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.gitattributes

@@ -56,3 +56,12 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+blender/level1.blend filter=lfs diff=lfs merge=lfs -text
+blender/level2.blend filter=lfs diff=lfs merge=lfs -text
+blender/level3.blend filter=lfs diff=lfs merge=lfs -text
+blender/level4.blend filter=lfs diff=lfs merge=lfs -text
+blender/level5.blend filter=lfs diff=lfs merge=lfs -text
+blender/level6.blend filter=lfs diff=lfs merge=lfs -text
+blender/level7.blend filter=lfs diff=lfs merge=lfs -text
+blender/level8.blend filter=lfs diff=lfs merge=lfs -text
+blender/robot.blend filter=lfs diff=lfs merge=lfs -text

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 MultiLevelRobot 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 jtatman/godot_rl_MultiLevelRobot
+```
+
+
+

RobotEnv.csproj

@@ -0,0 +1,10 @@
+<Project Sdk="Godot.NET.Sdk/4.2.1">
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <EnableDynamicLoading>true</EnableDynamicLoading>
+    <RootNamespace>GodotRLAgents</RootNamespace>
+  </PropertyGroup>
+  <ItemGroup>
+    <PackageReference Include="Microsoft.ML.OnnxRuntime" Version="1.16.3" />
+  </ItemGroup>
+</Project>

RobotEnv.sln

@@ -0,0 +1,19 @@
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2012
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "RobotEnv", "RobotEnv.csproj", "{C8D3517D-AA7F-40D8-B8D8-6FD3D270B2B9}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+	Debug|Any CPU = Debug|Any CPU
+	ExportDebug|Any CPU = ExportDebug|Any CPU
+	ExportRelease|Any CPU = ExportRelease|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{C8D3517D-AA7F-40D8-B8D8-6FD3D270B2B9}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{C8D3517D-AA7F-40D8-B8D8-6FD3D270B2B9}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{C8D3517D-AA7F-40D8-B8D8-6FD3D270B2B9}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU
+		{C8D3517D-AA7F-40D8-B8D8-6FD3D270B2B9}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU
+		{C8D3517D-AA7F-40D8-B8D8-6FD3D270B2B9}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU
+		{C8D3517D-AA7F-40D8-B8D8-6FD3D270B2B9}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU
+	EndGlobalSection
+EndGlobal

addons/godot_rl_agents/controller/ai_controller_2d.gd

@@ -0,0 +1,82 @@
+extends Node2D
+class_name AIController2D
+
+@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

@@ -0,0 +1,80 @@
+extends Node3D
+class_name AIController3D
+
+@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/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/onnx/csharp/ONNXInference.cs

@@ -0,0 +1,103 @@
+using Godot;
+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 : GodotObject
+	{
+
+		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;
+            SessionOpt = SessionConfigurator.MakeConfiguredSessionOptions();
+            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; 
+			//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 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, ...]}
+			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

@@ -0,0 +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
+	{
+		public enum ComputeName
+		{
+			CUDA,
+			ROCm,
+			DirectML,
+			CoreML,
+			CPU
+		}
+
+        /// <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/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 +1,24 @@
+extends Resource
+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)
+
+func _notification(what):
+	if what == NOTIFICATION_PREDELETE:
+		inferencer.FreeDisposables()
+		inferencer.free()

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=3 uid="uid://ddeq7mn1ealyc"]
+
+[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
+
+
+
+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/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_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 +1,118 @@
+@tool
+extends ISensor2D
+class_name RaycastSensor2D
+
+@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
+	set(value):
+		n_rays = value
+		_update()
+	
+@export_range(5,200,5.0) var ray_length := 200:
+	get: return ray_length
+	set(value):
+		ray_length = value
+		_update()
+@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 := true :
+	get: return debug_draw 
+	set(value):
+		debug_draw = value
+		_update()  
+
+
+var _angles = []
+var rays := []
+
+func _update():
+	if Engine.is_editor_hint():
+		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()
+	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 = collide_with_areas
+		ray.collide_with_bodies = collide_with_bodies
+		ray.collision_mask = collision_mask
+		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 +1,7 @@
+[gd_scene load_steps=2 format=3 uid="uid://drvfihk5esgmv"]
+
+[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")
+n_rays = 17.0

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/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/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 +1,41 @@
+[gd_scene load_steps=3 format=3 uid="uid://baaywi3arsl2m"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" 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 = 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
+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)
+
+[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 +1,166 @@
+@tool
+extends ISensor3D
+class_name RayCastSensor3D
+@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_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 := []
+var geo = null
+
+func _update():
+	if Engine.is_editor_hint():
+		if is_node_ready():
+			_spawn_nodes()	
+
+func _ready() -> void:
+	if Engine.is_editor_hint():	
+		if get_child_count() == 0:
+			_spawn_nodes()
+	else:
+		_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: float = 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(float(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 +1,27 @@
+[gd_scene load_steps=2 format=3 uid="uid://b803cbh1fmy66"]
+
+[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")
+n_rays_width = 4.0
+n_rays_height = 2.0
+ray_length = 11.0
+
+[node name="node_1 0" type="RayCast3D" parent="."]
+target_position = Vector3(-1.38686, -2.84701, 10.5343)
+
+[node name="node_1 1" type="RayCast3D" parent="."]
+target_position = Vector3(-1.38686, 2.84701, 10.5343)
+
+[node name="node_2 0" type="RayCast3D" parent="."]
+target_position = Vector3(1.38686, -2.84701, 10.5343)
+
+[node name="node_2 1" type="RayCast3D" parent="."]
+target_position = Vector3(1.38686, 2.84701, 10.5343)
+
+[node name="node_3 0" type="RayCast3D" parent="."]
+target_position = Vector3(4.06608, -2.84701, 9.81639)
+
+[node name="node_3 1" type="RayCast3D" parent="."]
+target_position = Vector3(4.06608, 2.84701, 9.81639)

addons/godot_rl_agents/sync.gd

@@ -0,0 +1,342 @@
+extends Node
+
+# --fixed-fps 2000 --disable-render-loop
+
+enum ControlModes {HUMAN, TRAINING, ONNX_INFERENCE}
+@export var control_mode: ControlModes = ControlModes.TRAINING
+@export_range(1, 10, 1, "or_greater") var action_repeat := 8
+@export_range(1, 10, 1, "or_greater") var speed_up = 1
+@export var onnx_model_path := ""
+
+@onready var start_time = Time.get_ticks_msec()
+
+const MAJOR_VERSION := "0"
+const MINOR_VERSION := "3" 
+const DEFAULT_PORT := "11008"
+const DEFAULT_SEED := "1"
+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
+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)
+	
+	_set_heuristic("human")
+	match control_mode:
+		ControlModes.TRAINING:
+			connected = connect_to_server()
+			if connected:
+				_set_heuristic("model")
+				_handshake()
+				_send_env_info()
+			else:
+				push_warning("Couldn't connect to Python server, using human controls instead. ",
+				"Did you start the training server using e.g. `gdrl` from the console?")
+		ControlModes.ONNX_INFERENCE:
+				assert(FileAccess.file_exists(onnx_model_path), "Onnx Model Path set on Sync node does not exist: %s" % onnx_model_path)
+				onnx_model = ONNXModel.new(onnx_model_path, 1)
+				_set_heuristic("model")	
+	
+	_set_seed()
+	_set_action_repeat()
+	initialized = true  
+
+func _physics_process(_delta): 
+	# 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")
+
+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",
+		"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)
+	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()
+	# 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():
+		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", str(action_repeat)).to_int()
+	
+func disconnect_from_server():
+	stream.disconnect_from_host()
+
+
+
+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])
+	
+func clamp_array(arr : Array, min:float, max:float):
+	var output : Array = []
+	for a in arr:
+		output.append(clamp(a, min, max))
+	return output

asset-license.md

@@ -0,0 +1,5 @@
+Multilevel Robot Environment made by Ivan-267 using Godot, Godot RL Agents, and Blender. 
+
+The following license is only for the assets (.blend files and tile.png file) in the folder "blender":
+Author: https://github.com/Ivan-267
+License: https://creativecommons.org/licenses/by/4.0/

blender/level1.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afeb2e63830a078f2add33ad716f42a31e5936471094f78bbd9d6aeb90630beb
+size 1025844

blender/level2.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d49d163c6444015be9d7c7a991360bdc2116b3eb7e51677ada6ae64d9b517b3c
+size 1039336

blender/level3.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31b14b02da8d3c0574a8ea64edc072c614282885b8282bcca768999854fa8699
+size 1089812

blender/level4.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abbd2bcf69db058832bf2617ebe06a510a07d1b6b2efaa4bfea1546c90748483
+size 1038732

blender/level5.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f7af77b7898ea312b627d3dc47629811ec14e8956a74a424d2166759e850c63
+size 1077468

blender/level6.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8192893af9188a37ab9e7bc119df4f198c171430e03066e30b02c4c113b644e
+size 1071312

blender/level7.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8222b4d7f6a75ea9a30d28f5da0a1573d27eb158cc323c3d40443057a2732bb
+size 1154300

blender/level8.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a7d7f5713d40a93ae61225fa4aa342e45363e21af358635e62f94db29192ce5
+size 1352264

blender/robot.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:319ed9a4664add8676fe7984c37d98bd158ca9ed3c22643fc33a3d383054a2ff
+size 1279692

onnx/robot.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:905a560ddc6471975fae68efb01a059d4bc375bbd8dce2dcdcd97348630ca8e6
+size 35792

project.godot

@@ -0,0 +1,28 @@
+; Engine configuration file.
+; It's best edited using the editor UI and not directly,
+; since the parameters that go here are not all obvious.
+;
+; Format:
+;   [section] ; section goes between []
+;   param=value ; assign values to parameters
+
+config_version=5
+
+[application]
+
+config/name="MultiLevelRobotEnv"
+run/main_scene="res://training_scene/training_scene.tscn"
+config/features=PackedStringArray("4.2", "C#", "Forward Plus")
+config/icon="res://icon.svg"
+
+[dotnet]
+
+project/assembly_name="RobotEnv"
+
+[editor_plugins]
+
+enabled=PackedStringArray("res://addons/godot_rl_agents/plugin.cfg")
+
+[physics]
+
+3d/solver/solver_iterations=10

readme.md

@@ -0,0 +1,41 @@
+## Multilevel Robot Environment
+
+A simple minigame environment with multiple mini-levels for the robot to pass.
+For levels that feature coins, all coins must be picked up before proceeding to the next level is possible.
+The final level features some enemy robots to avoid.
+
+### Observations:
+- Current n_steps / reset_after,
+- Position of the current level's goal in the robot's local reference,
+- Position of the closest coin in the robot's local reference,
+- Position of the closest enemy in the robot's local reference,
+- Movement direction of the closest enemy,
+- Robot velocity,
+- Whether all coins for the current level have been collected (0 or 1)
+
+### Action space:
+```gdscript
+func get_action_space() -> Dictionary:
+	return {
+		"movement" : {
+			"size": 2,
+			"action_type": "continuous"
+		}
+		}
+```
+
+### Rewards:
+- Positive reward for picking up a coin,
+- Negative reward (and episode end) on collision with enemy robot,
+- Negative reward (and episode end) on robot falling down,
+- Positive reward (and episode end) on robot reaching the end of the level by passing through the portal at the end of the level,
+- Positive reward every time the robot gets closer to the portal than the previous minimum distance (min distance is restarted each episode).
+
+### Game over / episode end conditions:
+An episode ends if the robot falls, collides with an enemy robot or finishes a level by passing through the portal.
+
+### Running inference with the pretrained onnx model:
+After opening the project in Godot, open the training_scene and click on `Run Current Scene` or press `F6`
+
+### Training:
+The default scene (training_scene) can be used for training.

scenes/game_scene/camera3d.gd

@@ -0,0 +1,6 @@
+extends Camera3D
+@export var robot: Robot
+
+
+func _physics_process(_delta):
+	global_position.z = robot.global_position.z

scenes/game_scene/game_scene.tscn

@@ -0,0 +1,23 @@
+[gd_scene load_steps=4 format=3 uid="uid://bsp37y3hehf5y"]
+
+[ext_resource type="PackedScene" uid="uid://bxcp6s8r0wtrv" path="res://scenes/level/level_manager.tscn" id="1_abkah"]
+[ext_resource type="PackedScene" uid="uid://3gt386v3b1ej" path="res://scenes/robot/robot.tscn" id="2_au3n6"]
+[ext_resource type="Script" path="res://scenes/game_scene/camera3d.gd" id="3_mlkq4"]
+
+[node name="GameScene" type="Node3D"]
+
+[node name="LevelManager" parent="." node_paths=PackedStringArray("robot") instance=ExtResource("1_abkah")]
+robot = NodePath("../Node3D/Robot")
+
+[node name="Node3D" type="Node3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.222733, -100.474)
+
+[node name="Robot" parent="Node3D" node_paths=PackedStringArray("level_manager") instance=ExtResource("2_au3n6")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.358, 2.013, 0)
+level_manager = NodePath("../../LevelManager")
+
+[node name="Camera3D" type="Camera3D" parent="Node3D" node_paths=PackedStringArray("robot")]
+transform = Transform3D(0.00349064, -0.689615, 0.724168, 0, 0.724172, 0.68962, -0.999994, -0.00240721, 0.00252782, 15.548, 15.428, 0)
+fov = 76.8
+script = ExtResource("3_mlkq4")
+robot = NodePath("../Robot")

scenes/level/coin.gd

@@ -0,0 +1,7 @@
+extends Node3D
+class_name Coin
+
+var coin_rotation_speed := 1.5
+
+func _physics_process(delta):
+	rotate_y(coin_rotation_speed * delta)

scenes/level/enemy.gd

@@ -0,0 +1,27 @@
+extends Node3D
+class_name Enemy
+
+var speed: float = 5.0
+var movement_direction: int = 1
+var rotation_speed: float = 10.0
+
+var wheels: Array[Node3D]
+
+
+func _init():
+	wheels.append(find_child("Wheels*"))
+
+
+func _physics_process(delta):
+	global_position += (-global_basis.z * speed * delta)
+	update_wheels_and_visual_rotation(delta)
+
+
+func on_wall_hit(_wall):
+	movement_direction = -movement_direction
+	rotate_y(PI)
+
+
+func update_wheels_and_visual_rotation(delta):
+	for wheel in wheels:
+		wheel.rotate_object_local(Vector3.LEFT, speed * delta)

scenes/level/level_goal.tscn

@@ -0,0 +1,13 @@
+[gd_scene load_steps=2 format=3 uid="uid://80hnrx1b7044"]
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_pujb7"]
+size = Vector3(12, 24, 12)
+
+[node name="LevelGoal" type="Area3D"]
+transform = Transform3D(0.2, 0, 0, 0, 0.2, 0, 0, 0, 0.2, 0, 0, 0)
+collision_mask = 0
+monitoring = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 5.5, 0)
+shape = SubResource("BoxShape3D_pujb7")

scenes/level/level_manager.gd

@@ -0,0 +1,139 @@
+extends Node3D
+class_name LevelManager
+
+@export var robot: Robot
+@export var level_goal_scene: PackedScene
+
+@onready var levels = get_children()
+
+var coins_in_level: Array[Array]
+var active_coins_in_level_count: Array[int]
+var enemies: Array[Enemy]
+
+var level_start_points: Array
+var level_goals: Array
+
+
+func _ready():
+	for node in find_children("Coin_*", "MeshInstance3D"):
+		node.set_script(Coin)
+		node.set_physics_process(true)
+
+
+	level_start_points.resize(levels.size())
+	level_goals.resize(levels.size())
+	active_coins_in_level_count.resize(levels.size())
+	active_coins_in_level_count.fill(0)
+	coins_in_level.resize(levels.size())
+
+	for level_id in range(0, levels.size()):
+		var start_node = levels[level_id].find_child("Start*")
+		level_start_points[level_id] = start_node.get_children()
+		var end_node = levels[level_id].find_child("End*")
+		level_goals[level_id] = end_node.get_children()
+		for goal in level_goals[level_id]:
+			var level_goal_area = level_goal_scene.instantiate()
+			goal.add_child(level_goal_area)
+			goal.visible = false
+			level_goal_area.position = Vector3.ZERO
+		var coins = levels[level_id].find_child("Coins*")
+		if coins:
+			active_coins_in_level_count[level_id] = coins.get_child_count()
+			for node in coins.get_children():
+				var coin = node as MeshInstance3D
+				var coin_area = Area3D.new()
+				var coin_area_shape = CollisionShape3D.new()
+				coin_area_shape.shape = SphereShape3D.new()
+				coin_area.add_child(coin_area_shape)
+				coin_area.monitorable = true
+				coin_area.set_collision_layer_value(1, false)
+				coin_area.set_collision_layer_value(2, true)
+				var coin_parent = coin.get_parent()
+				coin_parent.add_child(coin_area)
+				coin_area.global_position = coin.global_position
+				coin.reparent(coin_area)
+				if not coins_in_level[level_id]:
+					coins_in_level[level_id] = []
+				coins_in_level[level_id].append(coin_area)
+
+		var enemy_parent = levels[level_id].find_child("Enemies*") as Node3D
+		if enemy_parent:
+			for enemy in enemy_parent.get_children():
+				enemy = enemy as Node3D
+				var enemy_area = Area3D.new()
+				var enemy_area_shape = CollisionShape3D.new()
+				enemy_area_shape.shape = SphereShape3D.new()
+				enemy_area.add_child(enemy_area_shape)
+				enemy_area.monitorable = true
+				enemy_area.monitoring = true
+				enemy_area.set_collision_layer_value(1, false)
+				enemy_area.set_collision_layer_value(4, true)
+				enemy_area.set_collision_mask_value(1, true)
+				enemy.set_script(Enemy)
+				enemy.set_physics_process(true)
+				enemy.add_child(enemy_area)
+				enemy_area.connect("body_entered", enemy.on_wall_hit)
+				enemies.append(enemy)
+
+
+func randomize_goal(level_id: int):
+	var active_goal_id = randi_range(0, level_goals[level_id].size() - 1)
+	for goal_id in range(0, level_goals[level_id].size()):
+		var goal = level_goals[level_id][goal_id]
+		if goal_id == active_goal_id:
+			goal.visible = true
+			goal.process_mode = Node.PROCESS_MODE_INHERIT
+		else:
+			goal.visible = false
+			goal.process_mode = Node.PROCESS_MODE_DISABLED
+	return level_goals[level_id][active_goal_id].global_transform
+
+
+func get_closest_enemy(from_global_position: Vector3):
+	var closest_enemy: Enemy
+	var smallest_distance: float = INF
+	for enemy in enemies:
+		var distance: float = enemy.global_position.distance_to(from_global_position)
+		if distance < smallest_distance:
+			smallest_distance = distance
+			closest_enemy = enemy
+	return closest_enemy
+
+
+func get_closest_active_coin(from_global_position: Vector3, level: int):
+	var closest_coin: Area3D
+	var smallest_distance: float = INF
+	for coin in coins_in_level[level]:
+		if coin.visible == false:
+			continue
+		var distance: float = coin.global_position.distance_to(from_global_position)
+		if distance < smallest_distance:
+			smallest_distance = distance
+			closest_coin = coin
+	return closest_coin
+
+
+func deactivate_coin(coin: Area3D, current_level: int):
+	active_coins_in_level_count[current_level] -= 1
+	coin.set_deferred("monitorable", false)
+	coin.visible = false
+	coin.process_mode = Node.PROCESS_MODE_DISABLED
+
+
+func check_all_coins_collected(current_level: int) -> bool:
+	return active_coins_in_level_count[current_level] == 0
+
+
+func reset_coins(current_level: int):
+	var coins: Array = coins_in_level[current_level]
+	for coin in coins:
+		if not coin.visible:
+			coin.set_deferred("monitorable", true)
+			coin.visible = true
+			coin.process_mode = Node.PROCESS_MODE_INHERIT
+	active_coins_in_level_count[current_level] = coins.size()
+
+
+func get_spawn_position(level: int) -> Vector3:
+	var start_points: Array[Node] = level_start_points[min(level, levels.size() - 1)]
+	return start_points.pick_random().global_position

scenes/level/level_manager.tscn

@@ -0,0 +1,126 @@
+[gd_scene load_steps=20 format=3 uid="uid://bxcp6s8r0wtrv"]
+
+[ext_resource type="Script" path="res://scenes/level/level_manager.gd" id="1_oxntu"]
+[ext_resource type="PackedScene" uid="uid://80hnrx1b7044" path="res://scenes/level/level_goal.tscn" id="2_3sw7s"]
+[ext_resource type="PackedScene" uid="uid://3cv3ug8eqq5g" path="res://blender/level1.blend" id="2_cvyct"]
+[ext_resource type="PackedScene" uid="uid://bj3h1gfvjx4o3" path="res://blender/level2.blend" id="3_45u06"]
+[ext_resource type="PackedScene" uid="uid://bgxwkjg6h2hsg" path="res://blender/level3.blend" id="4_gacmy"]
+[ext_resource type="PackedScene" uid="uid://chdhm660dxkc2" path="res://blender/level4.blend" id="5_ujbu2"]
+[ext_resource type="PackedScene" uid="uid://bkx03yluwo37t" path="res://blender/level5.blend" id="6_b5l34"]
+[ext_resource type="PackedScene" uid="uid://1e8aj3ofbxor" path="res://blender/level6.blend" id="7_kgnb3"]
+[ext_resource type="PackedScene" uid="uid://cxvcclen623pg" path="res://blender/level7.blend" id="8_hc0fw"]
+[ext_resource type="PackedScene" uid="uid://iwcxg7id188g" path="res://blender/level8.blend" id="9_mgkso"]
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_pjtgt"]
+size = Vector3(20, 1.16858, 4)
+
+[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_e57tg"]
+points = PackedVector3Array(-1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, 1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918)
+
+[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_swuxu"]
+points = PackedVector3Array(-1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, 1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918)
+
+[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_a6rin"]
+points = PackedVector3Array(-1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, 1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918)
+
+[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_o2xrm"]
+points = PackedVector3Array(-1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, 1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918)
+
+[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_7r61w"]
+points = PackedVector3Array(-1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, 1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918)
+
+[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_0n41c"]
+points = PackedVector3Array(-1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, 1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918)
+
+[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_fdcwt"]
+points = PackedVector3Array(-1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, 1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918)
+
+[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_oqnta"]
+points = PackedVector3Array(-1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, 1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918, 1.3918, -1.3918, -1.3918, 1.3918, 1.3918, 1.3918, -1.3918, -1.3918)
+
+[node name="LevelManager" type="Node3D"]
+script = ExtResource("1_oxntu")
+level_goal_scene = ExtResource("2_3sw7s")
+
+[node name="level1" parent="." instance=ExtResource("2_cvyct")]
+
+[node name="level2" parent="." instance=ExtResource("3_45u06")]
+
+[node name="level3" parent="." instance=ExtResource("4_gacmy")]
+
+[node name="ConveyorBelt" type="Area3D" parent="level3"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.06282, -50.1)
+collision_layer = 4
+collision_mask = 0
+monitoring = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="level3/ConveyorBelt"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.380676, 0)
+shape = SubResource("BoxShape3D_pjtgt")
+
+[node name="ConveyorBelt2" type="Area3D" parent="level3"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.06282, -56.3)
+collision_layer = 4
+collision_mask = 0
+monitoring = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="level3/ConveyorBelt2"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.380676, 0)
+shape = SubResource("BoxShape3D_pjtgt")
+
+[node name="ConveyorBelt3" type="Area3D" parent="level3"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.06282, -62.3)
+collision_layer = 4
+collision_mask = 0
+monitoring = false
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="level3/ConveyorBelt3"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.380676, 0)
+shape = SubResource("BoxShape3D_pjtgt")
+
+[node name="level4" parent="." instance=ExtResource("5_ujbu2")]
+
+[node name="level5" parent="." instance=ExtResource("6_b5l34")]
+
+[node name="level6" parent="." instance=ExtResource("7_kgnb3")]
+
+[node name="level7" parent="." instance=ExtResource("8_hc0fw")]
+
+[node name="StaticBody3D" type="StaticBody3D" parent="level7"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.5, -237)
+
+[node name="CollisionShape3D2" type="CollisionShape3D" parent="level7/StaticBody3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4.4, 2, 4.23811)
+shape = SubResource("ConvexPolygonShape3D_e57tg")
+
+[node name="CollisionShape3D3" type="CollisionShape3D" parent="level7/StaticBody3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 1.6, 2, 4.23811)
+shape = SubResource("ConvexPolygonShape3D_swuxu")
+
+[node name="CollisionShape3D4" type="CollisionShape3D" parent="level7/StaticBody3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1.2, 2, 4.23811)
+shape = SubResource("ConvexPolygonShape3D_a6rin")
+
+[node name="CollisionShape3D5" type="CollisionShape3D" parent="level7/StaticBody3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 2, 4.23811)
+shape = SubResource("ConvexPolygonShape3D_o2xrm")
+
+[node name="CollisionShape3D6" type="CollisionShape3D" parent="level7/StaticBody3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -4, 2, -2.0619)
+shape = SubResource("ConvexPolygonShape3D_7r61w")
+
+[node name="CollisionShape3D7" type="CollisionShape3D" parent="level7/StaticBody3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 4.4, 2, -2.0619)
+shape = SubResource("ConvexPolygonShape3D_0n41c")
+
+[node name="CollisionShape3D8" type="CollisionShape3D" parent="level7/StaticBody3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 1.6, 2, -2.08191)
+shape = SubResource("ConvexPolygonShape3D_fdcwt")
+
+[node name="CollisionShape3D9" type="CollisionShape3D" parent="level7/StaticBody3D"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1.2, 2, -2.0619)
+shape = SubResource("ConvexPolygonShape3D_oqnta")
+
+[node name="level8" parent="." instance=ExtResource("9_mgkso")]
+
+[editable path="level8"]

scenes/robot/RobotAIController.gd

@@ -0,0 +1,104 @@
+extends AIController3D
+class_name RobotAIController
+
+@onready var robot: Robot = get_parent()
+@onready var sensors: Array[Node] = $"../Sensors".get_children()
+@onready var level_manager = robot.level_manager
+
+var closest_goal_position
+
+func reset():
+	super.reset()
+	closest_goal_position = xz_distance(robot.global_position,
+	robot.current_goal_transform.origin)
+
+func _physics_process(_delta):
+	n_steps += 1
+	if n_steps > reset_after:
+		needs_reset = true
+		done = true
+		reward -= 1
+		
+func get_obs() -> Dictionary:
+	var velocity: Vector3 = robot.get_real_velocity().limit_length(20.0) / 20.0
+	
+	var current_goal_position: Vector3 = robot.current_goal_transform.origin
+	var local_goal_position = robot.to_local(current_goal_position).limit_length(40.0) / 40.0
+	
+	var closest_coin = level_manager.get_closest_active_coin(robot.global_position, robot.current_level)
+	var closest_coin_position: Vector3 = Vector3.ZERO
+	
+	if closest_coin:
+		closest_coin_position = robot.to_local(closest_coin.global_position)
+		if closest_coin_position.length() > 30.0:
+			closest_coin_position = Vector3.ZERO
+
+	var closest_enemy: Enemy = level_manager.get_closest_enemy(robot.global_position)
+	var closest_enemy_position: Vector3 = Vector3.ZERO
+	var closest_enemy_direction: float = 0.0
+	
+	if closest_enemy:
+		closest_enemy_position = robot.to_local(closest_enemy.global_position)
+		closest_enemy_direction = float(closest_enemy.movement_direction)
+		if closest_enemy_position.length() > 30.0:
+			closest_enemy_position = Vector3.ZERO
+			closest_enemy_direction = 0.0
+		
+		
+	var observations: Array[float] = [
+		float(n_steps) / reset_after,
+		local_goal_position.x,
+		local_goal_position.y,
+		local_goal_position.z,
+		closest_coin_position.x,
+		closest_coin_position.y,
+		closest_coin_position.z,
+		closest_enemy_position.x,
+		closest_enemy_position.y,
+		closest_enemy_position.z,
+		closest_enemy_direction,
+		velocity.x,
+		velocity.y,
+		velocity.z,
+		float(robot.level_manager.check_all_coins_collected(robot.current_level))
+	]
+	observations.append_array(get_raycast_sensor_obs())
+	
+	return {"obs": observations}
+	
+func xz_distance(vector1: Vector3, vector2: Vector3):
+	var vec1_xz := Vector2(vector1.x, vector1.z)
+	var vec2_xz := Vector2(vector2.x, vector2.z)
+	return vec1_xz.distance_to(vec2_xz) 
+
+func get_reward() -> float:	
+	var current_goal_position = xz_distance(robot.global_position,
+	robot.current_goal_transform.origin)
+	
+	if not closest_goal_position:
+		closest_goal_position = current_goal_position
+		
+	if current_goal_position < closest_goal_position:
+		reward += (closest_goal_position - current_goal_position) / 10.0
+		closest_goal_position = current_goal_position	
+	return reward
+	
+func get_action_space() -> Dictionary:
+	return {
+		"movement" : {
+			"size": 2,
+			"action_type": "continuous"
+		}
+		}
+	
+func set_action(action) -> void:	
+	robot.requested_movement = Vector3(
+		clampf(action.movement[0], -1.0, 1.0), 
+		0.0, 
+		clampf(action.movement[1], -1.0, 1.0)).limit_length(1.0)
+
+func get_raycast_sensor_obs():
+	var all_raycast_sensor_obs: Array[float] = []
+	for raycast_sensor in sensors:
+		all_raycast_sensor_obs.append_array(raycast_sensor.get_observation())
+	return all_raycast_sensor_obs