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AIController2D.gd

@@ -0,0 +1,47 @@
+extends AIController2D
+
+
+func _ready():
+	reset()
+
+
+func _physics_process(_delta):
+	n_steps += 1
+	if n_steps > reset_after:
+		needs_reset = true
+		done = true
+
+	if needs_reset:
+		needs_reset = false
+		reset()
+
+
+func get_reward():
+	return reward
+
+
+func get_obs():
+	var relative = to_local(_player.get_fruit_position())
+	var distance = relative.length() / 1500.0
+	relative = relative.normalized()
+	var result := []
+	result.append(((position.x / _player.WIDTH) - 0.5) * 2)
+	result.append(((position.y / _player.HEIGHT) - 0.5) * 2)
+	result.append(relative.x)
+	result.append(relative.y)
+	result.append(distance)
+	var raycast_obs = _player.raycast_sensor.get_observation()
+	result.append_array(raycast_obs)
+
+	return {
+		"obs": result,
+	}
+
+
+func set_action(action):
+	_player._action.x = action["move"][0]
+	_player._action.y = action["move"][1]
+
+
+func get_action_space():
+	return {"move": {"size": 2, "action_type": "continuous"}}

BallChase.csproj

@@ -1,4 +1,4 @@
-<Project Sdk="Godot.NET.Sdk/4.1.1">
+<Project Sdk="Godot.NET.Sdk/4.1.3">
   <PropertyGroup>
     <TargetFramework>net6.0</TargetFramework>
     <EnableDynamicLoading>true</EnableDynamicLoading>

BallChase.tscn

@@ -1,9 +1,10 @@
-[gd_scene load_steps=13 format=3 uid="uid://bj8j0v5unredq"]
+[gd_scene load_steps=14 format=3 uid="uid://bj8j0v5unredq"]
 
 [ext_resource type="Script" path="res://Player.gd" id="1"]
 [ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="2"]
-[ext_resource type="Texture2D" uid="uid://c77mj86i50gub" path="res://cherry.png" id="3_25acu"]
-[ext_resource type="Texture2D" uid="uid://cy4acafft8vjv" path="res://lollipopGreen.png" id="3_ty2qt"]
+[ext_resource type="Texture2D" uid="uid://3wc0oii4d560" path="res://cherry.png" id="3_25acu"]
+[ext_resource type="Texture2D" uid="uid://cje1ar3xnl01x" path="res://lollipopGreen.png" id="3_ty2qt"]
+[ext_resource type="Script" path="res://AIController2D.gd" id="4_hrp2t"]
 
 [sub_resource type="CircleShape2D" id="1"]
 radius = 30.0
@@ -41,7 +42,7 @@ glow_blend_mode = 0
 
 [node name="BallChase" type="Node2D"]
 
-[node name="Player" type="CharacterBody2D" parent="." groups=["AGENT"]]
+[node name="Player" type="CharacterBody2D" parent="."]
 position = Vector2(281.728, 162.943)
 script = ExtResource("1")
 
@@ -56,6 +57,10 @@ collide_with_areas = true
 scale = Vector2(0.9, 0.9)
 texture = ExtResource("3_ty2qt")
 
+[node name="AIController2D" type="Node2D" parent="Player" groups=["AGENT"]]
+script = ExtResource("4_hrp2t")
+reset_after = 20000
+
 [node name="Fruit" type="Area2D" parent="."]
 position = Vector2(1095.01, 578.224)
 collision_layer = 2

Player.gd

@@ -1,49 +1,32 @@
 extends CharacterBody2D
 
-
-# Declare member variables here. Examples:
-# var a = 2
-# var b = "text"
 const pad = 100
 const WIDTH = 1280
 const HEIGHT = 720
 const MAX_FRUIT = 10
-var _bounds := Rect2(pad,pad,WIDTH-2*pad,HEIGHT-2*pad)
+var _bounds := Rect2(pad, pad, WIDTH - 2 * pad, HEIGHT - 2 * pad)
 
 @export var speed := 500
 @export var friction = 0.18
 var _velocity := Vector2.ZERO
 var _action = Vector2.ZERO
-var _heuristic = "player"
 @onready var fruit = $"../Fruit"
 @onready var raycast_sensor = $"RaycastSensor2D"
 @onready var walls := $"../Walls"
 @onready var colision_shape := $"CollisionShape2D"
+@onready var ai_controller := $AIController2D
 var fruit_just_entered = false
 var just_hit_wall = false
-var done = false
 var best_fruit_distance = 10000.0
 var fruit_count = 0
-var n_steps = 0
-var MAX_STEPS = 20000
-var needs_reset = false
-var reward = 0.0
+
 
 func _ready():
+	ai_controller.init(self)
 	raycast_sensor.activate()
-	reset()
-
-func _physics_process(delta):
-	n_steps +=1    
-	if n_steps >= MAX_STEPS:
-		done = true
-		needs_reset = true
-
-	if needs_reset:
-		needs_reset = false
-		reset()
-		return
-	
+
+
+func _physics_process(_delta):
 	var direction = get_direction()
 	if direction.length() > 1.0:
 		direction = direction.normalized()
@@ -53,169 +36,116 @@ func _physics_process(delta):
 	set_velocity(_velocity)
 	move_and_slide()
 	_velocity = velocity
-	
+
 	update_reward()
-		
+
 	if Input.is_action_just_pressed("r_key"):
-		reset()
+		game_over()
 
-func reset():
-	needs_reset = false
+
+func game_over():
 	fruit_just_entered = false
 	just_hit_wall = false
-	#done = false
 	fruit_count = 0
 	_velocity = Vector2.ZERO
 	_action = Vector2.ZERO
 	position = _calculate_new_position()
 	spawn_fruit()
-	
-#    position.x = randf_range(_bounds.position.x, _bounds.end.x)
-#    position.y = randf_range(_bounds.position.y, _bounds.end.y)	
-#    fruit.position.x = randf_range(_bounds.position.x, _bounds.end.x)
-#    fruit.position.y = randf_range(_bounds.position.y, _bounds.end.y)
 	best_fruit_distance = position.distance_to(fruit.position)
-	n_steps = 0 
+	ai_controller.reset()
+
 
-func _calculate_new_position(position: Vector2=Vector2.ZERO) -> Vector2:
+func _calculate_new_position(current_position: Vector2 = Vector2.ZERO) -> Vector2:
 	var new_position := Vector2.ZERO
 	new_position.x = randf_range(_bounds.position.x, _bounds.end.x)
-	new_position.y = randf_range(_bounds.position.y, _bounds.end.y)	
-	
-	if (position - new_position).length() < 4.0*colision_shape.shape.get_radius():
-		return _calculate_new_position(position)
+	new_position.y = randf_range(_bounds.position.y, _bounds.end.y)
+
+	if (current_position - new_position).length() < 4.0 * colision_shape.shape.get_radius():
+		return _calculate_new_position(current_position)
 
 	var radius = colision_shape.shape.get_radius()
-	var rect = Rect2(new_position-Vector2(radius, radius), 
-	Vector2(radius*2, radius*2)
-	)    
+	var rect = Rect2(new_position - Vector2(radius, radius), Vector2(radius * 2, radius * 2))
 	for wall in walls.get_children():
 		#wall = wall as Area2D
 		var cr = wall.get_node("ColorRect")
-		var rect2 = Rect2(cr.get_position()+wall.position, cr.get_size())
+		var rect2 = Rect2(cr.get_position() + wall.position, cr.get_size())
 		if rect.intersects(rect2):
 			return _calculate_new_position()
-	
+
 	return new_position
-	
-	
+
+
 func get_direction():
-	if done:
+	if ai_controller.done:
 		_velocity = Vector2.ZERO
 		return Vector2.ZERO
-		
-	if _heuristic == "model":
+
+	if ai_controller.heuristic == "model":
 		return _action
-		
+
 	var direction := Vector2(
 		Input.get_action_strength("move_right") - Input.get_action_strength("move_left"),
 		Input.get_action_strength("move_down") - Input.get_action_strength("move_up")
 	)
-	
+
 	return direction
-	
-func set_action(action):
-	_action.x = action["move"][0]
-	_action.y = action["move"][1]
-	
-func reset_if_done():
-	if done:
-		reset()
-		
-func get_obs():
-	var relative = fruit.position - position
-	var distance = relative.length() / 1500.0 
-	relative = relative.normalized() 
-	var result := []
-	result.append(((position.x / WIDTH)-0.5) * 2)
-	result.append(((position.y / HEIGHT)-0.5) * 2)  
-	result.append(relative.x)
-	result.append(relative.y)
-	result.append(distance)
-	var raycast_obs = raycast_sensor.get_observation()
-	result.append_array(raycast_obs)
-
-	return {
-		"obs": result,
-	}
-	
-	
+
+
+func get_fruit_position():
+	return $"../Fruit".global_position
+
+
 func update_reward():
-	reward -= 0.01 # step penalty
-	reward += shaping_reward()
-	
-func zero_reward():
-	reward = 0.0   
+	ai_controller.reward -= 0.01  # step penalty
+	ai_controller.reward += shaping_reward()
 
-func get_reward():
-	return reward
 
-	
 func shaping_reward():
 	var s_reward = 0.0
 	var fruit_distance = position.distance_to(fruit.position)
-	
+
 	if fruit_distance < best_fruit_distance:
 		s_reward += best_fruit_distance - fruit_distance
 		best_fruit_distance = fruit_distance
-		
+
 	s_reward /= 100.0
 	return s_reward
-	
-func set_heuristic(heuristic):
-	self._heuristic = heuristic
-
-func get_obs_space():
-	# typs of obs space: box, discrete, repeated
-	return {
-		"obs": {
-			"size": [len(get_obs()["obs"])],
-			"space": "box"
- }
- }
-	
-func get_action_space():
-	return {
-		"move" : {
-		"size": 2,	
-			"action_type": "continuous"
- }
- }   
-
-func get_done():
-	return done
-	
-func set_done_false():
-	done = false
+
 
 func spawn_fruit():
 	fruit.position = _calculate_new_position(position)
 	best_fruit_distance = position.distance_to(fruit.position)
 
+
 func fruit_collected():
 	fruit_just_entered = true
-	reward += 10.0
+	ai_controller.reward += 10.0
 	fruit_count += 1
 	spawn_fruit()
-#    if fruit_count > MAX_FRUIT:
-#        done = true
 
-	
+
 func wall_hit():
-	done = true
-	reward -= 10.0
+	ai_controller.done = true
+	ai_controller.reward -= 10.0
 	just_hit_wall = true
-	reset()
+	game_over()
 
-func _on_Fruit_body_entered(body):
+
+func _on_Fruit_body_entered(_body):
 	fruit_collected()
 
 
-func _on_LeftWall_body_entered(body):
+func _on_LeftWall_body_entered(_body):
 	wall_hit()
-func _on_RightWall_body_entered(body):
+
+
+func _on_RightWall_body_entered(_body):
 	wall_hit()
-func _on_TopWall_body_entered(body):
+
+
+func _on_TopWall_body_entered(_body):
 	wall_hit()
-func _on_BottomWall_body_entered(body):
+
+
+func _on_BottomWall_body_entered(_body):
 	wall_hit()

addons/godot_rl_agents/controller/ai_controller_2d.gd

@@ -1,8 +1,82 @@
-extends AIController
+extends Node2D
 class_name AIController2D
 
-# ------------------ Godot RL Agents Logic ------------------------------------#
+@export var reset_after := 1000
+
+var heuristic := "human"
+var done := false
+var reward := 0.0
+var n_steps := 0
+var needs_reset := false
+
 var _player: Node2D
 
+func _ready():
+	add_to_group("AGENT")
+	
 func init(player: Node2D):
 	_player = player
+	
+#-- Methods that need implementing using the "extend script" option in Godot --#
+func get_obs() -> Dictionary:
+	assert(false, "the get_obs method is not implemented when extending from ai_controller") 
+	return {"obs":[]}
+
+func get_reward() -> float:	
+	assert(false, "the get_reward method is not implemented when extending from ai_controller") 
+	return 0.0
+	
+func get_action_space() -> Dictionary:
+	assert(false, "the get get_action_space method is not implemented when extending from ai_controller") 
+	return {
+		"example_actions_continous" : {
+			"size": 2,
+			"action_type": "continuous"
+		},
+		"example_actions_discrete" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		}
+	
+func set_action(action) -> void:	
+	assert(false, "the get set_action method is not implemented when extending from ai_controller") 	
+# -----------------------------------------------------------------------------#
+	
+func _physics_process(delta):
+	n_steps += 1
+	if n_steps > reset_after:
+		needs_reset = true
+		
+func get_obs_space():
+	# may need overriding if the obs space is complex
+	var obs = get_obs()
+	return {
+		"obs": {
+			"size": [len(obs["obs"])],
+			"space": "box"
+		},
+	}
+
+func reset():
+	n_steps = 0
+	needs_reset = false
+
+func reset_if_done():
+	if done:
+		reset()
+		
+func set_heuristic(h):
+	# sets the heuristic from "human" or "model" nothing to change here
+	heuristic = h
+
+func get_done():
+	return done
+	
+func set_done_false():
+	done = false
+
+func zero_reward():
+	reward = 0.0
+	
+

addons/godot_rl_agents/controller/ai_controller_3d.gd

@@ -1,8 +1,80 @@
-extends AIController
+extends Node3D
 class_name AIController3D
 
-# ------------------ Godot RL Agents Logic ------------------------------------#
+@export var reset_after := 1000
+
+var heuristic := "human"
+var done := false
+var reward := 0.0
+var n_steps := 0
+var needs_reset := false
+
 var _player: Node3D
 
+func _ready():
+	add_to_group("AGENT")
+	
 func init(player: Node3D):
 	_player = player
+	
+#-- Methods that need implementing using the "extend script" option in Godot --#
+func get_obs() -> Dictionary:
+	assert(false, "the get_obs method is not implemented when extending from ai_controller") 
+	return {"obs":[]}
+
+func get_reward() -> float:	
+	assert(false, "the get_reward method is not implemented when extending from ai_controller") 
+	return 0.0
+	
+func get_action_space() -> Dictionary:
+	assert(false, "the get get_action_space method is not implemented when extending from ai_controller") 
+	return {
+		"example_actions_continous" : {
+			"size": 2,
+			"action_type": "continuous"
+		},
+		"example_actions_discrete" : {
+			"size": 2,
+			"action_type": "discrete"
+		},
+		}
+	
+func set_action(action) -> void:	
+	assert(false, "the get set_action method is not implemented when extending from ai_controller") 	
+# -----------------------------------------------------------------------------#
+	
+func _physics_process(delta):
+	n_steps += 1
+	if n_steps > reset_after:
+		needs_reset = true
+		
+func get_obs_space():
+	# may need overriding if the obs space is complex
+	var obs = get_obs()
+	return {
+		"obs": {
+			"size": [len(obs["obs"])],
+			"space": "box"
+		},
+	}
+
+func reset():
+	n_steps = 0
+	needs_reset = false
+
+func reset_if_done():
+	if done:
+		reset()
+		
+func set_heuristic(h):
+	# sets the heuristic from "human" or "model" nothing to change here
+	heuristic = h
+
+func get_done():
+	return done
+	
+func set_done_false():
+	done = false
+
+func zero_reward():
+	reward = 0.0

addons/godot_rl_agents/onnx/csharp/ONNXInference.cs

@@ -1,93 +1,103 @@
 using Godot;
-using System.Collections.Generic;
-using System.Linq;
 using Microsoft.ML.OnnxRuntime;
 using Microsoft.ML.OnnxRuntime.Tensors;
+using System.Collections.Generic;
+using System.Linq;
 
-namespace GodotONNX{
-	/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/ONNXInference/*'/>
- 	public partial class ONNXInference : Node
+namespace GodotONNX
 {
-		
-	private InferenceSession session;
-	/// <summary>
-	/// Path to the ONNX model. Use Initialize to change it. 
-	/// </summary>
-	private string modelPath;
-	private int batchSize;
+	/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/ONNXInference/*'/>
+	public partial class ONNXInference : GodotObject
+	{
 
-	private SessionOptions SessionOpt;
+		private InferenceSession session;
+		/// <summary>
+		/// Path to the ONNX model. Use Initialize to change it. 
+		/// </summary>
+		private string modelPath;
+		private int batchSize;
 
-	//init function
-/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Initialize/*'/>
-	public void Initialize(string Path, int BatchSize)
-	{
-		modelPath = Path;
-		batchSize = BatchSize;
-		SessionConfigurator.SystemCheck();
-		SessionOpt = SessionConfigurator.GetSessionOptions();
-		session = LoadModel(modelPath);
+		private SessionOptions SessionOpt;
 
-	}
-/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Run/*'/>
-	public Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> RunInference(Godot.Collections.Array<float> obs, int state_ins)
-	{
-		//Current model: Any (Godot Rl Agents)
-		//Expects a tensor of shape [batch_size, input_size] type float named obs and a tensor of shape [batch_size] type float named state_ins
-		
-		//Fill the input tensors
-		// create span from inputSize
-		var span = new float[obs.Count]; //There's probably a better way to do this
-		for (int i = 0; i < obs.Count; i++)
+		//init function
+		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Initialize/*'/>
+		public void Initialize(string Path, int BatchSize)
 		{
-			span[i] = obs[i];
+			modelPath = Path;
+			batchSize = BatchSize;
+            SessionOpt = SessionConfigurator.MakeConfiguredSessionOptions();
+            session = LoadModel(modelPath);
+
 		}
-				
-		IReadOnlyCollection<NamedOnnxValue> inputs = new List<NamedOnnxValue> 
+		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Run/*'/>
+		public Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> RunInference(Godot.Collections.Array<float> obs, int state_ins)
+		{
+			//Current model: Any (Godot Rl Agents)
+			//Expects a tensor of shape [batch_size, input_size] type float named obs and a tensor of shape [batch_size] type float named state_ins
+
+			//Fill the input tensors
+			// create span from inputSize
+			var span = new float[obs.Count]; //There's probably a better way to do this
+			for (int i = 0; i < obs.Count; i++)
+			{
+				span[i] = obs[i];
+			}
+
+			IReadOnlyCollection<NamedOnnxValue> inputs = new List<NamedOnnxValue>
 			{
 			NamedOnnxValue.CreateFromTensor("obs", new DenseTensor<float>(span, new int[] { batchSize, obs.Count })),
 			NamedOnnxValue.CreateFromTensor("state_ins", new DenseTensor<float>(new float[] { state_ins }, new int[] { batchSize }))
-			}; 
-		IReadOnlyCollection<string> outputNames = new List<string> { "output", "state_outs" }; //ONNX is sensible to these names, as well as the input names
+			};
+			IReadOnlyCollection<string> outputNames = new List<string> { "output", "state_outs" }; //ONNX is sensible to these names, as well as the input names
 
-			IDisposableReadOnlyCollection<DisposableNamedOnnxValue> results;
-		
-		try{
-			results = session.Run(inputs, outputNames);
-		}
-		catch (OnnxRuntimeException e) {
-			//This error usually means that the model is not compatible with the input, beacause of the input shape (size)
-			GD.Print("Error at inference: ", e);
-			return null;
-		}
-		//Can't convert IEnumerable<float> to Variant, so we have to convert it to an array or something
-		Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> output = new Godot.Collections.Dictionary<string, Godot.Collections.Array<float>>();
-		DisposableNamedOnnxValue output1 = results.First();
-		DisposableNamedOnnxValue output2 = results.Last();
-		Godot.Collections.Array<float> output1Array = new Godot.Collections.Array<float>();
-		Godot.Collections.Array<float> output2Array = new Godot.Collections.Array<float>();
+			IDisposableReadOnlyCollection<DisposableNamedOnnxValue> results; 
+			//We do not use "using" here so we get a better exception explaination later
+			try
+			{
+				results = session.Run(inputs, outputNames);
+			}
+			catch (OnnxRuntimeException e)
+			{
+				//This error usually means that the model is not compatible with the input, beacause of the input shape (size)
+				GD.Print("Error at inference: ", e);
+				return null;
+			}
+			//Can't convert IEnumerable<float> to Variant, so we have to convert it to an array or something
+			Godot.Collections.Dictionary<string, Godot.Collections.Array<float>> output = new Godot.Collections.Dictionary<string, Godot.Collections.Array<float>>();
+			DisposableNamedOnnxValue output1 = results.First();
+			DisposableNamedOnnxValue output2 = results.Last();
+			Godot.Collections.Array<float> output1Array = new Godot.Collections.Array<float>();
+			Godot.Collections.Array<float> output2Array = new Godot.Collections.Array<float>();
 
-		foreach (float f in output1.AsEnumerable<float>()) {
-			output1Array.Add(f);
-		}
+			foreach (float f in output1.AsEnumerable<float>())
+			{
+				output1Array.Add(f);
+			}
 
-		foreach (float f in output2.AsEnumerable<float>()) {
-			output2Array.Add(f);
-		}
+			foreach (float f in output2.AsEnumerable<float>())
+			{
+				output2Array.Add(f);
+			}
 
-		output.Add(output1.Name, output1Array);
-		output.Add(output2.Name, output2Array);
-		
-		//Output is a dictionary of arrays, ex: { "output" : [0.1, 0.2, 0.3, 0.4, ...], "state_outs" : [0.5, ...]}
-		return output;
-	}	
-/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Load/*'/>
-	public InferenceSession LoadModel(string Path) 
-	{
-		Godot.FileAccess file = FileAccess.Open(Path, Godot.FileAccess.ModeFlags.Read);
-		byte[] model = file.GetBuffer((int)file.GetLength());
-		file.Close();
-		return new InferenceSession(model, SessionOpt); //Load the model
-	}
+			output.Add(output1.Name, output1Array);
+			output.Add(output2.Name, output2Array);
+
+			//Output is a dictionary of arrays, ex: { "output" : [0.1, 0.2, 0.3, 0.4, ...], "state_outs" : [0.5, ...]}
+			results.Dispose();
+			return output;
+		}
+		/// <include file='docs/ONNXInference.xml' path='docs/members[@name="ONNXInference"]/Load/*'/>
+		public InferenceSession LoadModel(string Path)
+		{
+			using Godot.FileAccess file = FileAccess.Open(Path, Godot.FileAccess.ModeFlags.Read);
+			byte[] model = file.GetBuffer((int)file.GetLength());
+			//file.Close(); file.Dispose(); //Close the file, then dispose the reference.
+			return new InferenceSession(model, SessionOpt); //Load the model
+		}
+		public void FreeDisposables()
+		{
+			session.Dispose();
+			SessionOpt.Dispose();
+		}
 	}
-}	
+}

addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs

@@ -3,34 +3,35 @@ using Microsoft.ML.OnnxRuntime;
 
 namespace GodotONNX
 {
-    /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SessionConfigurator/*'/>
+	/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SessionConfigurator/*'/>
 
-    public static class SessionConfigurator
-    {
-
-        private static SessionOptions options = new SessionOptions();
+	public static class SessionConfigurator
+	{
+		public enum ComputeName
+		{
+			CUDA,
+			ROCm,
+			DirectML,
+			CoreML,
+			CPU
+		}
 
         /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/GetSessionOptions/*'/>
-        public static SessionOptions GetSessionOptions()
+        public static SessionOptions MakeConfiguredSessionOptions()
         {
-            options = new SessionOptions();
-            options.LogSeverityLevel = OrtLoggingLevel.ORT_LOGGING_LEVEL_WARNING;
-            // see warnings
-            SystemCheck();
-            return options;
+            SessionOptions sessionOptions = new();
+            SetOptions(sessionOptions);
+            return sessionOptions;
         }
 
-        public enum ComputeName
+        private static void SetOptions(SessionOptions sessionOptions)
         {
-            CUDA,
-            ROCm,
-            DirectML,
-            CoreML,
-            CPU
+            sessionOptions.LogSeverityLevel = OrtLoggingLevel.ORT_LOGGING_LEVEL_WARNING;
+            ApplySystemSpecificOptions(sessionOptions);
         }
 
         /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SystemCheck/*'/>
-        static public void SystemCheck()
+        static public void ApplySystemSpecificOptions(SessionOptions sessionOptions)
         {
             //Most code for this function is verbose only, the only reason it exists is to track
             //implementation progress of the different compute APIs.
@@ -38,52 +39,59 @@ namespace GodotONNX
             //December 2022: CUDA is not working. 
 
             string OSName = OS.GetName(); //Get OS Name
-            ComputeName ComputeAPI = ComputeCheck(); //Get Compute API
-                                                        //TODO: Get CPU architecture
+
+            //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
-            options.AppendExecutionProvider_CPU(0); // Always use CPU
-            GD.Print("OS: " + OSName, " | Compute API: " + ComputeAPI);
+            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 
-                        //options.AppendExecutionProvider_CUDA(0);
-                        options.AppendExecutionProvider_DML(0);
+                        //sessionOptions.AppendExecutionProvider_CUDA(0);
+                        //sessionOptions.AppendExecutionProvider_DML(0);
                     }
                     else if (ComputeAPI is ComputeName.DirectML)
                     {
                         //DirectML
-                        options.AppendExecutionProvider_DML(0);
+                        //sessionOptions.AppendExecutionProvider_DML(0);
                     }
                     break;
                 case "X11": //Can use CUDA, ROCm
                     if (ComputeAPI is ComputeName.CUDA)
                     {
                         //CUDA
-                        //options.AppendExecutionProvider_CUDA(0);
+                        //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.");
-                        options.AppendExecutionProvider_CPU(0);
+                        //GD.Print("ROCm not supported yet, using CPU.");
+                        //sessionOptions.AppendExecutionProvider_CPU(0);
                     }
                     break;
-                case "OSX": //Can use CoreML
+                case "macOS": //Can use CoreML
                     if (ComputeAPI is ComputeName.CoreML)
                     { //CoreML
                       //TODO: Needs testing
-                        options.AppendExecutionProvider_CoreML(0);
+                        //sessionOptions.AppendExecutionProvider_CoreML(0);
                         //CoreML on ARM64, out of the box, on x64 needs .tar file from GitHub
                     }
                     break;
@@ -91,35 +99,33 @@ namespace GodotONNX
                     GD.Print("OS not Supported.");
                     break;
             }
+            */
         }
-        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/ComputeCheck/*'/>
 
+
+        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/ComputeCheck/*'/>
         public static ComputeName ComputeCheck()
-        {
-            string adapterName = Godot.RenderingServer.GetVideoAdapterName();
-            //string adapterVendor = Godot.RenderingServer.GetVideoAdapterVendor();
-            adapterName = adapterName.ToUpper(new System.Globalization.CultureInfo(""));
-            //TODO: GPU vendors for MacOS, what do they even use these days?
-
-            // Due to issues on RX 570 and RTX 3060 in Windows
-            // temporarily disabling the DirectML option so it will use CPU
-            /*   
-            if (adapterName.Contains("INTEL"))
-            {
-                return ComputeName.DirectML;
-            }
-            if (adapterName.Contains("AMD") || adapterName.Contains("RADEON"))
-            {
-                return ComputeName.DirectML;
-            }
-            if (adapterName.Contains("NVIDIA"))
-            {
-                return ComputeName.CUDA;
-            }
+		{
+			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;
-        }
-    }
+			GD.Print("Graphics Card not recognized."); //Should use CPU
+			return ComputeName.CPU;
+		}
+	}
 }

addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd

@@ -1,4 +1,4 @@
-extends Node
+extends Resource
 class_name ONNXModel
 var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInference.cs")
 
@@ -17,3 +17,8 @@ func run_inference(obs : Array, state_ins : int) -> Dictionary:
 		printerr("Inferencer not initialized")
 		return {}
 	return inferencer.RunInference(obs, state_ins)
+
+func _notification(what):
+	if what == NOTIFICATION_PREDELETE:
+		inferencer.FreeDisposables()
+		inferencer.free()

addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn

@@ -1,6 +1,6 @@
 [gd_scene load_steps=5 format=3 uid="uid://ddeq7mn1ealyc"]
 
-[ext_resource type="Script" path="res://sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
 
 [sub_resource type="GDScript" id="2"]
 script/source = "extends Node2D

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd

@@ -61,11 +61,15 @@ var geo = null
 
 func _update():
 	if Engine.is_editor_hint():
-		_spawn_nodes()	
-
+		if is_node_ready():
+			_spawn_nodes()	
 
 func _ready() -> void:
-	_spawn_nodes()
+	if Engine.is_editor_hint():	
+		if get_child_count() == 0:
+			_spawn_nodes()
+	else:
+		_spawn_nodes()
 
 func _spawn_nodes():
 	print("spawning nodes")

addons/godot_rl_agents/sync.gd

@@ -1,7 +1,7 @@
 extends Node
 # --fixed-fps 2000 --disable-render-loop
-@export var action_repeat := 8
-@export var speed_up = 1
+@export_range(1, 10, 1, "or_greater") var action_repeat := 8
+@export_range(1, 10, 1, "or_greater") var speed_up = 1
 @export var onnx_model_path := ""
 
 @onready var start_time = Time.get_ticks_msec()
@@ -10,7 +10,6 @@ const MAJOR_VERSION := "0"
 const MINOR_VERSION := "3" 
 const DEFAULT_PORT := "11008"
 const DEFAULT_SEED := "1"
-const DEFAULT_ACTION_REPEAT := "8"
 var stream : StreamPeerTCP = null
 var connected = false
 var message_center
@@ -44,17 +43,20 @@ func _initialize():
 	Engine.time_scale = _get_speedup() * 1.0
 	prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up)
 	
-
-	connected = connect_to_server()
-	if connected:
-		_set_heuristic("model")
-		_handshake()
-		_send_env_info()
-	elif onnx_model_path != "":
+	# Run inference if onnx model path is set, otherwise wait for server connection
+	var run_onnx_model_inference : bool = onnx_model_path != ""
+	if run_onnx_model_inference:
+		assert(FileAccess.file_exists(onnx_model_path), "Onnx Model Path set on Sync node does not exist: " + onnx_model_path)
 		onnx_model = ONNXModel.new(onnx_model_path, 1)
 		_set_heuristic("model")
-	else:
-		_set_heuristic("human")  
+	else:		
+		connected = connect_to_server()
+		if connected:
+			_set_heuristic("model")
+			_handshake()
+			_send_env_info()
+		else:
+			_set_heuristic("human")  
 		
 	_set_seed()
 	_set_action_repeat()
@@ -232,7 +234,7 @@ func _set_seed():
 	seed(_seed)
 
 func _set_action_repeat():
-	action_repeat = args.get("action_repeat", DEFAULT_ACTION_REPEAT).to_int()
+	action_repeat = args.get("action_repeat", str(action_repeat)).to_int()
 	
 func disconnect_from_server():
 	stream.disconnect_from_host()

project.godot

@@ -12,7 +12,7 @@ config_version=5
 
 config/name="BallChase"
 run/main_scene="res://BatchEnvs.tscn"
-config/features=PackedStringArray("4.0", "C#")
+config/features=PackedStringArray("4.1", "C#")
 config/icon="res://icon.png"
 
 [display]
@@ -27,7 +27,7 @@ project/assembly_name="BallChase"
 
 [editor_plugins]
 
-enabled=PackedStringArray()
+enabled=PackedStringArray("res://addons/godot_rl_agents/plugin.cfg")
 
 [input]
 
@@ -78,17 +78,17 @@ r_key={
 }
 zoom_out={
 "deadzone": 0.5,
-"events": [Object(InputEventMouseButton,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"button_mask":0,"position":Vector2(0, 0),"global_position":Vector2(0, 0),"factor":1.0,"button_index":5,"pressed":false,"double_click":false,"script":null)
+"events": [Object(InputEventMouseButton,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"button_mask":0,"position":Vector2(0, 0),"global_position":Vector2(0, 0),"factor":1.0,"button_index":5,"canceled":false,"pressed":false,"double_click":false,"script":null)
 ]
 }
 zoom_in={
 "deadzone": 0.5,
-"events": [Object(InputEventMouseButton,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"button_mask":0,"position":Vector2(0, 0),"global_position":Vector2(0, 0),"factor":1.0,"button_index":4,"pressed":false,"double_click":false,"script":null)
+"events": [Object(InputEventMouseButton,"resource_local_to_scene":false,"resource_name":"","device":0,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"button_mask":0,"position":Vector2(0, 0),"global_position":Vector2(0, 0),"factor":1.0,"button_index":4,"canceled":false,"pressed":false,"double_click":false,"script":null)
 ]
 }
 reset_camera={
 "deadzone": 0.5,
-"events": [Object(InputEventMouseButton,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"button_mask":0,"position":Vector2(0, 0),"global_position":Vector2(0, 0),"factor":1.0,"button_index":3,"pressed":false,"double_click":false,"script":null)
+"events": [Object(InputEventMouseButton,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"button_mask":0,"position":Vector2(0, 0),"global_position":Vector2(0, 0),"factor":1.0,"button_index":3,"canceled":false,"pressed":false,"double_click":false,"script":null)
 ]
 }