diff --git a/.gitattributes b/.gitattributes
index 28df5f900b358436f0267334b3e3e9af33f917ba..4b3a342bdf0091fb7298ae4a9427c6b6fd5e4047 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -53,3 +53,31 @@ 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/ItemSortingCart.exe filter=lfs diff=lfs merge=lfs -text
+bin/ItemSortingCart.pck filter=lfs diff=lfs merge=lfs -text
+bin/ItemSortingCart.x86_64 filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/GodotSharp.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/Microsoft.CSharp.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/Microsoft.DiaSymReader.Native.amd64.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/Microsoft.VisualBasic.Core.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/System.Data.Common.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/System.Linq.Expressions.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/System.Net.Http.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/System.Private.CoreLib.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/System.Private.DataContractSerialization.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/System.Private.Xml.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/System.Reflection.Metadata.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/System.Text.Json.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/clrjit.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/coreclr.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/libclrjit.so filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/libcoreclr.so filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/libmscordaccore.so filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/libmscordbi.so filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/libonnxruntime.so filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/mscordaccore.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/mscordaccore_amd64_amd64_6.0.2523.51912.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/mscordbi.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/onnxruntime.dll filter=lfs diff=lfs merge=lfs -text
+bin/data_CartExamples_x86_64/ucrtbase.dll filter=lfs diff=lfs merge=lfs -text
+scenes/static_decorations/static_decorations.blend filter=lfs diff=lfs merge=lfs -text
diff --git a/CartExamples.csproj b/CartExamples.csproj
new file mode 100644
index 0000000000000000000000000000000000000000..e81c953c058f1bc7baf6171c61980dc534e3f3a1
--- /dev/null
+++ b/CartExamples.csproj
@@ -0,0 +1,10 @@
+
+
+ net6.0
+ true
+ GodotRLAgents
+
+
+
+
+
\ No newline at end of file
diff --git a/CartExamples.csproj.old b/CartExamples.csproj.old
new file mode 100644
index 0000000000000000000000000000000000000000..aa619ca7580f436f4658d13c1e66aa17ce66cc03
--- /dev/null
+++ b/CartExamples.csproj.old
@@ -0,0 +1,10 @@
+
+
+ net6.0
+ true
+ GodotRLAgents
+
+
+
+
+
\ No newline at end of file
diff --git a/CartExamples.sln b/CartExamples.sln
new file mode 100644
index 0000000000000000000000000000000000000000..38b94dc01588512c23dc16daa72da4423a06c22c
--- /dev/null
+++ b/CartExamples.sln
@@ -0,0 +1,19 @@
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2012
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "CartExamples", "CartExamples.csproj", "{E883D553-AA7C-4CD8-9C89-A966186B3776}"
+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
+ {E883D553-AA7C-4CD8-9C89-A966186B3776}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+ {E883D553-AA7C-4CD8-9C89-A966186B3776}.Debug|Any CPU.Build.0 = Debug|Any CPU
+ {E883D553-AA7C-4CD8-9C89-A966186B3776}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU
+ {E883D553-AA7C-4CD8-9C89-A966186B3776}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU
+ {E883D553-AA7C-4CD8-9C89-A966186B3776}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU
+ {E883D553-AA7C-4CD8-9C89-A966186B3776}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU
+ EndGlobalSection
+EndGlobal
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..f1a70306d3a4418a5d72a23c28d93f581e6b9f63
--- /dev/null
+++ b/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 ItemSortingCart 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_ItemSortingCart
+```
+
+
+
diff --git a/addons/godot_rl_agents/controller/ai_controller_2d.gd b/addons/godot_rl_agents/controller/ai_controller_2d.gd
new file mode 100644
index 0000000000000000000000000000000000000000..e9080f0115c0729a12ace5f712c9e41e7ed252e4
--- /dev/null
+++ b/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
+
+
diff --git a/addons/godot_rl_agents/controller/ai_controller_3d.gd b/addons/godot_rl_agents/controller/ai_controller_3d.gd
new file mode 100644
index 0000000000000000000000000000000000000000..d256b2acf9697d69b7b9fc31f5b0a0c708c7e2ae
--- /dev/null
+++ b/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
diff --git a/addons/godot_rl_agents/godot_rl_agents.gd b/addons/godot_rl_agents/godot_rl_agents.gd
new file mode 100644
index 0000000000000000000000000000000000000000..e4fe13693a598c808aca1b64051d1c0c70783296
--- /dev/null
+++ b/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")
diff --git a/addons/godot_rl_agents/icon.png b/addons/godot_rl_agents/icon.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccb4ca000e3e1cf659fe367ab5bff67c1eb3467d
--- /dev/null
+++ b/addons/godot_rl_agents/icon.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3a8bc372d3313ce1ede4e7554472e37b322178b9488bfb709e296585abd3c44
+size 198
diff --git a/addons/godot_rl_agents/icon.png.import b/addons/godot_rl_agents/icon.png.import
new file mode 100644
index 0000000000000000000000000000000000000000..484135b3f2fd4db2396f041e69a0879128f9a734
--- /dev/null
+++ b/addons/godot_rl_agents/icon.png.import
@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://w5slviv77m7y"
+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/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+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
diff --git a/addons/godot_rl_agents/onnx/csharp/ONNXInference.cs b/addons/godot_rl_agents/onnx/csharp/ONNXInference.cs
new file mode 100644
index 0000000000000000000000000000000000000000..0741f0f263f34fffc44993e2b11a7544b0384ca1
--- /dev/null
+++ b/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
+{
+ ///
+ public partial class ONNXInference : GodotObject
+ {
+
+ private InferenceSession session;
+ ///
+ /// Path to the ONNX model. Use Initialize to change it.
+ ///
+ private string modelPath;
+ private int batchSize;
+
+ private SessionOptions SessionOpt;
+
+ //init function
+ ///
+ public void Initialize(string Path, int BatchSize)
+ {
+ modelPath = Path;
+ batchSize = BatchSize;
+ SessionOpt = SessionConfigurator.MakeConfiguredSessionOptions();
+ session = LoadModel(modelPath);
+
+ }
+ ///
+ public Godot.Collections.Dictionary> RunInference(Godot.Collections.Array 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 inputs = new List
+ {
+ NamedOnnxValue.CreateFromTensor("obs", new DenseTensor(span, new int[] { batchSize, obs.Count })),
+ NamedOnnxValue.CreateFromTensor("state_ins", new DenseTensor(new float[] { state_ins }, new int[] { batchSize }))
+ };
+ IReadOnlyCollection outputNames = new List { "output", "state_outs" }; //ONNX is sensible to these names, as well as the input names
+
+ IDisposableReadOnlyCollection 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 to Variant, so we have to convert it to an array or something
+ Godot.Collections.Dictionary> output = new Godot.Collections.Dictionary>();
+ DisposableNamedOnnxValue output1 = results.First();
+ DisposableNamedOnnxValue output2 = results.Last();
+ Godot.Collections.Array output1Array = new Godot.Collections.Array();
+ Godot.Collections.Array output2Array = new Godot.Collections.Array();
+
+ foreach (float f in output1.AsEnumerable())
+ {
+ output1Array.Add(f);
+ }
+
+ foreach (float f in output2.AsEnumerable())
+ {
+ 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;
+ }
+ ///
+ 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();
+ }
+ }
+}
diff --git a/addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs b/addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs
new file mode 100644
index 0000000000000000000000000000000000000000..ad7a41cfee0dc3d497d9c1d03bd0752b09d49f3a
--- /dev/null
+++ b/addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs
@@ -0,0 +1,131 @@
+using Godot;
+using Microsoft.ML.OnnxRuntime;
+
+namespace GodotONNX
+{
+ ///
+
+ public static class SessionConfigurator
+ {
+ public enum ComputeName
+ {
+ CUDA,
+ ROCm,
+ DirectML,
+ CoreML,
+ CPU
+ }
+
+ ///
+ 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);
+ }
+
+ ///
+ 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;
+ }
+ */
+ }
+
+
+ ///
+ 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;
+ }
+ }
+}
diff --git a/addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml b/addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml
new file mode 100644
index 0000000000000000000000000000000000000000..91b07d607dc89f11e957e13758d8c0ee4fb72be8
--- /dev/null
+++ b/addons/godot_rl_agents/onnx/csharp/docs/ONNXInference.xml
@@ -0,0 +1,31 @@
+
+
+
+
+ The main ONNXInference Class that handles the inference process.
+
+
+
+
+ Starts the inference process.
+
+ Path to the ONNX model, expects a path inside resources.
+ How many observations will the model recieve.
+
+
+
+ Runs the given input through the model and returns the output.
+
+ Dictionary containing all observations.
+ How many different agents are creating these observations.
+ A Dictionary of arrays, containing instructions based on the observations.
+
+
+
+ Loads the given model into the inference process, using the best Execution provider available.
+
+ Path to the ONNX model, expects a path inside resources.
+ InferenceSession ready to run.
+
+
+
\ No newline at end of file
diff --git a/addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml b/addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f160c02f0d4cab92e10f799b6f4c5a71d4d6c0f2
--- /dev/null
+++ b/addons/godot_rl_agents/onnx/csharp/docs/SessionConfigurator.xml
@@ -0,0 +1,29 @@
+
+
+
+
+ The main SessionConfigurator Class that handles the execution options and providers for the inference process.
+
+
+
+
+ Creates a SessionOptions with all available execution providers.
+
+ SessionOptions with all available execution providers.
+
+
+
+ Appends any execution provider available in the current system.
+
+
+ This function is mainly verbose for tracking implementation progress of different compute APIs.
+
+
+
+
+ Checks for available GPUs.
+
+ An integer identifier for each compute platform.
+
+
+
\ No newline at end of file
diff --git a/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd b/addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd
new file mode 100644
index 0000000000000000000000000000000000000000..c7b14b350db11cb32f433e6b6cff6470d6cda7cf
--- /dev/null
+++ b/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()
diff --git a/addons/godot_rl_agents/plugin.cfg b/addons/godot_rl_agents/plugin.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..b1bc988c80e3fe68e6d4279691fd5892e5ef323d
--- /dev/null
+++ b/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"
diff --git a/addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn b/addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..5edb6c7fc9da56e625d57185bdbafdbcc3fc67c5
--- /dev/null
+++ b/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")
diff --git a/addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..12f29570b72916d60a6bae6fc2fb0a9ddbcd0be2
--- /dev/null
+++ b/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)
diff --git a/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..ec20f08a8d37cf1232fc12d8ee4f23b5ba845602
--- /dev/null
+++ b/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
diff --git a/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..09363c409f59b0ef1d68131b77c0a2cba71805d8
--- /dev/null
+++ b/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
+
+
+
diff --git a/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn b/addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..5ca402c08305efedbfc6afd0a1893a0ca2e11cfd
--- /dev/null
+++ b/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
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..a8057c7619cbb835709d2704074b0d5ebfa00a0c
--- /dev/null
+++ b/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)
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..cfce8a84b57661c40662f7b2d53ea5243da54b7e
--- /dev/null
+++ b/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)
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..d57503b5006e9384c4a9ce7de348d74a5b58d322
--- /dev/null
+++ b/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
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..959bc5a7e07b09a526e52671d91dee30813da962
--- /dev/null
+++ b/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]
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..052b5577db16ab7d25f5f473a539b3099f400db8
--- /dev/null
+++ b/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
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd
new file mode 100644
index 0000000000000000000000000000000000000000..ab701d982b0381b41e528cf1218e13fc0269d3ce
--- /dev/null
+++ b/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 = 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
diff --git a/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn b/addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..35f9796596b2fb79bfcfe31e3d3a9637d9008e55
--- /dev/null
+++ b/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)
diff --git a/addons/godot_rl_agents/sync.gd b/addons/godot_rl_agents/sync.gd
new file mode 100644
index 0000000000000000000000000000000000000000..b25f44f6fd0b16f60e25b7eaea4014f0be7cf19a
--- /dev/null
+++ b/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
diff --git a/bin/ItemSortingCart.console.exe b/bin/ItemSortingCart.console.exe
new file mode 100644
index 0000000000000000000000000000000000000000..6812efef0c56973a0e6383bfc2dafb256aaf7f5d
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diff --git a/bin/ItemSortingCart.exe b/bin/ItemSortingCart.exe
new file mode 100644
index 0000000000000000000000000000000000000000..62761e27dbebeb81e784fabf62399c91697ef02a
--- /dev/null
+++ b/bin/ItemSortingCart.exe
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de407f42a3db0dece9ff075b69219a30493b90c67f0a14bc450b414fba39125
+size 71425536
diff --git a/bin/ItemSortingCart.pck b/bin/ItemSortingCart.pck
new file mode 100644
index 0000000000000000000000000000000000000000..74c01ee16378feea96b3a19481f614d2648d2bba
--- /dev/null
+++ b/bin/ItemSortingCart.pck
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6610d6aa2628fab9fc77ba108da56787ef71ea731be5f07dab713051b02fdf29
+size 1267120
diff --git a/bin/ItemSortingCart.sh b/bin/ItemSortingCart.sh
new file mode 100644
index 0000000000000000000000000000000000000000..4e43554b5065b38f6add74ac13f22c59c8be5623
--- /dev/null
+++ b/bin/ItemSortingCart.sh
@@ -0,0 +1,4 @@
+#!/bin/sh
+echo -ne '\033c\033]0;ItemSortingCartExample\a'
+base_path="$(dirname "$(realpath "$0")")"
+"$base_path/ItemSortingCart.x86_64" "$@"
diff --git a/bin/ItemSortingCart.x86_64 b/bin/ItemSortingCart.x86_64
new file mode 100644
index 0000000000000000000000000000000000000000..f57aa307e5048204663004352aa7653ff26ad383
--- /dev/null
+++ b/bin/ItemSortingCart.x86_64
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:843a1e5f8df1e6b2fe57ff86ca637436c7e1216f8409f2b079090c373548e86f
+size 72784744
diff --git a/bin/data_CartExamples_x86_64/CartExamples.deps.json b/bin/data_CartExamples_x86_64/CartExamples.deps.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5a4e376da46886e291539e6072f31176afcca36
--- /dev/null
+++ b/bin/data_CartExamples_x86_64/CartExamples.deps.json
@@ -0,0 +1,1074 @@
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+Unregister-ScheduledTask -TaskName godot_remote_debug -Confirm:$false -ErrorAction:SilentlyContinue"
+ssh_remote_deploy/cleanup_script="Stop-ScheduledTask -TaskName godot_remote_debug -ErrorAction:SilentlyContinue
+Unregister-ScheduledTask -TaskName godot_remote_debug -Confirm:$false -ErrorAction:SilentlyContinue
+Remove-Item -Recurse -Force '{temp_dir}'"
+dotnet/include_scripts_content=false
+dotnet/include_debug_symbols=true
diff --git a/icon.svg b/icon.svg
new file mode 100644
index 0000000000000000000000000000000000000000..adc26df6c2cd666478b85216d4a6d93f61680cb7
--- /dev/null
+++ b/icon.svg
@@ -0,0 +1 @@
+
diff --git a/icon.svg.import b/icon.svg.import
new file mode 100644
index 0000000000000000000000000000000000000000..693ae17549a72ec612d795e9920fd07400ccf621
--- /dev/null
+++ b/icon.svg.import
@@ -0,0 +1,37 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://bdbma1o1qb1i2"
+path="res://.godot/imported/icon.svg-218a8f2b3041327d8a5756f3a245f83b.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://icon.svg"
+dest_files=["res://.godot/imported/icon.svg-218a8f2b3041327d8a5756f3a245f83b.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+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
+svg/scale=1.0
+editor/scale_with_editor_scale=false
+editor/convert_colors_with_editor_theme=false
diff --git a/onnx/model.onnx b/onnx/model.onnx
new file mode 100644
index 0000000000000000000000000000000000000000..253d90af03a403bbf089a481141666f841df5c22
--- /dev/null
+++ b/onnx/model.onnx
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:444fd302e4bcbb5f3a8959034b0a5c5a973a5edf911ce3a2fd716b4032e2f1e8
+size 21961
diff --git a/project.godot b/project.godot
new file mode 100644
index 0000000000000000000000000000000000000000..bd4b40d01d66490b694217e66f266ac04ed927e2
--- /dev/null
+++ b/project.godot
@@ -0,0 +1,25 @@
+; 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="ItemSortingCartExample"
+config/description="A RL example of a cart that sorts items by category."
+run/main_scene="res://scenes/batch_scene.tscn"
+config/features=PackedStringArray("4.1", "C#", "Forward Plus")
+config/icon="res://icon.svg"
+
+[dotnet]
+
+project/assembly_name="CartExamples"
+
+[editor_plugins]
+
+enabled=PackedStringArray("res://addons/godot_rl_agents/plugin.cfg")
diff --git a/readme-license.md b/readme-license.md
new file mode 100644
index 0000000000000000000000000000000000000000..7ab235a5cd71d48251bedfc89cb0a9de79257dba
--- /dev/null
+++ b/readme-license.md
@@ -0,0 +1,5 @@
+Item Sorting Cart Environment made by Ivan-267 using Godot, Godot RL Agents, and Blender.
+
+The following license is only for the assets (.png and .blend files) in the folder "scenes\static_decorations":
+Author: https://github.com/Ivan-267
+License: https://creativecommons.org/licenses/by/4.0/
\ No newline at end of file
diff --git a/scenes/Item.gd b/scenes/Item.gd
new file mode 100644
index 0000000000000000000000000000000000000000..8e39161557285f482c9ea7418be204491eed4f15
--- /dev/null
+++ b/scenes/Item.gd
@@ -0,0 +1,20 @@
+extends RigidBody3D
+class_name Item
+
+var item_category: int = 0
+
+@onready var material: StandardMaterial3D = $MeshInstance3D.get_active_material(0)
+@export var category_material: StandardMaterial3D
+@export var category2_material: StandardMaterial3D
+
+func set_category(category: int):
+ item_category = category
+ var color: Color
+
+ if category == 0:
+ color = category_material.albedo_color
+ else:
+ color = category2_material.albedo_color
+
+ color.a = 1
+ material.albedo_color = color
diff --git a/scenes/batch_scene.tscn b/scenes/batch_scene.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..a40207c783da9a3db443936f599f1e9a7253ec0f
--- /dev/null
+++ b/scenes/batch_scene.tscn
@@ -0,0 +1,151 @@
+[gd_scene load_steps=7 format=3 uid="uid://b4f2hcn0g5vjg"]
+
+[ext_resource type="PackedScene" uid="uid://ca6csk8y5nvuu" path="res://scenes/playing_area.tscn" id="1_niooi"]
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sync.gd" id="2_15xtr"]
+
+[sub_resource type="CameraAttributesPractical" id="CameraAttributesPractical_hfpel"]
+auto_exposure_enabled = true
+dof_blur_far_distance = 21.3
+dof_blur_amount = 0.3
+
+[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_g5l5s"]
+
+[sub_resource type="Sky" id="Sky_a413c"]
+sky_material = SubResource("ProceduralSkyMaterial_g5l5s")
+
+[sub_resource type="Environment" id="Environment_xy0xn"]
+background_mode = 2
+background_energy_multiplier = 1.2
+sky = SubResource("Sky_a413c")
+ssil_enabled = true
+volumetric_fog_enabled = true
+volumetric_fog_density = 0.01
+
+[node name="training_scene" type="Node3D"]
+
+[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
+transform = Transform3D(0.857167, 0.364187, -0.364187, 0, 0.707107, 0.707107, 0.515038, -0.606109, 0.606109, 0, 0, 0)
+shadow_enabled = true
+
+[node name="Camera3D" type="Camera3D" parent="."]
+transform = Transform3D(-4.37114e-08, 0.532876, -0.846193, 0, 0.846193, 0.532876, 1, 2.32928e-08, -3.69883e-08, -5.495, 4.285, 0)
+attributes = SubResource("CameraAttributesPractical_hfpel")
+fov = 93.0
+size = 65.0
+
+[node name="playing_area" parent="." instance=ExtResource("1_niooi")]
+
+[node name="playing_area2" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 30)
+
+[node name="playing_area3" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -30, 0, 0)
+
+[node name="playing_area4" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -30, 0, 30)
+
+[node name="playing_area5" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 60, 0, 0)
+
+[node name="playing_area6" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 60, 0, 30)
+
+[node name="playing_area7" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 30, 0, 0)
+
+[node name="playing_area8" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 30, 0, 30)
+
+[node name="playing_area9" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -60, 0, 0)
+
+[node name="playing_area10" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -60, 0, 30)
+
+[node name="playing_area11" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -90, 0, 0)
+
+[node name="playing_area12" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -90, 0, 30)
+
+[node name="playing_area13" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 60)
+
+[node name="playing_area14" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 90)
+
+[node name="playing_area15" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -30, 0, 60)
+
+[node name="playing_area16" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -30, 0, 90)
+
+[node name="playing_area17" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 60, 0, 60)
+
+[node name="playing_area18" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 60, 0, 90)
+
+[node name="playing_area19" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 30, 0, 60)
+
+[node name="playing_area20" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 30, 0, 90)
+
+[node name="playing_area21" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -60, 0, 60)
+
+[node name="playing_area22" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -60, 0, 90)
+
+[node name="playing_area23" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -90, 0, 60)
+
+[node name="playing_area24" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -90, 0, 90)
+
+[node name="playing_area25" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -60)
+
+[node name="playing_area26" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -30)
+
+[node name="playing_area27" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -30, 0, -60)
+
+[node name="playing_area28" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -30, 0, -30)
+
+[node name="playing_area29" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 60, 0, -60)
+
+[node name="playing_area30" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 60, 0, -30)
+
+[node name="playing_area31" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 30, 0, -60)
+
+[node name="playing_area32" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 30, 0, -30)
+
+[node name="playing_area33" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -60, 0, -60)
+
+[node name="playing_area34" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -60, 0, -30)
+
+[node name="playing_area35" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -90, 0, -60)
+
+[node name="playing_area36" parent="." instance=ExtResource("1_niooi")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -90, 0, -30)
+
+[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
+environment = SubResource("Environment_xy0xn")
+
+[node name="Sync" type="Node" parent="."]
+script = ExtResource("2_15xtr")
+control_mode = 2
+action_repeat = 15
+speed_up = 4
+onnx_model_path = "onnx/model.onnx"
diff --git a/scenes/cart/cart.gd b/scenes/cart/cart.gd
new file mode 100644
index 0000000000000000000000000000000000000000..f1cd32fdf351366185c38baa76d85bebdacfb969
--- /dev/null
+++ b/scenes/cart/cart.gd
@@ -0,0 +1,110 @@
+extends VehicleBody3D
+class_name Cart
+
+var acceleration : float = 350
+@onready var max_velocity = acceleration / mass * 40
+
+@onready var ai_controller: AIController3D = $AIController3D
+@export var destination: Node3D
+@export var destination2: Node3D
+
+@export var item: Item
+
+var requested_acceleration: float
+var initial_position: Vector3
+var times_restarted: int
+var item_collected: int
+
+func get_normalized_velocity():
+ return linear_velocity.normalized() * (linear_velocity.length() / max_velocity)
+
+func _ready():
+ initial_position = position
+ ai_controller.init(self)
+
+func reset():
+ item_collected = 0
+ times_restarted += 1
+
+ position = Vector3(0, 0, randf_range(-8, 8))
+ rotation = Vector3.ZERO
+
+ reset_item()
+
+ linear_velocity = Vector3.ZERO
+ angular_velocity = Vector3.ZERO
+ pass
+
+func reset_item():
+ var item_position : Vector3 = Vector3(0, 20, randf_range(-0.0, 0.0))
+ item.position = item_position
+ item.rotation = Vector3.ZERO
+ item.linear_velocity = Vector3.ZERO
+ item.angular_velocity = Vector3.ZERO
+ item.apply_central_force(Vector3(0.0, 0.0, randf_range(-70.0, 70.0)))
+ item.force_update_transform()
+ item.sleeping = false
+ item.set_category(randi_range(0, 1))
+
+func _physics_process(delta):
+ reset_if_needed()
+ update_reward()
+
+ if (ai_controller.heuristic != "human"):
+ engine_force = (requested_acceleration) * acceleration
+ else:
+ engine_force = (int(Input.is_key_pressed(KEY_UP)) - int(Input.is_key_pressed(KEY_DOWN))) * acceleration
+
+ restart_if_outside_boundaries()
+ pass
+
+func restart_if_outside_boundaries():
+ if (position.y < -2 or abs(position.z) > 10):
+ ai_controller.reward -= 1.0
+ ai_controller.needs_reset = true
+ ai_controller.done = true
+
+func reset_if_needed():
+ if ai_controller.needs_reset:
+ reset()
+ ai_controller.reset()
+
+## The reward function uses a simple form of curriculum learning, where initially
+## a shaped reward tells the agent to move toward the item horizontally until it collects it,
+## and after some episodes, only the sparse reward for collecting and delivering the item rewards.
+func update_reward():
+ if times_restarted < 50:
+ if not item_collected:
+ ai_controller.reward -= 0.00001 * (item.position.z - position.z)
+ else:
+ if item.item_category == 0:
+ ai_controller.reward -= 0.00001 * (destination.position.z - position.z)
+ else:
+ ai_controller.reward -= 0.00001 * (destination2.position.z - position.z)
+
+ if item_collected:
+ if (position.distance_to(destination.position) < destination.scale.z):
+ if item.item_category == 0:
+ ai_controller.reward += 1.0
+ else:
+ ai_controller.reward -= 1.0
+ reset_item()
+ elif (position.distance_to(destination2.position) < destination2.scale.z):
+ if item.item_category == 1:
+ ai_controller.reward += 1.0
+ else:
+ ai_controller.reward -= 1.0
+ reset_item()
+
+func _on_item_area_body_entered(body):
+ ai_controller.reward += 1.0
+ item_collected = 1
+
+func _on_item_area_body_exited(body):
+ item_collected = 0
+
+## If the item falls to the ground, gives a negative reward and resets the item
+func _on_item_body_entered(body: PhysicsBody3D):
+ if body.get_collision_layer_value(3):
+ ai_controller.reward -= 0.05
+ reset_item()
diff --git a/scenes/cart/cart.tscn b/scenes/cart/cart.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..84f1c4c1354e10af08b9e4a4a05b9c80aa7ae8bf
--- /dev/null
+++ b/scenes/cart/cart.tscn
@@ -0,0 +1,150 @@
+[gd_scene load_steps=16 format=3 uid="uid://cn2van3bgkmch"]
+
+[ext_resource type="Script" path="res://scenes/cart/cart.gd" id="1_6w181"]
+[ext_resource type="PackedScene" uid="uid://d3saly1xwj5s" path="res://scenes/cart/wheel.tscn" id="1_ey6do"]
+[ext_resource type="Script" path="res://scenes/cart/cart_ai_controller.gd" id="3_o8jpg"]
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_p6a1o"]
+size = Vector3(1.5, 0.2, 1)
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_d07im"]
+size = Vector3(1.5, 0.2, 0.6)
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_cl2od"]
+size = Vector3(0.6, 0.2, 0.6)
+
+[sub_resource type="BoxMesh" id="BoxMesh_ur0pq"]
+size = Vector3(1.5, 0.2, 1)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_raxde"]
+albedo_color = Color(1, 0.992157, 0, 1)
+
+[sub_resource type="BoxMesh" id="BoxMesh_mf11b"]
+size = Vector3(1.5, 0.2, 0.6)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_eep1v"]
+albedo_color = Color(1, 0.992157, 0, 1)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_2xcg7"]
+albedo_color = Color(1, 0.992157, 0, 1)
+
+[sub_resource type="BoxMesh" id="BoxMesh_wkajm"]
+size = Vector3(0.6, 0.2, 0.6)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_j26cr"]
+albedo_color = Color(1, 0.992157, 0, 1)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_duopw"]
+albedo_color = Color(1, 0.992157, 0, 1)
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_ibool"]
+size = Vector3(0.5, 0.355, 1)
+
+[node name="Cart" type="VehicleBody3D"]
+mass = 1000.0
+script = ExtResource("1_6w181")
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
+transform = Transform3D(1.31134e-07, 0, -1, 0, 1, 0, 1, 0, 1.31134e-07, -2.66454e-15, -0.4, -2.38419e-08)
+shape = SubResource("BoxShape3D_p6a1o")
+
+[node name="CollisionShape3D2" type="CollisionShape3D" parent="."]
+transform = Transform3D(1.31134e-07, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, 1.31134e-07, -5.73206e-15, 0.4, 0, -7.62955e-08)
+shape = SubResource("BoxShape3D_d07im")
+
+[node name="CollisionShape3D3" type="CollisionShape3D" parent="."]
+transform = Transform3D(1.31134e-07, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, 1.31134e-07, -5.73206e-15, -0.4, 0, 2.86118e-08)
+shape = SubResource("BoxShape3D_d07im")
+
+[node name="CollisionShape3D4" type="CollisionShape3D" parent="."]
+transform = Transform3D(-5.73206e-15, -1.31134e-07, -1, 1, -4.37114e-08, 0, -4.37114e-08, -1, 1.31134e-07, -8.52372e-08, 0, -0.65)
+shape = SubResource("BoxShape3D_cl2od")
+
+[node name="CollisionShape3D5" type="CollisionShape3D" parent="."]
+transform = Transform3D(-5.73206e-15, -1.31134e-07, -1, 1, -4.37114e-08, 0, -4.37114e-08, -1, 1.31134e-07, 8.52372e-08, 0, 0.65)
+shape = SubResource("BoxShape3D_cl2od")
+
+[node name="Body" type="Node3D" parent="."]
+transform = Transform3D(1.31134e-07, 0, -1, 0, 1, 0, 1, 0, 1.31134e-07, -2.66454e-15, 0, -2.38419e-08)
+
+[node name="MeshInstance3D" type="MeshInstance3D" parent="Body"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.4, 0)
+mesh = SubResource("BoxMesh_ur0pq")
+surface_material_override/0 = SubResource("StandardMaterial3D_raxde")
+
+[node name="MeshInstance3D2" type="MeshInstance3D" parent="Body"]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, -1, 0, 1, -4.37114e-08, 0, 0, -0.4)
+mesh = SubResource("BoxMesh_mf11b")
+surface_material_override/0 = SubResource("StandardMaterial3D_eep1v")
+
+[node name="MeshInstance3D3" type="MeshInstance3D" parent="Body"]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, -1, 0, 1, -4.37114e-08, 0, 0, 0.4)
+mesh = SubResource("BoxMesh_mf11b")
+surface_material_override/0 = SubResource("StandardMaterial3D_2xcg7")
+
+[node name="MeshInstance3D4" type="MeshInstance3D" parent="Body"]
+transform = Transform3D(-4.37114e-08, -1, 0, 1, -4.37114e-08, 0, 0, 0, 1, -0.65, 0, 0)
+mesh = SubResource("BoxMesh_wkajm")
+surface_material_override/0 = SubResource("StandardMaterial3D_j26cr")
+
+[node name="MeshInstance3D5" type="MeshInstance3D" parent="Body"]
+transform = Transform3D(-4.37114e-08, -1, 0, 1, -4.37114e-08, 0, 0, 0, 1, 0.65, 0, 0)
+mesh = SubResource("BoxMesh_wkajm")
+surface_material_override/0 = SubResource("StandardMaterial3D_duopw")
+
+[node name="BackWheel" type="VehicleWheel3D" parent="."]
+transform = Transform3D(1, 0, 1.74846e-07, 0, 1, 0, -1.74846e-07, 0, 1, -0.7, -0.426319, -0.4)
+use_as_traction = true
+wheel_radius = 0.349
+suspension_travel = 0.3
+suspension_stiffness = 40.0
+
+[node name="Wheel" parent="BackWheel" instance=ExtResource("1_ey6do")]
+transform = Transform3D(-4.37114e-08, 1, -4.37114e-08, 0, -4.37114e-08, -1, -1, -4.37114e-08, 1.91069e-15, 0, 0, 0)
+
+[node name="BackWheel2" type="VehicleWheel3D" parent="."]
+transform = Transform3D(1, 0, 1.74846e-07, 0, 1, 0, -1.74846e-07, 0, 1, 0.7, -0.426473, -0.4)
+use_as_traction = true
+wheel_radius = 0.349
+suspension_travel = 0.3
+suspension_stiffness = 40.0
+
+[node name="Wheel3" parent="BackWheel2" instance=ExtResource("1_ey6do")]
+transform = Transform3D(-4.37114e-08, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, -4.37114e-08, 1.91069e-15, 0, 0, 0)
+
+[node name="FrontWheel" type="VehicleWheel3D" parent="."]
+transform = Transform3D(1, 0, 1.74846e-07, 0, 1, 0, -1.74846e-07, 0, 1, -0.7, -0.426473, 0.4)
+use_as_traction = true
+use_as_steering = true
+wheel_radius = 0.349
+suspension_travel = 0.3
+suspension_stiffness = 40.0
+
+[node name="Wheel2" parent="FrontWheel" instance=ExtResource("1_ey6do")]
+transform = Transform3D(-4.37114e-08, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, -4.37114e-08, 1.91069e-15, 0, 0, 0)
+
+[node name="FrontWheel2" type="VehicleWheel3D" parent="."]
+transform = Transform3D(1, 0, 1.74846e-07, 0, 1, 0, -1.74846e-07, 0, 1, 0.7, -0.426473, 0.4)
+use_as_traction = true
+use_as_steering = true
+wheel_radius = 0.349
+suspension_travel = 0.3
+suspension_stiffness = 40.0
+
+[node name="Wheel4" parent="FrontWheel2" instance=ExtResource("1_ey6do")]
+transform = Transform3D(-4.37114e-08, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, -4.37114e-08, 1.91069e-15, 0, 0, 0)
+
+[node name="AIController3D" type="Node3D" parent="."]
+script = ExtResource("3_o8jpg")
+reset_after = 25000
+
+[node name="ItemArea" type="Area3D" parent="."]
+collision_layer = 2
+collision_mask = 2
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="ItemArea"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.0780488, 0)
+shape = SubResource("BoxShape3D_ibool")
+
+[connection signal="body_entered" from="ItemArea" to="." method="_on_item_area_body_entered"]
+[connection signal="body_exited" from="ItemArea" to="." method="_on_item_area_body_exited"]
diff --git a/scenes/cart/cart_ai_controller.gd b/scenes/cart/cart_ai_controller.gd
new file mode 100644
index 0000000000000000000000000000000000000000..66d0e7a9ed116476a72898d50c7181142428b037
--- /dev/null
+++ b/scenes/cart/cart_ai_controller.gd
@@ -0,0 +1,47 @@
+extends AIController3D
+class_name CartAIController
+
+@export var playing_area_x_size: float = 20
+@export var playing_area_z_size: float = 20
+
+@onready var _playing_area_half_x_size : float = playing_area_x_size / 2
+@onready var _playing_area_half_z_size : float = playing_area_z_size / 2
+
+func get_obs() -> Dictionary:
+ _player = _player as Cart
+
+ var observations : Array = [
+ n_steps / float(reset_after),
+ _player.item_collected,
+ _player.position.z / _playing_area_half_z_size,
+ _player.get_normalized_velocity().z,
+ _player.engine_force / _player.acceleration,
+ (_player.item.position.z - _player.position.z) / playing_area_z_size,
+ (_player.item.position.y - _player.position.y) / 15.0,
+ _player.item.linear_velocity.y / 10.0,
+ _player.item.linear_velocity.z / 10.0,
+ (_player.destination.position.z - _player.position.z) / playing_area_z_size,
+ (_player.destination2.position.z - _player.position.z) / playing_area_z_size,
+ _player.item.item_category,
+ ]
+ return {"obs": observations}
+
+func get_reward() -> float:
+ return reward
+
+func get_action_space() -> Dictionary:
+ return {
+ "acceleration" : {
+ "size": 1,
+ "action_type": "continuous"
+ }
+ }
+
+func _physics_process(delta):
+ n_steps += 1
+ if n_steps > reset_after:
+ needs_reset = true
+ done = true
+
+func set_action(action) -> void:
+ _player.requested_acceleration = action.acceleration[0]
diff --git a/scenes/cart/wheel.tscn b/scenes/cart/wheel.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..eba57a7abf187924970ea3c7eef82239a69893f2
--- /dev/null
+++ b/scenes/cart/wheel.tscn
@@ -0,0 +1,21 @@
+[gd_scene load_steps=3 format=3 uid="uid://d3saly1xwj5s"]
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_emc8j"]
+albedo_color = Color(0.0235294, 0.0235294, 0.0235294, 1)
+roughness = 0.46
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_5qqye"]
+albedo_color = Color(0.619608, 0.619608, 0.619608, 1)
+
+[node name="Wheel" type="CSGTorus3D"]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, -1, 0, 1, -4.37114e-08, 0, 0, 0)
+inner_radius = 0.191
+outer_radius = 0.349
+sides = 16
+ring_sides = 5
+material = SubResource("StandardMaterial3D_emc8j")
+
+[node name="CSGCylinder3D" type="CSGCylinder3D" parent="."]
+radius = 0.296
+height = 0.112
+material = SubResource("StandardMaterial3D_5qqye")
diff --git a/scenes/materials/category.tres b/scenes/materials/category.tres
new file mode 100644
index 0000000000000000000000000000000000000000..801b6517f22319166cf6d9d1a5a7892a5a83869f
--- /dev/null
+++ b/scenes/materials/category.tres
@@ -0,0 +1,5 @@
+[gd_resource type="StandardMaterial3D" format=3 uid="uid://bs65q68vluuqx"]
+
+[resource]
+transparency = 1
+albedo_color = Color(1, 0.568627, 0, 0.607843)
diff --git a/scenes/materials/category2.tres b/scenes/materials/category2.tres
new file mode 100644
index 0000000000000000000000000000000000000000..7eab7617452bce516e835f3ad6fb3c954e179258
--- /dev/null
+++ b/scenes/materials/category2.tres
@@ -0,0 +1,5 @@
+[gd_resource type="StandardMaterial3D" format=3 uid="uid://bbj7kkw608aly"]
+
+[resource]
+transparency = 1
+albedo_color = Color(0, 1, 1, 0.607843)
diff --git a/scenes/playing_area.tscn b/scenes/playing_area.tscn
new file mode 100644
index 0000000000000000000000000000000000000000..b141e358213298a0438f1bea497f742a5b13a19e
--- /dev/null
+++ b/scenes/playing_area.tscn
@@ -0,0 +1,134 @@
+[gd_scene load_steps=19 format=3 uid="uid://ca6csk8y5nvuu"]
+
+[ext_resource type="PackedScene" uid="uid://cn2van3bgkmch" path="res://scenes/cart/cart.tscn" id="1_5vpyy"]
+[ext_resource type="Material" uid="uid://bbj7kkw608aly" path="res://scenes/materials/category2.tres" id="1_fjj1a"]
+[ext_resource type="Material" uid="uid://bs65q68vluuqx" path="res://scenes/materials/category.tres" id="1_y8o8n"]
+[ext_resource type="Script" path="res://scenes/Item.gd" id="4_tsx37"]
+[ext_resource type="PackedScene" uid="uid://cfw2e6n32ytu6" path="res://scenes/static_decorations/static_decorations.blend" id="5_8mptk"]
+
+[sub_resource type="PhysicsMaterial" id="PhysicsMaterial_4l0bm"]
+
+[sub_resource type="PlaneMesh" id="PlaneMesh_sngf0"]
+size = Vector2(20, 20)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_omkpg"]
+albedo_color = Color(0.14902, 0.678431, 0.176471, 1)
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_x3ht2"]
+size = Vector3(22, 1, 22)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_v8nd8"]
+albedo_color = Color(0, 0, 0, 1)
+roughness = 0.85
+
+[sub_resource type="BoxMesh" id="BoxMesh_cdf32"]
+material = SubResource("StandardMaterial3D_v8nd8")
+size = Vector3(2, 0.1, 20)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_qbjub"]
+albedo_color = Color(0.984314, 1, 1, 1)
+roughness = 0.85
+
+[sub_resource type="QuadMesh" id="QuadMesh_v1ff1"]
+material = SubResource("StandardMaterial3D_qbjub")
+size = Vector2(0.2, 17.4)
+
+[sub_resource type="BoxMesh" id="BoxMesh_o6ona"]
+material = ExtResource("1_y8o8n")
+size = Vector3(2, 1, 1)
+
+[sub_resource type="BoxMesh" id="BoxMesh_3cyms"]
+material = ExtResource("1_fjj1a")
+size = Vector3(2, 1, 1)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_63osm"]
+resource_local_to_scene = true
+albedo_color = Color(1, 0.505882, 0, 1)
+
+[sub_resource type="BoxMesh" id="BoxMesh_yu25s"]
+resource_local_to_scene = true
+material = SubResource("StandardMaterial3D_63osm")
+size = Vector3(0.5, 0.5, 0.5)
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_6wisu"]
+size = Vector3(0.5, 0.5, 0.5)
+
+[node name="playing_area" type="Node3D"]
+
+[node name="Map" type="StaticBody3D" parent="."]
+collision_layer = 5
+physics_material_override = SubResource("PhysicsMaterial_4l0bm")
+
+[node name="CSGMesh3D" type="CSGMesh3D" parent="Map"]
+mesh = SubResource("PlaneMesh_sngf0")
+material = SubResource("StandardMaterial3D_omkpg")
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="Map"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.5, 0)
+shape = SubResource("BoxShape3D_x3ht2")
+
+[node name="Road" type="MeshInstance3D" parent="Map"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.0382012, 0)
+mesh = SubResource("BoxMesh_cdf32")
+
+[node name="Line" type="MeshInstance3D" parent="Map/Road"]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 0.942, 0.06, 0)
+mesh = SubResource("QuadMesh_v1ff1")
+skeleton = NodePath("../..")
+
+[node name="Line2" type="MeshInstance3D" parent="Map/Road"]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, -0.942, 0.06, 0)
+mesh = SubResource("QuadMesh_v1ff1")
+skeleton = NodePath("../..")
+
+[node name="Destination" type="Node3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.0117988, 9.2)
+
+[node name="MeshInstance3D" type="MeshInstance3D" parent="Destination"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.5, 0)
+mesh = SubResource("BoxMesh_o6ona")
+
+[node name="Destination2" type="Node3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.0117988, -9.2)
+
+[node name="MeshInstance3D" type="MeshInstance3D" parent="Destination2"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.5, 0)
+mesh = SubResource("BoxMesh_3cyms")
+
+[node name="Cart" parent="." node_paths=PackedStringArray("destination", "destination2", "item") instance=ExtResource("1_5vpyy")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.84082, 0)
+axis_lock_linear_x = true
+axis_lock_angular_x = true
+axis_lock_angular_y = true
+axis_lock_angular_z = true
+lock_rotation = true
+destination = NodePath("../Destination")
+destination2 = NodePath("../Destination2")
+item = NodePath("../Item")
+
+[node name="Item" type="RigidBody3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 5.07822, 0)
+collision_layer = 2
+collision_mask = 7
+gravity_scale = 0.04
+can_sleep = false
+max_contacts_reported = 1
+contact_monitor = true
+script = ExtResource("4_tsx37")
+category_material = ExtResource("1_y8o8n")
+category2_material = ExtResource("1_fjj1a")
+
+[node name="MeshInstance3D" type="MeshInstance3D" parent="Item"]
+mesh = SubResource("BoxMesh_yu25s")
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="Item"]
+shape = SubResource("BoxShape3D_6wisu")
+
+[node name="static_decorations" parent="." instance=ExtResource("5_8mptk")]
+
+[node name="grass" parent="static_decorations" index="2"]
+cast_shadow = 0
+
+[connection signal="body_entered" from="Item" to="Cart" method="_on_item_body_entered"]
+
+[editable path="static_decorations"]
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new file mode 100644
index 0000000000000000000000000000000000000000..da288361730ccadbac95a344e3b44c6ee4589c42
--- /dev/null
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@@ -0,0 +1,3 @@
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..9df4fdcd4b2299e6068bd90f03f0eab5af3ce97c
--- /dev/null
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@@ -0,0 +1,3 @@
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