset.1.options]
+
+custom_template/debug=""
+custom_template/release=""
+debug/export_console_script=1
+binary_format/embed_pck=false
+texture_format/bptc=true
+texture_format/s3tc=true
+texture_format/etc=false
+texture_format/etc2=false
+binary_format/architecture="x86_64"
+codesign/enable=false
+codesign/identity_type=0
+codesign/identity=""
+codesign/password=""
+codesign/timestamp=true
+codesign/timestamp_server_url=""
+codesign/digest_algorithm=1
+codesign/description=""
+codesign/custom_options=PackedStringArray()
+application/modify_resources=true
+application/icon=""
+application/console_wrapper_icon=""
+application/icon_interpolation=4
+application/file_version=""
+application/product_version=""
+application/company_name=""
+application/product_name=""
+application/file_description=""
+application/copyright=""
+application/trademarks=""
+ssh_remote_deploy/enabled=false
+ssh_remote_deploy/host="user@host_ip"
+ssh_remote_deploy/port="22"
+ssh_remote_deploy/extra_args_ssh=""
+ssh_remote_deploy/extra_args_scp=""
+ssh_remote_deploy/run_script="Expand-Archive -LiteralPath '{temp_dir}\\{archive_name}' -DestinationPath '{temp_dir}'
+$action = New-ScheduledTaskAction -Execute '{temp_dir}\\{exe_name}' -Argument '{cmd_args}'
+$trigger = New-ScheduledTaskTrigger -Once -At 00:00
+$settings = New-ScheduledTaskSettingsSet
+$task = New-ScheduledTask -Action $action -Trigger $trigger -Settings $settings
+Register-ScheduledTask godot_remote_debug -InputObject $task -Force:$true
+Start-ScheduledTask -TaskName godot_remote_debug
+while (Get-ScheduledTask -TaskName godot_remote_debug | ? State -eq running) { Start-Sleep -Milliseconds 100 }
+Unregister-ScheduledTask -TaskName godot_remote_debug -Confirm:$false -ErrorAction:SilentlyContinue"
+ssh_remote_deploy/cleanup_script="Stop-ScheduledTask -TaskName godot_remote_debug -ErrorAction:SilentlyContinue
+Unregister-ScheduledTask -TaskName godot_remote_debug -Confirm:$false -ErrorAction:SilentlyContinue
+Remove-Item -Recurse -Force '{temp_dir}'"

icon.png.import

@@ -16,9 +16,9 @@ dest_files=["res://.godot/imported/icon.png-487276ed1e3a0c39cad0279d744ee560.cte
 [params]
 
 compress/mode=0
+compress/high_quality=false
 compress/lossy_quality=0.7
 compress/hdr_compression=1
-compress/bptc_ldr=0
 compress/normal_map=0
 compress/channel_pack=0
 mipmaps/generate=false

project.godot

@@ -8,40 +8,6 @@
 
 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"
@@ -54,6 +20,10 @@ config/icon="res://icon.png"
 window/size/width=1280
 window/size/height=720
 
+[dotnet]
+
+project/assembly_name="VirtualCamera"
+
 [editor_plugins]
 
 enabled=PackedStringArray()
@@ -62,27 +32,27 @@ enabled=PackedStringArray()
 
 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":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":0,"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":0,"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":0,"key_label":0,"unicode":0,"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":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":0,"key_label":0,"unicode":0,"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":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":0,"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":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":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":0,"key_label":0,"unicode":0,"echo":false,"script":null)
 ]
 }