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@@ -52,3 +52,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.jpg 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

.godot/exported/133200997/file_cache

@@ -0,0 +1,12 @@
+res://addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn::633a89120f47fd16d8509d7bf62bdcc6::1667837398::res://.godot/exported/133200997/export-5127fc3fc2907f1e87ac8e869558593d-ExampleRaycastSensor2D.scn
+res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn::47f05d8501daa604d78b8ed9fcacbae5::1667837398::res://.godot/exported/133200997/export-7454c66d21916090bf5dc7766fa8629a-RaycastSensor2D.scn
+res://addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn::5132e3ace4e34f1809af5ab3b83b467f::1671457020::res://.godot/exported/133200997/export-1222b1ceeacbc57c3f8fe0e4235d9be0-ExampleRaycastSensor3D.scn
+res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn::cda0f7aad12ff3fe4c995244863b3bf0::1667837398::res://.godot/exported/133200997/export-1cc1ad7ce1f98ed0c4cee4b060bc26fd-RaycastSensor3D.scn
+res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn::00bc7933716a6fae1ba344bbd9a386a2::1667837398::res://.godot/exported/133200997/export-d1d9cc1906d18d9a32f853b74a4d90f4-RGBCameraSensor3D.scn
+res://ColorRoom.tscn::a0d7cb60f382d0efa251cae9a475f6ba::1667490278::res://.godot/exported/133200997/export-013a0ba1f1fdb71b574ef7b36fdde25a-ColorRoom.scn
+res://default_env.tres::756de160834ef7cc033c2a79cd80f338::1652447337::res://.godot/exported/133200997/export-7cf3fd67ad9f55210191d77b582b8209-default_env.res
+res://Env2.tscn::577b554f578c15a38a985195cae041d0::1646900665::res://.godot/exported/133200997/export-d2281d20f16239d336bf933e5fe6cd34-Env2.scn
+res://Env.tscn::d114897d479bbbdbfad9f318f6179f59::1667490278::res://.godot/exported/133200997/export-dcee5a5a254d02ce44ac991a3244aeb2-Env.scn
+res://Player.tscn::db7ba5239bf558913f7005697d781af6::1667490278::res://.godot/exported/133200997/export-90e1ff3baa03524a506ff0f7a9d78dcf-Player.scn
+res://Robot.tscn::3fb37de53f67855ead9b5c6d1ef4c68d::1652445904::res://.godot/exported/133200997/export-3f529fed70430038310ab41ff1962c78-Robot.scn
+res://VirtualCamera.tscn::b9cc66968428f3b513867ef6e2ccad3b::1646234274::res://.godot/exported/133200997/export-68e5bc47c3f04dcb0c57656d5bbefcb7-VirtualCamera.scn

.godot/uid_cache.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b0c825d6933b2fec08807f806ddabc28d030f6d78653e9a8a38a1d7fc138392
+size 166

.import/.gdignore

@@ -0,0 +1 @@
+

.import/icon.png-45a871b53434e556222f5901d598ab34.md5

@@ -0,0 +1,3 @@
+source_md5="46836b07703d0875e7b43542e9eaa687"
+dest_md5="9fbd3845dc461f4cca61f62967b871f8"
+

.import/icon.png-487276ed1e3a0c39cad0279d744ee560.md5

@@ -0,0 +1,3 @@
+source_md5="47313fa4c47a9963fddd764e1ec6e4a8"
+dest_md5="26ea799ea0a3da9e753b3ebe822e0570"
+

ColorRoom.tscn

@@ -0,0 +1,118 @@
+[gd_scene load_steps=12 format=2]
+
+[ext_resource path="res://Player.tscn" type="PackedScene" id=1]
+
+[sub_resource type="CubeMesh" id=1]
+size = Vector3( 20, 0.1, 20 )
+
+[sub_resource type="SpatialMaterial" id=9]
+albedo_color = Color( 0.145098, 0.145098, 0.145098, 1 )
+
+[sub_resource type="ConcavePolygonShape" id=2]
+data = PoolVector3Array( -10, 0.05, 10, 10, 0.05, 10, -10, -0.05, 10, 10, 0.05, 10, 10, -0.05, 10, -10, -0.05, 10, 10, 0.05, -10, -10, 0.05, -10, 10, -0.05, -10, -10, 0.05, -10, -10, -0.05, -10, 10, -0.05, -10, 10, 0.05, 10, 10, 0.05, -10, 10, -0.05, 10, 10, 0.05, -10, 10, -0.05, -10, 10, -0.05, 10, -10, 0.05, -10, -10, 0.05, 10, -10, -0.05, -10, -10, 0.05, 10, -10, -0.05, 10, -10, -0.05, -10, 10, 0.05, 10, -10, 0.05, 10, 10, 0.05, -10, -10, 0.05, 10, -10, 0.05, -10, 10, 0.05, -10, -10, -0.05, 10, 10, -0.05, 10, -10, -0.05, -10, 10, -0.05, 10, 10, -0.05, -10, -10, -0.05, -10 )
+
+[sub_resource type="CubeMesh" id=3]
+size = Vector3( 20, 5, 2 )
+
+[sub_resource type="SpatialMaterial" id=8]
+albedo_color = Color( 0.541176, 0.247059, 0.760784, 1 )
+
+[sub_resource type="ConcavePolygonShape" id=4]
+data = PoolVector3Array( -10, 2.5, 1, 10, 2.5, 1, -10, -2.5, 1, 10, 2.5, 1, 10, -2.5, 1, -10, -2.5, 1, 10, 2.5, -1, -10, 2.5, -1, 10, -2.5, -1, -10, 2.5, -1, -10, -2.5, -1, 10, -2.5, -1, 10, 2.5, 1, 10, 2.5, -1, 10, -2.5, 1, 10, 2.5, -1, 10, -2.5, -1, 10, -2.5, 1, -10, 2.5, -1, -10, 2.5, 1, -10, -2.5, -1, -10, 2.5, 1, -10, -2.5, 1, -10, -2.5, -1, 10, 2.5, 1, -10, 2.5, 1, 10, 2.5, -1, -10, 2.5, 1, -10, 2.5, -1, 10, 2.5, -1, -10, -2.5, 1, 10, -2.5, 1, -10, -2.5, -1, 10, -2.5, 1, 10, -2.5, -1, -10, -2.5, -1 )
+
+[sub_resource type="SpatialMaterial" id=7]
+albedo_color = Color( 0.0627451, 0.670588, 0.215686, 1 )
+
+[sub_resource type="SpatialMaterial" id=6]
+albedo_color = Color( 0.137255, 0.34902, 0.909804, 1 )
+
+[sub_resource type="SpatialMaterial" id=5]
+albedo_color = Color( 0.784314, 0.129412, 0.129412, 1 )
+
+[sub_resource type="BoxShape" id=10]
+extents = Vector3( 0.4, 1, 8.97105 )
+
+[node name="ColorRoom" type="Spatial"]
+
+[node name="Player" parent="." instance=ExtResource( 1 )]
+
+[node name="Camera" type="Camera" parent="Player"]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.7, -0.199591 )
+
+[node name="Walls" type="Spatial" parent="."]
+
+[node name="MeshInstance" type="MeshInstance" parent="Walls"]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.05, 0 )
+mesh = SubResource( 1 )
+skeleton = NodePath("../..")
+material/0 = SubResource( 9 )
+
+[node name="StaticBody" type="StaticBody" parent="Walls/MeshInstance"]
+
+[node name="CollisionShape" type="CollisionShape" parent="Walls/MeshInstance/StaticBody"]
+shape = SubResource( 2 )
+
+[node name="MeshInstance2" type="MeshInstance" parent="Walls"]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2.5, -11 )
+mesh = SubResource( 3 )
+skeleton = NodePath("../..")
+material/0 = SubResource( 8 )
+
+[node name="StaticBody" type="StaticBody" parent="Walls/MeshInstance2"]
+
+[node name="CollisionShape" type="CollisionShape" parent="Walls/MeshInstance2/StaticBody"]
+shape = SubResource( 4 )
+
+[node name="MeshInstance3" type="MeshInstance" parent="Walls"]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2.5, 11 )
+mesh = SubResource( 3 )
+skeleton = NodePath("../..")
+material/0 = SubResource( 7 )
+
+[node name="StaticBody" type="StaticBody" parent="Walls/MeshInstance3"]
+
+[node name="CollisionShape" type="CollisionShape" parent="Walls/MeshInstance3/StaticBody"]
+shape = SubResource( 4 )
+
+[node name="MeshInstance4" type="MeshInstance" parent="Walls"]
+transform = Transform( -4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, 11, 2.5, 0 )
+mesh = SubResource( 3 )
+skeleton = NodePath("../..")
+material/0 = SubResource( 6 )
+
+[node name="StaticBody" type="StaticBody" parent="Walls/MeshInstance4"]
+
+[node name="CollisionShape" type="CollisionShape" parent="Walls/MeshInstance4/StaticBody"]
+shape = SubResource( 4 )
+
+[node name="MeshInstance5" type="MeshInstance" parent="Walls"]
+transform = Transform( -4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, -11, 2.5, 0 )
+mesh = SubResource( 3 )
+skeleton = NodePath("../..")
+material/0 = SubResource( 5 )
+
+[node name="StaticBody" type="StaticBody" parent="Walls/MeshInstance5"]
+
+[node name="CollisionShape" type="CollisionShape" parent="Walls/MeshInstance5/StaticBody"]
+shape = SubResource( 4 )
+
+[node name="Goals" type="Spatial" parent="."]
+
+[node name="NegativeGoal" type="Area" parent="Goals"]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, -8.71839, 0.0416299, -0.292424 )
+collision_layer = 0
+
+[node name="CollisionShape" type="CollisionShape" parent="Goals/NegativeGoal"]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.47999, 0 )
+shape = SubResource( 10 )
+
+[node name="PositiveGoal" type="Area" parent="Goals"]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 8.93574, -0.068549, -0.292424 )
+collision_layer = 0
+
+[node name="CollisionShape" type="CollisionShape" parent="Goals/PositiveGoal"]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.47999, 0 )
+shape = SubResource( 10 )
+
+[connection signal="body_entered" from="Goals/NegativeGoal" to="Player" method="_on_NegativeGoal_body_entered"]
+[connection signal="body_entered" from="Goals/PositiveGoal" to="Player" method="_on_PositiveGoal_body_entered"]

Env.tscn

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

Env2.tscn

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

Model.tscn

@@ -0,0 +1,5 @@
+[gd_scene load_steps=2 format=2]
+
+[ext_resource path="res://90s_dad/scene.gltf" type="PackedScene" id=1]
+
+[node name="Model" instance=ExtResource( 1 )]

Player.gd

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

Player.tscn

@@ -0,0 +1,34 @@
+[gd_scene load_steps=7 format=2]
+
+[ext_resource path="res://Player.gd" type="Script" id=1]
+[ext_resource path="res://Robot.tscn" type="PackedScene" id=2]
+[ext_resource path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn" type="PackedScene" id=3]
+
+[sub_resource type="CapsuleShape" id=1]
+radius = 1.6
+
+[sub_resource type="CapsuleMesh" id=2]
+
+[sub_resource type="SpatialMaterial" id=3]
+albedo_color = Color( 0.109804, 0.317647, 0.458824, 1 )
+
+[node name="Player" type="KinematicBody" groups=["AGENT"]]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.5, 0 )
+collision_mask = 0
+script = ExtResource( 1 )
+
+[node name="CollisionShape" type="CollisionShape" parent="."]
+transform = Transform( 1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 0, 0, 0 )
+shape = SubResource( 1 )
+
+[node name="MeshInstance" type="MeshInstance" parent="."]
+transform = Transform( 1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 0, 0, 0 )
+visible = false
+mesh = SubResource( 2 )
+material/0 = SubResource( 3 )
+
+[node name="Robot" parent="." instance=ExtResource( 2 )]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -1.43952, 0.0576344 )
+
+[node name="RGBCameraSensor3D" parent="." instance=ExtResource( 3 )]
+transform = Transform( 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.5, -1 )

README.md

@@ -0,0 +1,25 @@
+---
+library_name: godot-rl
+tags:
+- deep-reinforcement-learning
+- reinforcement-learning
+- godot-rl
+- environments
+- video-games
+---
+
+A RL environment called VirtualCamera for the Godot Game Engine.
+
+This environment was created with: https://github.com/edbeeching/godot_rl_agents 
+
+
+## Downloading the environment 
+
+After installing Godot RL Agents, download the environment with: 
+
+```
+gdrl.env_from_hub -r edbeeching/godot_rl_VirtualCamera
+```
+
+
+

Robot.gd

@@ -0,0 +1,20 @@
+extends Spatial
+
+
+# Declare member variables here. Examples:
+# var a = 2
+# var b = "text"
+
+onready var player = $AnimationPlayer
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+    pass # Replace with function body.
+
+
+
+func set_animation(anim):
+    if player.current_animation == anim:
+        return
+    
+    player.play(anim)

VirtualCamera.gd

@@ -0,0 +1,26 @@
+extends Spatial
+
+
+var steps = 0
+var camera_pixels = null
+
+onready var camera_texture := $Control/TextureRect/CameraTexture as Sprite
+onready var viewport := $Viewport
+
+func get_camera_pixel_encoding():
+    return camera_texture.get_texture().get_data().data["data"].hex_encode()
+
+func get_camera_shape()-> Array:
+    return [viewport.size[0], viewport.size[1], 4]
+    
+func _physics_process(delta):
+    steps += 1
+#    if steps % 120:
+#        print(camera_texture.get_texture().get_data().data.format)
+#        print(camera_texture.get_texture().get_data().data.keys(), 
+#        len(camera_texture.get_texture().get_data().data["data"]), " ",
+#        camera_texture.get_texture().get_data().data["data"],
+#         camera_texture.get_texture().get_data().data["data"].hex_encode()
+#
+#        )
+    #camera_pixels = camera_texture.get_texture().get_data().data["data"].hex_encode()

VirtualCamera.tscn

@@ -0,0 +1,42 @@
+[gd_scene load_steps=3 format=2]
+
+[ext_resource path="res://VirtualCamera.gd" type="Script" id=1]
+
+[sub_resource type="ViewportTexture" id=1]
+viewport_path = NodePath("Viewport")
+
+[node name="VirtualCamera" type="Spatial"]
+script = ExtResource( 1 )
+
+[node name="RemoteTransform" type="RemoteTransform" parent="."]
+remote_path = NodePath("../Viewport/Camera")
+
+[node name="Viewport" type="Viewport" parent="."]
+size = Vector2( 16, 16 )
+render_target_update_mode = 3
+
+[node name="Camera" type="Camera" parent="Viewport"]
+near = 0.5
+
+[node name="Control" type="Control" parent="."]
+anchor_right = 1.0
+anchor_bottom = 1.0
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="TextureRect" type="ColorRect" parent="Control"]
+margin_left = 1096.0
+margin_top = 534.0
+margin_right = 1114.0
+margin_bottom = 552.0
+rect_scale = Vector2( 10, 10 )
+color = Color( 0.00784314, 0.00784314, 0.00784314, 1 )
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="CameraTexture" type="Sprite" parent="Control/TextureRect"]
+texture = SubResource( 1 )
+offset = Vector2( 9, 9 )
+flip_v = true

addons/godot_rl_agents/godot_rl_agents.gd

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

addons/godot_rl_agents/icon.png.import

@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://b7lwg3uk8v3pr"
+path="res://.godot/imported/icon.png-45a871b53434e556222f5901d598ab34.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://addons/godot_rl_agents/icon.png"
+dest_files=["res://.godot/imported/icon.png-45a871b53434e556222f5901d598ab34.ctex"]
+
+[params]
+
+compress/mode=0
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/bptc_ldr=0
+compress/normal_map=0
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1

addons/godot_rl_agents/plugin.cfg

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

addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn

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

addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd

@@ -0,0 +1,20 @@
+extends Node2D
+class_name ISensor2D
+
+var _obs : Array
+var _active := false
+
+func get_observation():
+	pass
+	
+func activate():
+	_active = true
+	
+func deactivate():
+	_active = false
+
+func _update_observation():
+	pass
+	
+func reset():
+	pass

addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd

@@ -0,0 +1,94 @@
+extends ISensor2D
+class_name RaycastSensor2D
+@tool
+
+@export var n_rays := 16.0:
+	get: return n_rays
+	set(value):
+		n_rays = value
+		_update()
+	
+@export var ray_length := 200:# (float,5,200,5.0)
+	get: return ray_length
+	set(value):
+		ray_length = value
+		_update()
+@export var cone_width := 360.0:# (float,5,360,5.0)
+	get: return cone_width
+	set(value):
+		cone_width = value
+		_update()
+	
+@export var debug_draw := false :
+	get: return debug_draw 
+	set(value):
+		debug_draw = value
+		_update()  
+
+
+var _angles = []
+var rays := []
+
+func _update():
+	if Engine.is_editor_hint():
+		_spawn_nodes()	
+
+func _ready() -> void:
+	_spawn_nodes()
+
+
+func _spawn_nodes():
+	for ray in rays:
+		ray.queue_free()
+	rays = []
+		
+	_angles = []
+	var step = cone_width / (n_rays)
+	var start = step/2 - cone_width/2
+	
+	for i in n_rays:
+		var angle = start + i * step
+		var ray = RayCast2D.new()
+		ray.set_target_position(Vector2(
+			ray_length*cos(deg_to_rad(angle)),
+			ray_length*sin(deg_to_rad(angle))
+		))
+		ray.set_name("node_"+str(i))
+		ray.enabled  = true
+		ray.collide_with_areas = true
+		add_child(ray)
+		rays.append(ray)
+		
+		
+		_angles.append(start + i * step)
+	
+
+func _physics_process(delta: float) -> void:
+	if self._active:
+		self._obs = calculate_raycasts()
+		
+func get_observation() -> Array:
+	if len(self._obs) == 0:
+		print("obs was null, forcing raycast update")
+		return self.calculate_raycasts()
+	return self._obs
+	
+
+func calculate_raycasts() -> Array:
+	var result = []
+	for ray in rays:
+		ray.force_raycast_update()
+		var distance = _get_raycast_distance(ray)
+		result.append(distance)
+	return result
+
+func _get_raycast_distance(ray : RayCast2D) -> float : 
+	if !ray.is_colliding():
+		return 0.0
+		
+	var distance = (global_position - ray.get_collision_point()).length()
+	distance = clamp(distance, 0.0, ray_length)
+	return (ray_length - distance) / ray_length
+	
+	
+	

addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn

@@ -0,0 +1,6 @@
+[gd_scene load_steps=2 format=2]
+
+[ext_resource path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" type="Script" id=1]
+
+[node name="RaycastSensor2D" type="Node2D"]
+script = ExtResource( 1 )

addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn

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

addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd

@@ -0,0 +1,20 @@
+extends Node3D
+class_name ISensor3D
+
+var _obs : Array
+var _active := false
+
+func get_observation():
+	pass
+	
+func activate():
+	_active = true
+	
+func deactivate():
+	_active = false
+
+func _update_observation():
+	pass
+	
+func reset():
+	pass

addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd

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

addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn

@@ -0,0 +1,42 @@
+[gd_scene load_steps=3 format=2]
+
+[ext_resource path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" type="Script" id=1]
+
+[sub_resource type="ViewportTexture" id=1]
+viewport_path = NodePath("SubViewport")
+
+[node name="RGBCameraSensor3D" type="Node3D"]
+script = ExtResource( 1 )
+
+[node name="RemoteTransform3D" type="RemoteTransform3D" parent="."]
+remote_path = NodePath("../SubViewport/Camera3D")
+
+[node name="SubViewport" type="SubViewport" parent="."]
+size = Vector2( 32, 32 )
+render_target_update_mode = 3
+
+[node name="Camera3D" type="Camera3D" parent="SubViewport"]
+near = 0.5
+
+[node name="Control" type="Control" parent="."]
+anchor_right = 1.0
+anchor_bottom = 1.0
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="TextureRect" type="ColorRect" parent="Control"]
+offset_left = 1096.0
+offset_top = 534.0
+offset_right = 1114.0
+offset_bottom = 552.0
+scale = Vector2( 10, 10 )
+color = Color( 0.00784314, 0.00784314, 0.00784314, 1 )
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="CameraTexture" type="Sprite2D" parent="Control/TextureRect"]
+texture = SubResource( 1 )
+offset = Vector2( 9, 9 )
+flip_v = true

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd

@@ -0,0 +1,162 @@
+extends ISensor3D
+class_name RayCastSensor3D
+@tool
+@export_flags_3d_physics var collision_mask = 1:
+	get: return collision_mask
+	set(value):
+		collision_mask = value
+		_update()
+@export_flags_3d_physics var boolean_class_mask = 1:
+	get: return boolean_class_mask
+	set(value):
+		boolean_class_mask = value
+		_update()		
+
+@export var n_rays_width := 6.0:
+	get: return n_rays_width
+	set(value):
+		n_rays_width = value
+		_update()
+	
+@export var n_rays_height := 6.0:
+	get: return n_rays_height
+	set(value):
+		n_rays_height = value
+		_update()
+
+@export var ray_length := 10.0:
+	get: return ray_length
+	set(value):
+		ray_length = value
+		_update()
+		
+@export var cone_width := 60.0:
+	get: return cone_width
+	set(value):
+		cone_width = value
+		_update()
+		
+@export var cone_height := 60.0:
+	get: return cone_height
+	set(value):
+		cone_height = value
+		_update()
+
+@export var collide_with_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 class_sensor := false
+		
+var rays := []
+var geo = null
+
+func _update():
+	if Engine.is_editor_hint():
+		_spawn_nodes()	
+
+
+func _ready() -> void:
+	_spawn_nodes()
+
+func _spawn_nodes():
+	print("spawning nodes")
+	for ray in get_children():
+		ray.queue_free()
+	if geo:
+		geo.clear()
+	#$Lines.remove_points()
+	rays = []
+	
+	var horizontal_step = cone_width / (n_rays_width)
+	var vertical_step = cone_height / (n_rays_height)
+	
+	var horizontal_start = horizontal_step/2 - cone_width/2
+	var vertical_start = vertical_step/2 - cone_height/2   
+
+	var points = []
+	
+	for i in n_rays_width:
+		for j in n_rays_height:
+			var angle_w = horizontal_start + i * horizontal_step
+			var angle_h = vertical_start + j * vertical_step
+			#angle_h = 0.0
+			var ray = RayCast3D.new()
+			var cast_to = to_spherical_coords(ray_length, angle_w, angle_h)
+			ray.set_target_position(cast_to)
+
+			points.append(cast_to)
+			
+			ray.set_name("node_"+str(i)+" "+str(j))
+			ray.enabled  = true
+			ray.collide_with_bodies = collide_with_bodies
+			ray.collide_with_areas = collide_with_areas
+			ray.collision_mask = collision_mask
+			add_child(ray)
+			ray.set_owner(get_tree().edited_scene_root)
+			rays.append(ray)
+			ray.force_raycast_update()
+			
+#    if Engine.editor_hint:
+#        _create_debug_lines(points)
+		
+func _create_debug_lines(points):
+	if not geo: 
+		geo = ImmediateMesh.new()
+		add_child(geo)
+		
+	geo.clear()
+	geo.begin(Mesh.PRIMITIVE_LINES)
+	for point in points:
+		geo.set_color(Color.AQUA)
+		geo.add_vertex(Vector3.ZERO)
+		geo.add_vertex(point)
+	geo.end()
+
+func display():
+	if geo:
+		geo.display()
+	
+func to_spherical_coords(r, inc, azimuth) -> Vector3:
+	return Vector3(
+		r*sin(deg_to_rad(inc))*cos(deg_to_rad(azimuth)),
+		r*sin(deg_to_rad(azimuth)),
+		r*cos(deg_to_rad(inc))*cos(deg_to_rad(azimuth))       
+	)
+	
+func get_observation() -> Array:
+	return self.calculate_raycasts()
+
+func calculate_raycasts() -> Array:
+	var result = []
+	for ray in rays:
+		ray.set_enabled(true)
+		ray.force_raycast_update()
+		var distance = _get_raycast_distance(ray)
+
+		result.append(distance)
+		if class_sensor:
+			var hit_class = 0 
+			if ray.get_collider():
+				var hit_collision_layer = ray.get_collider().collision_layer
+				hit_collision_layer = hit_collision_layer & collision_mask
+				hit_class = (hit_collision_layer & boolean_class_mask) > 0
+			result.append(hit_class)
+		ray.set_enabled(false)
+	return result
+
+func _get_raycast_distance(ray : RayCast3D) -> float : 
+	if !ray.is_colliding():
+		return 0.0
+		
+	var distance = (global_transform.origin - ray.get_collision_point()).length()
+	distance = clamp(distance, 0.0, ray_length)
+	return (ray_length - distance) / ray_length

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn

@@ -0,0 +1,49 @@
+[gd_scene load_steps=2 format=2]
+
+[ext_resource path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" type="Script" id=1]
+
+[node name="RaycastSensor3D" type="Node3D"]
+script = ExtResource( 1 )
+n_rays_width = 4.0
+n_rays_height = 2.0
+ray_length = 11.0
+
+[node name="node_0 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

addons/godot_rl_agents/sync.gd

@@ -0,0 +1,295 @@
+extends Node
+# --fixed-fps 2000 --disable-render-loop
+@export var action_repeat := 8
+@export var speed_up = 1
+var n_action_steps = 0
+
+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
+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
+
+
+# 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 _get_agents():
+	agents = get_tree().get_nodes_in_group("AGENT")
+
+func _set_heuristic(heuristic):
+	for agent in agents:
+		agent.set_heuristic(heuristic)
+
+func _handshake():
+	print("performing handshake")
+	
+	var json_dict = _get_dict_json_message()
+	assert(json_dict["type"] == "handshake")
+	var major_version = json_dict["major_version"]
+	var minor_version = json_dict["minor_version"]
+	if major_version != MAJOR_VERSION:
+		print("WARNING: major verison mismatch ", major_version, " ", MAJOR_VERSION)  
+	if minor_version != MINOR_VERSION:
+		print("WARNING: minor verison mismatch ", minor_version, " ", MINOR_VERSION)
+		
+	print("handshake complete")
+
+func _get_dict_json_message():
+	# returns a dictionary from of the most recent message
+	# this is not waiting
+	while stream.get_available_bytes() == 0:
+		stream.poll()
+		if stream.get_status() != 2:
+			print("server disconnected status, closing")
+			get_tree().quit()
+			return null
+
+		OS.delay_usec(10)
+		
+	var message = stream.get_string()
+	var json_data = JSON.parse_string(message)
+	
+	return json_data
+
+func _send_dict_as_json_message(dict):
+	stream.put_string(JSON.stringify(dict))
+
+func _send_env_info():
+	var json_dict = _get_dict_json_message()
+	assert(json_dict["type"] == "env_info")
+	
+	var message = {
+		"type" : "env_info",
+		#"obs_size": agents[0].get_obs_size(),
+		"observation_space": agents[0].get_obs_space(),
+		"action_space":agents[0].get_action_space(),
+		"n_agents": len(agents)
+		}
+	_send_dict_as_json_message(message)
+
+
+func connect_to_server():
+	print("Waiting for one second to allow server to start")
+	OS.delay_msec(1000)
+	print("trying to connect to server")
+	stream = StreamPeerTCP.new()
+	
+	# "localhost" was not working on windows VM, had to use the IP
+	var ip = "127.0.0.1"
+	var port = _get_port()
+	var connect = stream.connect_to_host(ip, port)
+	stream.set_no_delay(true) # TODO check if this improves performance or not
+	stream.poll()
+	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)
+		if argument.find("=") > -1:
+			var key_value = argument.split("=")
+			arguments[key_value[0].lstrip("--")] = key_value[1]
+		else:
+			# Options without an argument will be present in the dictionary,
+			# with the value set to an empty string.
+			arguments[argument.lstrip("--")] = ""
+
+	return arguments   
+
+func _get_speedup():
+	print(args)
+	return args.get("speedup", str(speed_up)).to_int()
+
+func _get_port():    
+	return args.get("port", DEFAULT_PORT).to_int()
+
+func _set_seed():
+	var _seed = args.get("env_seed", DEFAULT_SEED).to_int()
+	seed(_seed)
+
+func _set_action_repeat():
+	action_repeat = args.get("action_repeat", DEFAULT_ACTION_REPEAT).to_int()
+	
+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
+	var message = _get_dict_json_message()
+	if message["type"] == "close":
+		print("received close message, closing game")
+		get_tree().quit()
+		get_tree().set_pause(false) 
+		return true
+		
+	if message["type"] == "reset":
+		print("resetting all agents")
+		_reset_all_agents()
+		just_reset = true
+		get_tree().set_pause(false) 
+		#print("resetting forcing draw")
+#        RenderingServer.force_draw()
+#        var obs = _get_obs_from_agents()
+#        print("obs ", obs)
+#        var reply = {
+#            "type": "reset",
+#            "obs": obs
+#        }
+#        _send_dict_as_json_message(reply)   
+		return true
+		
+	if message["type"] == "call":
+		var method = message["method"]
+		var returns = _call_method_on_agents(method)
+		var reply = {
+			"type": "call",
+			"returns": returns
+		}
+		print("calling method from Python")
+		_send_dict_as_json_message(reply)   
+		return handle_message()
+	
+	if message["type"] == "action":
+		var action = message["action"]
+		_set_agent_actions(action) 
+		need_to_send_obs = true
+		get_tree().set_pause(false) 
+		return true
+		
+	print("message was not handled")
+	return false
+
+func _call_method_on_agents(method):
+	var returns = []
+	for agent in agents:
+		returns.append(agent.call(method))
+		
+	return returns
+
+
+func _reset_agents_if_done():
+	for agent in agents:
+		if agent.get_done(): 
+			agent.set_done_false()
+
+func _reset_all_agents():
+	for agent in agents:
+		agent.needs_reset = true
+		#agent.reset()   
+
+func _get_obs_from_agents():
+	var obs = []
+	for agent in agents:
+		obs.append(agent.get_obs())
+	return obs
+	
+func _get_reward_from_agents():
+	var rewards = [] 
+	for agent in agents:
+		rewards.append(agent.get_reward())
+		agent.zero_reward()
+	return rewards    
+	
+func _get_done_from_agents():
+	var dones = [] 
+	for agent in agents:
+		var done = agent.get_done()
+		if done: agent.set_done_false()
+		dones.append(done)
+	return dones    
+	
+func _set_agent_actions(actions):
+	for i in range(len(actions)):
+		agents[i].set_action(actions[i])
+	

bin/VirtualCamera.x86_64

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed68d749a5bc6e3e78fdf5764fcbf5493e8b9ebdb629f470be3c64c1f205b58f
+size 64865512

default_env.tres

@@ -0,0 +1,7 @@
+[gd_resource type="Environment" load_steps=2 format=2]
+
+[sub_resource type="ProceduralSky" id=1]
+
+[resource]
+background_mode = 2
+background_sky = SubResource( 1 )

export_presets.cfg

@@ -0,0 +1,24 @@
+[preset.0]
+
+name="Linux/X11"
+platform="Linux/X11"
+runnable=true
+custom_features=""
+export_filter="all_resources"
+include_filter=""
+exclude_filter=""
+export_path="../../builds/VirtualCamera/virtual_camera.x86_64"
+script_export_mode=1
+script_encryption_key=""
+
+[preset.0.options]
+
+custom_template/debug=""
+custom_template/release=""
+binary_format/64_bits=true
+binary_format/embed_pck=false
+texture_format/bptc=false
+texture_format/s3tc=true
+texture_format/etc=false
+texture_format/etc2=false
+texture_format/no_bptc_fallbacks=true