Upload folder using huggingface_hub

.gitattributes

@@ -56,3 +56,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+alps_field_2k.hdr filter=lfs diff=lfs merge=lfs -text

AIController3D.gd

@@ -0,0 +1,45 @@
+extends AIController3D
+
+
+func get_obs():
+	if _player.cur_goal == null:
+		_player.game_over()
+	var goal_vector = to_local(_player.cur_goal.position)
+	var goal_distance = goal_vector.length()
+	goal_vector = goal_vector.normalized()
+	goal_distance = clamp(goal_distance, 0.0, 50.0)
+
+	var next_goal = _player.environment.get_next_goal(_player.cur_goal)
+	var next_goal_vector = to_local(next_goal.position)
+	var next_goal_distance = next_goal_vector.length()
+	next_goal_vector = next_goal_vector.normalized()
+	next_goal_distance = clamp(next_goal_distance, 0.0, 50.0)
+
+	var obs = [
+		goal_vector.x,
+		goal_vector.y,
+		goal_vector.z,
+		goal_distance / 50.0,
+		next_goal_vector.x,
+		next_goal_vector.y,
+		next_goal_vector.z,
+		next_goal_distance / 50.0
+	]
+
+	return {"obs": obs}
+
+
+func get_action_space():
+	return {
+		"pitch": {"size": 1, "action_type": "continuous"},
+		"turn": {"size": 1, "action_type": "continuous"}
+	}
+
+
+func set_action(action):
+	_player.turn_input = action["turn"][0]
+	_player.pitch_input = action["pitch"][0]
+
+
+func get_reward():
+	return reward

FlyBy.csproj

@@ -0,0 +1,10 @@
+<Project Sdk="Godot.NET.Sdk/4.0.3">
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <EnableDynamicLoading>true</EnableDynamicLoading>
+    <RootNamespace>GodotRLAgents</RootNamespace>
+  </PropertyGroup>
+  <ItemGroup>
+    <PackageReference Include="Microsoft.ML.OnnxRuntime" Version="1.15.1" />
+  </ItemGroup>
+</Project>

FlyBy.gd

@@ -0,0 +1,24 @@
+extends Node3D
+
+var goals = null
+
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+	goals = $Goals.get_children()
+
+
+func get_next_goal(current_goal):
+	if current_goal == null:
+		return goals[0]
+	var index = null
+	for i in len(goals):
+		if goals[i] == current_goal:
+			index = (i + 1) % len(goals)
+			break
+
+	return goals[index]
+
+
+func get_last_goal():
+	return goals[-1]

FlyBy.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:933de1f9ca8317c0efde301a441582ebe0ac338f7d9020c3d816631530628ddd
+size 21197

FlyBy.sln

@@ -0,0 +1,25 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.5.33530.505
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "Godot RL Agents", "Godot RL Agents.csproj", "{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}"
+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
+		{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU
+		{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU
+		{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU
+		{055E8CBC-A3EC-41A8-BC53-EC3010682AE4}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

FlyBy.tscn

@@ -0,0 +1,312 @@
+[gd_scene load_steps=20 format=3 uid="uid://duev7xgoc7kvq"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sync.gd" id="1"]
+[ext_resource type="Script" path="res://GameArea.gd" id="2"]
+[ext_resource type="Texture2D" uid="uid://cc7fd3cl63ky1" path="res://alps_field_2k.hdr" id="2_retnu"]
+[ext_resource type="PackedScene" uid="uid://bjx0dykb8q6kf" path="res://Goal.tscn" id="3"]
+[ext_resource type="Script" path="res://FlyBy.gd" id="4"]
+[ext_resource type="PackedScene" uid="uid://3xxv82w5v8bo" path="res://Plane.tscn" id="5"]
+[ext_resource type="Texture2D" uid="uid://bddbiy7gwtdyh" path="res://concrete_wall_004_diff_1k.jpg" id="7_mnp35"]
+[ext_resource type="Texture2D" uid="uid://bj56jsr1idhhk" path="res://concrete_wall_004_ao_1k.jpg" id="8_mhe64"]
+[ext_resource type="Texture2D" uid="uid://ow81638q14o" path="res://concrete_wall_004_arm_1k.jpg" id="9_1x60u"]
+[ext_resource type="Texture2D" uid="uid://drkdgeq22xo2f" path="res://concrete_wall_004_nor_gl_1k.jpg" id="10_x6htc"]
+
+[sub_resource type="PanoramaSkyMaterial" id="PanoramaSkyMaterial_88xh0"]
+panorama = ExtResource("2_retnu")
+
+[sub_resource type="Sky" id="Sky_bna3a"]
+sky_material = SubResource("PanoramaSkyMaterial_88xh0")
+
+[sub_resource type="Environment" id="Environment_1r6xt"]
+background_mode = 2
+sky = SubResource("Sky_bna3a")
+ambient_light_source = 3
+reflected_light_source = 2
+
+[sub_resource type="StandardMaterial3D" id="1"]
+transparency = 1
+albedo_color = Color(0.372549, 0.0823529, 0.109804, 0.705882)
+
+[sub_resource type="StandardMaterial3D" id="2"]
+albedo_color = Color(0.0862745, 0.211765, 0.12549, 1)
+uv1_scale = Vector3(0.5, 0.5, 0.5)
+uv1_triplanar = true
+
+[sub_resource type="StandardMaterial3D" id="3"]
+albedo_color = Color(0.0196078, 0.0313726, 0.0313726, 1)
+
+[sub_resource type="BoxShape3D" id="4"]
+size = Vector3(500, 102, 502)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_lnswx"]
+albedo_texture = ExtResource("7_mnp35")
+metallic = 1.0
+metallic_texture = ExtResource("9_1x60u")
+roughness_texture = ExtResource("9_1x60u")
+normal_enabled = true
+normal_texture = ExtResource("10_x6htc")
+ao_enabled = true
+ao_texture = ExtResource("8_mhe64")
+uv1_scale = Vector3(10, 10, 10)
+
+[sub_resource type="BoxMesh" id="5"]
+material = SubResource("StandardMaterial3D_lnswx")
+size = Vector3(500, 100, 2)
+
+[node name="FlyBy" type="Node3D"]
+script = ExtResource("4")
+
+[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
+transform = Transform3D(0.837719, 0.472938, -0.273051, -0.199304, 0.730284, 0.653424, 0.508434, -0.492966, 0.706031, -138.049, 226.704, 0)
+shadow_enabled = true
+
+[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
+environment = SubResource("Environment_1r6xt")
+
+[node name="Goals" type="Node" parent="."]
+
+[node name="Goal" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 21, 35, -74)
+
+[node name="Goal2" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(0.965926, 0.258819, 1.13133e-08, 0, -4.37114e-08, 1, 0.258819, -0.965926, -4.2222e-08, 64, 35, -149)
+
+[node name="Goal3" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-5.96046e-08, 1, 4.37113e-08, 0, -4.37114e-08, 1, 1, 5.96046e-08, 2.30926e-14, 118, 54, -203)
+
+[node name="Goal4" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-0.707107, 0.707107, 3.09086e-08, 0, -4.37114e-08, 1, 0.707107, 0.707107, 3.09086e-08, 201, 42, -156)
+
+[node name="Goal5" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-1, 5.96046e-08, 2.30926e-14, 0, -4.37114e-08, 1, 5.96046e-08, 1, 4.37113e-08, 230, 35, -63)
+
+[node name="Goal6" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-1, -2.98023e-08, 1.77636e-15, 0, -4.37114e-08, 1, -2.98023e-08, 1, 4.37114e-08, 216, 17, 48)
+
+[node name="Goal7" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-0.866026, -0.5, -2.18557e-08, 0, -4.37114e-08, 1, -0.5, 0.866026, 3.78551e-08, 169, 40, 147)
+
+[node name="Goal8" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(0.258819, -0.965926, -4.2222e-08, 0, -4.37114e-08, 1, -0.965926, -0.258819, -1.13133e-08, 74, 30, 181)
+
+[node name="Goal9" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-2.98023e-07, -1, -4.37113e-08, 0, -4.37114e-08, 1, -1, 2.98023e-07, -4.08562e-14, 10, 45, 133)
+
+[node name="Goal10" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(-0.5, -0.866025, -3.78552e-08, 0, -4.37114e-08, 1, -0.866025, 0.5, 2.18557e-08, -54, 16, 171)
+
+[node name="Goal11" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(0.5, -0.866026, -3.78551e-08, 0, -4.37114e-08, 1, -0.866026, -0.5, -2.18557e-08, -132, 20, 166)
+
+[node name="Goal12" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(1, -2.38419e-07, 4.26326e-14, 0, -4.37114e-08, 1, -2.38419e-07, -1, -4.37113e-08, -159, 35, 99)
+material = SubResource("1")
+
+[node name="Goal13" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(0.5, 0.866026, 3.78551e-08, 0, -4.37114e-08, 1, 0.866026, -0.5, -2.18556e-08, -123, 35, 22)
+material = SubResource("1")
+
+[node name="Goal14" parent="Goals" instance=ExtResource("3")]
+transform = Transform3D(0.707107, 0.707107, 3.09086e-08, 0, -4.37114e-08, 1, 0.707107, -0.707107, -3.09085e-08, -43, 35, -7)
+material = SubResource("1")
+
+[node name="Columns" type="CSGCombiner3D" parent="."]
+
+[node name="CSGBox3D" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 35, -7.6325, 0)
+size = Vector3(1000, 1, 1000)
+material = SubResource("2")
+
+[node name="CSGBox2" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 48, 25, -81)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox3" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -84, 25, -38)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox16" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -83, 25, 31)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox17" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -58, 25, 31)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox18" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -163, 25, 31)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox19" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -185, 25, 113)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox20" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -130, 25, 92)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox4" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 142, 25, 112)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox13" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 212, 25, 165)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox14" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 245, 25, 107)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox12" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 157, 25, 70)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox5" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12, 25, 187)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox15" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 129, 25, 215)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox6" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1, 25, -80)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox21" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -1, 25, -80)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox7" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 125, 25, -164)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox11" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 185, 25, -218)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox10" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 74, 25, -226)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox8" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -74, 25, 91)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="CSGBox9" type="CSGBox3D" parent="Columns"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 102, 25, 130)
+size = Vector3(10, 100, 10)
+material = SubResource("3")
+
+[node name="GameArea" type="Area3D" parent="."]
+script = ExtResource("2")
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="GameArea"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 35, 41, 1)
+shape = SubResource("4")
+
+[node name="Sync" type="Node" parent="."]
+script = ExtResource("1")
+
+[node name="Plane" parent="." instance=ExtResource("5")]
+transform = Transform3D(-0.372224, 0.0145406, -0.928029, 0, 0.999877, 0.0156663, 0.928143, 0.00583138, -0.372178, -111.001, 77.3255, -109.24)
+turn_acc = 4.0
+
+[node name="Plane2" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane3" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane4" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane5" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane6" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane7" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane8" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane9" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane10" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane11" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane12" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane13" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane14" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 27, 0)
+turn_acc = 4.0
+
+[node name="Plane15" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 14, 27, -1)
+turn_acc = 4.0
+
+[node name="Plane16" parent="." instance=ExtResource("5")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 14, 27, -1)
+turn_acc = 4.0
+
+[node name="Walls" type="Node" parent="."]
+
+[node name="MeshInstance3D" type="MeshInstance3D" parent="Walls"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 36, -24.1131, 252)
+mesh = SubResource("5")
+
+[node name="MeshInstance2" type="MeshInstance3D" parent="Walls"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 35, -24.1131, -251)
+mesh = SubResource("5")
+
+[node name="MeshInstance3" type="MeshInstance3D" parent="Walls"]
+transform = Transform3D(-4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, -215, -24.1131, 1)
+mesh = SubResource("5")
+
+[node name="MeshInstance4" type="MeshInstance3D" parent="Walls"]
+transform = Transform3D(-4.37114e-08, 0, -1, 0, 1, 0, 1, 0, -4.37114e-08, 285, -24.1131, -2)
+mesh = SubResource("5")
+
+[connection signal="body_exited" from="GameArea" to="GameArea" method="_on_GameArea_body_exited"]

GameArea.gd

@@ -0,0 +1,5 @@
+extends Area3D
+
+
+func _on_GameArea_body_exited(body):
+    body.exited_game_area()

Goal.gd

@@ -0,0 +1,6 @@
+extends CSGTorus3D
+
+
+
+func _on_Area_body_entered(body):
+	body.goal_reached(self)

Goal.tscn

@@ -0,0 +1,27 @@
+[gd_scene load_steps=4 format=3 uid="uid://bjx0dykb8q6kf"]
+
+[ext_resource type="Script" path="res://Goal.gd" id="1"]
+
+[sub_resource type="StandardMaterial3D" id="1"]
+transparency = 1
+albedo_color = Color(0.372549, 0.0823529, 0.109804, 0.705882)
+
+[sub_resource type="CylinderShape3D" id="2"]
+height = 1.0
+radius = 5.0
+
+[node name="Goal" type="CSGTorus3D"]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 0, 34, 11)
+inner_radius = 8.0
+outer_radius = 10.0
+sides = 32
+ring_sides = 12
+material = SubResource("1")
+script = ExtResource("1")
+
+[node name="Area3D" type="Area3D" parent="."]
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="Area3D"]
+shape = SubResource("2")
+
+[connection signal="body_entered" from="Area3D" to="." method="_on_Area_body_entered"]

Plane.gd

@@ -0,0 +1,122 @@
+extends CharacterBody3D
+
+# Maximum airspeed
+var max_flight_speed = 30
+# Turn rate
+@export var turn_speed = 5.0
+@export var level_speed = 12.0
+@export var turn_acc = 4.0
+# Climb/dive rate
+var pitch_speed = 2.0
+# Wings "autolevel" speed
+# Throttle change speed
+var throttle_delta = 30
+# Acceleration/deceleration
+var acceleration = 6.0
+# Current speed
+var forward_speed = 0
+# Throttle input speed
+var target_speed = 0
+
+#var velocity = Vector3.ZERO
+var found_goal = false
+var exited_arena = false
+var cur_goal = null
+@onready var environment = get_parent()
+@onready var ai_controller = $AIController3D
+# ------- #
+var turn_input = 0
+var pitch_input = 0
+var best_goal_distance := 10000.0
+var transform_backup = null
+
+
+func _ready():
+	ai_controller.init(self)
+	transform_backup = transform
+
+
+func game_over():
+	cur_goal = environment.get_next_goal(null)
+	transform_backup = transform_backup
+	position.x = 0 + randf_range(-2, 2)
+	position.y = 27 + randf_range(-2, 2)
+	position.z = 0 + randf_range(-2, 2)
+	velocity = Vector3.ZERO
+	rotation = Vector3.ZERO
+	found_goal = false
+	exited_arena = false
+	best_goal_distance = to_local(cur_goal.position).length()
+	ai_controller.reset()
+
+
+func update_reward():
+	ai_controller.reward -= 0.01  # step penalty
+	ai_controller.reward += shaping_reward()
+
+
+func shaping_reward():
+	var s_reward = 0.0
+	var goal_distance = to_local(cur_goal.position).length()
+	if goal_distance < best_goal_distance:
+		s_reward += best_goal_distance - goal_distance
+		best_goal_distance = goal_distance
+
+	s_reward /= 1.0
+	return s_reward
+
+
+func set_heuristic(heuristic):
+	self._heuristic = heuristic
+
+
+func _physics_process(delta):
+	if ai_controller.needs_reset:
+		game_over()
+		return
+
+	if cur_goal == null:
+		game_over()
+	set_input()
+	if Input.is_action_just_pressed("r_key"):
+		game_over()
+	# Rotate the transform based checked the input values
+	transform.basis = transform.basis.rotated(
+		transform.basis.x.normalized(), pitch_input * pitch_speed * delta
+	)
+	transform.basis = transform.basis.rotated(Vector3.UP, turn_input * turn_speed * delta)
+	$PlaneModel.rotation.z = lerp($PlaneModel.rotation.z, -float(turn_input), level_speed * delta)
+	$PlaneModel.rotation.x = lerp($PlaneModel.rotation.x, -float(pitch_input), level_speed * delta)
+
+	# Movement is always forward
+	velocity = -transform.basis.z.normalized() * max_flight_speed
+	# Handle landing/taking unchecked
+	set_velocity(velocity)
+	set_up_direction(Vector3.UP)
+	move_and_slide()
+	update_reward()
+
+
+func set_input():
+	if ai_controller.heuristic == "model":
+		return
+	else:
+		turn_input = (
+			Input.get_action_strength("roll_left") - Input.get_action_strength("roll_right")
+		)
+		pitch_input = (
+			Input.get_action_strength("pitch_up") - Input.get_action_strength("pitch_down")
+		)
+
+
+func goal_reached(goal):
+	if goal == cur_goal:
+		ai_controller.reward += 100.0
+		cur_goal = environment.get_next_goal(cur_goal)
+
+
+func exited_game_area():
+	ai_controller.done = true
+	ai_controller.reward -= 10.0
+	exited_arena = true
+	game_over()

Plane.tscn

@@ -0,0 +1,28 @@
+[gd_scene load_steps=5 format=3 uid="uid://3xxv82w5v8bo"]
+
+[ext_resource type="Script" path="res://Plane.gd" id="2"]
+[ext_resource type="PackedScene" uid="uid://bo7tjnr5viqq" path="res://cartoon_plane/scene.gltf" id="2_0hy0d"]
+[ext_resource type="Script" path="res://AIController3D.gd" id="3_y1d1w"]
+
+[sub_resource type="CylinderShape3D" id="27"]
+height = 7.77792
+
+[node name="Plane" type="CharacterBody3D"]
+collision_mask = 2
+script = ExtResource("2")
+turn_speed = 2.0
+level_speed = 2.0
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, -0.00176279, -0.999998, 0, 0.999998, -0.00176279, 0, -0.43198, 0.299141)
+shape = SubResource("27")
+
+[node name="PlaneModel" parent="." instance=ExtResource("2_0hy0d")]
+transform = Transform3D(-0.01, 0, -8.74228e-10, 0, 0.01, 0, 8.74228e-10, 0, -0.01, 0, 0, 0)
+
+[node name="Camera3D" type="Camera3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 21.4392)
+
+[node name="AIController3D" type="Node3D" parent="." groups=["AGENT"]]
+script = ExtResource("3_y1d1w")
+reset_after = 200000

PlaneModel.gd

@@ -0,0 +1,9 @@
+extends Node3D
+
+
+@onready var anim = $AnimationPlayer
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+	get_node("AnimationPlayer").get_animation("Main")#.set_loop(true)
+	anim.play("Main")

PlaneModel.tscn

@@ -0,0 +1,19 @@
+[gd_scene load_steps=2 format=2]
+
+[ext_resource path="res://cartoon_plane/scene.gltf" type="PackedScene" id=1]
+
+[node name="PlaneModel" instance=ExtResource( 1 )]
+transform = Transform3D( 0.01, 0, 0, 0, 0.01, 0, 0, 0, 0.01, 0, 0, 0 )
+
+[node name="RootNode (gltf orientation matrix)" parent="." index="0"]
+transform = Transform3D( -1, 8.74228e-08, 3.82137e-15, 0, -4.37114e-08, 1, 8.74228e-08, 1, 4.37114e-08, 0, 0, 0 )
+
+[node name="Propeller_1" parent="RootNode (gltf orientation matrix)/RootNode (model correction matrix)/12cc6a9ff2ae45b08826ba235d9cb8b7fbx/Node/RootNode" index="0"]
+transform = Transform3D( -0.791092, -0.611698, 0, 0.611698, -0.791092, 0, 0, 0, 1, 0.873349, -46.0248, 401.434 )
+
+[node name="Physical_Sky" parent="RootNode (gltf orientation matrix)/RootNode (model correction matrix)/12cc6a9ff2ae45b08826ba235d9cb8b7fbx/Node/RootNode" index="1"]
+transform = Transform3D( 0.879922, 0.00248785, -0.475112, 0.0222404, 0.998674, 0.0464192, 0.474598, -0.051412, 0.8787, 0, 0, 0 )
+visible = false
+
+[node name="Shadow_Plane" parent="RootNode (gltf orientation matrix)/RootNode (model correction matrix)/12cc6a9ff2ae45b08826ba235d9cb8b7fbx/Node/RootNode/Physical_Sky" index="1"]
+visible = false

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 FlyBy for the Godot Game Engine.
+
+This environment was created with: https://github.com/edbeeching/godot_rl_agents 
+
+
+## Downloading the environment 
+
+After installing Godot RL Agents, download the environment with: 
+
+```
+gdrl.env_from_hub -r jtatman/godot_rl_FlyBy
+```
+
+
+

addons/godot_rl_agents/controller/ai_controller_2d.gd

@@ -0,0 +1,113 @@
+extends Node2D
+class_name AIController2D
+
+enum ControlModes { INHERIT_FROM_SYNC, HUMAN, TRAINING, ONNX_INFERENCE, RECORD_EXPERT_DEMOS }
+@export var control_mode: ControlModes = ControlModes.INHERIT_FROM_SYNC
+@export var onnx_model_path := ""
+@export var reset_after := 1000
+
+@export_group("Record expert demos mode options")
+## Path where the demos will be saved. The file can later be used for imitation learning.
+@export var expert_demo_save_path: String
+## The action that erases the last recorded episode from the currently recorded data.
+@export var remove_last_episode_key: InputEvent
+## Action will be repeated for n frames. Will introduce control lag if larger than 1.
+## Can be used to ensure that action_repeat on inference and training matches
+## the recorded demonstrations.
+@export var action_repeat: int = 1
+
+var onnx_model: ONNXModel
+
+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")
+
+
+#-----------------------------------------------------------------------------#
+
+
+#-- Methods that sometimes need implementing using the "extend script" option in Godot --#
+# Only needed if you are recording expert demos with this AIController
+func get_action() -> Array:
+	assert(false, "the get set_action method is not implemented in extended AIController but demo_recorder is used")
+	return []
+
+# -----------------------------------------------------------------------------#
+
+func _physics_process(delta):
+	n_steps += 1
+	if n_steps > reset_after:
+		needs_reset = true
+
+
+func get_obs_space():
+	# may need overriding if the obs space is complex
+	var obs = get_obs()
+	return {
+		"obs": {"size": [len(obs["obs"])], "space": "box"},
+	}
+
+
+func reset():
+	n_steps = 0
+	needs_reset = false
+
+
+func reset_if_done():
+	if done:
+		reset()
+
+
+func set_heuristic(h):
+	# sets the heuristic from "human" or "model" nothing to change here
+	heuristic = h
+
+
+func get_done():
+	return done
+
+
+func set_done_false():
+	done = false
+
+
+func zero_reward():
+	reward = 0.0

addons/godot_rl_agents/controller/ai_controller_3d.gd

@@ -0,0 +1,114 @@
+extends Node3D
+class_name AIController3D
+
+enum ControlModes { INHERIT_FROM_SYNC, HUMAN, TRAINING, ONNX_INFERENCE, RECORD_EXPERT_DEMOS }
+@export var control_mode: ControlModes = ControlModes.INHERIT_FROM_SYNC
+@export var onnx_model_path := ""
+@export var reset_after := 1000
+
+@export_group("Record expert demos mode options")
+## Path where the demos will be saved. The file can later be used for imitation learning.
+@export var expert_demo_save_path: String
+## The action that erases the last recorded episode from the currently recorded data.
+@export var remove_last_episode_key: InputEvent
+## Action will be repeated for n frames. Will introduce control lag if larger than 1.
+## Can be used to ensure that action_repeat on inference and training matches
+## the recorded demonstrations.
+@export var action_repeat: int = 1
+
+var onnx_model: ONNXModel
+
+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")
+
+
+#-----------------------------------------------------------------------------#
+
+
+#-- Methods that sometimes need implementing using the "extend script" option in Godot --#
+# Only needed if you are recording expert demos with this AIController
+func get_action() -> Array:
+	assert(false, "the get set_action method is not implemented in extended AIController but demo_recorder is used")
+	return []
+
+# -----------------------------------------------------------------------------#
+
+
+func _physics_process(delta):
+	n_steps += 1
+	if n_steps > reset_after:
+		needs_reset = true
+
+
+func get_obs_space():
+	# may need overriding if the obs space is complex
+	var obs = get_obs()
+	return {
+		"obs": {"size": [len(obs["obs"])], "space": "box"},
+	}
+
+
+func reset():
+	n_steps = 0
+	needs_reset = false
+
+
+func reset_if_done():
+	if done:
+		reset()
+
+
+func set_heuristic(h):
+	# sets the heuristic from "human" or "model" nothing to change here
+	heuristic = h
+
+
+func get_done():
+	return done
+
+
+func set_done_false():
+	done = false
+
+
+func zero_reward():
+	reward = 0.0

addons/godot_rl_agents/godot_rl_agents.gd

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

addons/godot_rl_agents/onnx/csharp/ONNXInference.cs

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

addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs

@@ -0,0 +1,131 @@
+using Godot;
+using Microsoft.ML.OnnxRuntime;
+
+namespace GodotONNX
+{
+	/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SessionConfigurator/*'/>
+
+	public static class SessionConfigurator
+	{
+		public enum ComputeName
+		{
+			CUDA,
+			ROCm,
+			DirectML,
+			CoreML,
+			CPU
+		}
+
+        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/GetSessionOptions/*'/>
+        public static SessionOptions MakeConfiguredSessionOptions()
+        {
+            SessionOptions sessionOptions = new();
+            SetOptions(sessionOptions);
+            return sessionOptions;
+        }
+
+        private static void SetOptions(SessionOptions sessionOptions)
+        {
+            sessionOptions.LogSeverityLevel = OrtLoggingLevel.ORT_LOGGING_LEVEL_WARNING;
+            ApplySystemSpecificOptions(sessionOptions);
+        }
+
+        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SystemCheck/*'/>
+        static public void ApplySystemSpecificOptions(SessionOptions sessionOptions)
+        {
+            //Most code for this function is verbose only, the only reason it exists is to track
+            //implementation progress of the different compute APIs.
+
+            //December 2022: CUDA is not working. 
+
+            string OSName = OS.GetName(); //Get OS Name
+
+            //ComputeName ComputeAPI = ComputeCheck(); //Get Compute API
+            //                                         //TODO: Get CPU architecture
+
+            //Linux can use OpenVINO (C#) on x64 and ROCm on x86 (GDNative/C++)
+            //Windows can use OpenVINO (C#) on x64
+            //TODO: try TensorRT instead of CUDA
+            //TODO: Use OpenVINO for Intel Graphics
+
+            // Temporarily using CPU on all platforms to avoid errors detected with DML
+            ComputeName ComputeAPI = ComputeName.CPU;
+
+            //match OS and Compute API
+            GD.Print($"OS: {OSName} Compute API: {ComputeAPI}");
+
+            // CPU is set by default without appending necessary
+            // sessionOptions.AppendExecutionProvider_CPU(0);
+
+            /*
+            switch (OSName)
+            {
+                case "Windows": //Can use CUDA, DirectML
+                    if (ComputeAPI is ComputeName.CUDA)
+                    {
+                        //CUDA 
+                        //sessionOptions.AppendExecutionProvider_CUDA(0);
+                        //sessionOptions.AppendExecutionProvider_DML(0);
+                    }
+                    else if (ComputeAPI is ComputeName.DirectML)
+                    {
+                        //DirectML
+                        //sessionOptions.AppendExecutionProvider_DML(0);
+                    }
+                    break;
+                case "X11": //Can use CUDA, ROCm
+                    if (ComputeAPI is ComputeName.CUDA)
+                    {
+                        //CUDA
+                        //sessionOptions.AppendExecutionProvider_CUDA(0);
+                    }
+                    if (ComputeAPI is ComputeName.ROCm)
+                    {
+                        //ROCm, only works on x86 
+                        //Research indicates that this has to be compiled as a GDNative plugin
+                        //GD.Print("ROCm not supported yet, using CPU.");
+                        //sessionOptions.AppendExecutionProvider_CPU(0);
+                    }
+                    break;
+                case "macOS": //Can use CoreML
+                    if (ComputeAPI is ComputeName.CoreML)
+                    { //CoreML
+                      //TODO: Needs testing
+                        //sessionOptions.AppendExecutionProvider_CoreML(0);
+                        //CoreML on ARM64, out of the box, on x64 needs .tar file from GitHub
+                    }
+                    break;
+                default:
+                    GD.Print("OS not Supported.");
+                    break;
+            }
+            */
+        }
+
+
+        /// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/ComputeCheck/*'/>
+        public static ComputeName ComputeCheck()
+		{
+			string adapterName = Godot.RenderingServer.GetVideoAdapterName();
+			//string adapterVendor = Godot.RenderingServer.GetVideoAdapterVendor();
+			adapterName = adapterName.ToUpper(new System.Globalization.CultureInfo(""));
+			//TODO: GPU vendors for MacOS, what do they even use these days?
+		  
+			if (adapterName.Contains("INTEL"))
+			{
+				return ComputeName.DirectML;
+			}
+			if (adapterName.Contains("AMD") || adapterName.Contains("RADEON"))
+			{
+				return ComputeName.DirectML;
+			}
+			if (adapterName.Contains("NVIDIA"))
+			{
+				return ComputeName.CUDA;
+			}
+
+			GD.Print("Graphics Card not recognized."); //Should use CPU
+			return ComputeName.CPU;
+		}
+	}
+}

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

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

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

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

addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd

@@ -0,0 +1,27 @@
+extends Resource
+class_name ONNXModel
+var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInference.cs")
+
+var inferencer = null
+
+
+# Must provide the path to the model and the batch size
+func _init(model_path, batch_size):
+	inferencer = inferencer_script.new()
+	inferencer.Initialize(model_path, batch_size)
+
+
+# This function is the one that will be called from the game,
+# requires the observation as an array and the state_ins as an int
+# returns an Array containing the action the model takes.
+func run_inference(obs: Array, state_ins: int) -> Dictionary:
+	if inferencer == null:
+		printerr("Inferencer not initialized")
+		return {}
+	return inferencer.RunInference(obs, state_ins)
+
+
+func _notification(what):
+	if what == NOTIFICATION_PREDELETE:
+		inferencer.FreeDisposables()
+		inferencer.free()

addons/godot_rl_agents/plugin.cfg

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

addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn

@@ -0,0 +1,48 @@
+[gd_scene load_steps=5 format=3 uid="uid://ddeq7mn1ealyc"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
+
+[sub_resource type="GDScript" id="2"]
+script/source = "extends Node2D
+
+
+
+func _physics_process(delta: float) -> void:
+    print(\"step start\")
+    
+"
+
+[sub_resource type="GDScript" id="1"]
+script/source = "extends RayCast2D
+
+var steps = 1
+
+func _physics_process(delta: float) -> void:
+    print(\"processing raycast\")
+    steps += 1
+    if steps % 2:
+        force_raycast_update()
+
+    print(is_colliding())
+"
+
+[sub_resource type="CircleShape2D" id="3"]
+
+[node name="ExampleRaycastSensor2D" type="Node2D"]
+script = SubResource("2")
+
+[node name="ExampleAgent" type="Node2D" parent="."]
+position = Vector2(573, 314)
+rotation = 0.286234
+
+[node name="RaycastSensor2D" type="Node2D" parent="ExampleAgent"]
+script = ExtResource("1")
+
+[node name="TestRayCast2D" type="RayCast2D" parent="."]
+script = SubResource("1")
+
+[node name="StaticBody2D" type="StaticBody2D" parent="."]
+position = Vector2(1, 52)
+
+[node name="CollisionShape2D" type="CollisionShape2D" parent="StaticBody2D"]
+shape = SubResource("3")

addons/godot_rl_agents/sensors/sensors_2d/GridSensor2D.gd

@@ -0,0 +1,235 @@
+@tool
+extends ISensor2D
+class_name GridSensor2D
+
+@export var debug_view := false:
+	get:
+		return debug_view
+	set(value):
+		debug_view = value
+		_update()
+
+@export_flags_2d_physics var detection_mask := 0:
+	get:
+		return detection_mask
+	set(value):
+		detection_mask = value
+		_update()
+
+@export var collide_with_areas := false:
+	get:
+		return collide_with_areas
+	set(value):
+		collide_with_areas = value
+		_update()
+
+@export var collide_with_bodies := true:
+	get:
+		return collide_with_bodies
+	set(value):
+		collide_with_bodies = value
+		_update()
+
+@export_range(1, 200, 0.1) var cell_width := 20.0:
+	get:
+		return cell_width
+	set(value):
+		cell_width = value
+		_update()
+
+@export_range(1, 200, 0.1) var cell_height := 20.0:
+	get:
+		return cell_height
+	set(value):
+		cell_height = value
+		_update()
+
+@export_range(1, 21, 2, "or_greater") var grid_size_x := 3:
+	get:
+		return grid_size_x
+	set(value):
+		grid_size_x = value
+		_update()
+
+@export_range(1, 21, 2, "or_greater") var grid_size_y := 3:
+	get:
+		return grid_size_y
+	set(value):
+		grid_size_y = value
+		_update()
+
+var _obs_buffer: PackedFloat64Array
+var _rectangle_shape: RectangleShape2D
+var _collision_mapping: Dictionary
+var _n_layers_per_cell: int
+
+var _highlighted_cell_color: Color
+var _standard_cell_color: Color
+
+
+func get_observation():
+	return _obs_buffer
+
+
+func _update():
+	if Engine.is_editor_hint():
+		if is_node_ready():
+			_spawn_nodes()
+
+
+func _ready() -> void:
+	_set_colors()
+
+	if Engine.is_editor_hint():
+		if get_child_count() == 0:
+			_spawn_nodes()
+	else:
+		_spawn_nodes()
+
+
+func _set_colors() -> void:
+	_standard_cell_color = Color(100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0)
+	_highlighted_cell_color = Color(255.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0)
+
+
+func _get_collision_mapping() -> Dictionary:
+	# defines which layer is mapped to which cell obs index
+	var total_bits = 0
+	var collision_mapping = {}
+	for i in 32:
+		var bit_mask = 2 ** i
+		if (detection_mask & bit_mask) > 0:
+			collision_mapping[i] = total_bits
+			total_bits += 1
+
+	return collision_mapping
+
+
+func _spawn_nodes():
+	for cell in get_children():
+		cell.name = "_%s" % cell.name  # Otherwise naming below will fail
+		cell.queue_free()
+
+	_collision_mapping = _get_collision_mapping()
+	#prints("collision_mapping", _collision_mapping, len(_collision_mapping))
+	# allocate memory for the observations
+	_n_layers_per_cell = len(_collision_mapping)
+	_obs_buffer = PackedFloat64Array()
+	_obs_buffer.resize(grid_size_x * grid_size_y * _n_layers_per_cell)
+	_obs_buffer.fill(0)
+	#prints(len(_obs_buffer), _obs_buffer )
+
+	_rectangle_shape = RectangleShape2D.new()
+	_rectangle_shape.set_size(Vector2(cell_width, cell_height))
+
+	var shift := Vector2(
+		-(grid_size_x / 2) * cell_width,
+		-(grid_size_y / 2) * cell_height,
+	)
+
+	for i in grid_size_x:
+		for j in grid_size_y:
+			var cell_position = Vector2(i * cell_width, j * cell_height) + shift
+			_create_cell(i, j, cell_position)
+
+
+func _create_cell(i: int, j: int, position: Vector2):
+	var cell := Area2D.new()
+	cell.position = position
+	cell.name = "GridCell %s %s" % [i, j]
+	cell.modulate = _standard_cell_color
+
+	if collide_with_areas:
+		cell.area_entered.connect(_on_cell_area_entered.bind(i, j))
+		cell.area_exited.connect(_on_cell_area_exited.bind(i, j))
+
+	if collide_with_bodies:
+		cell.body_entered.connect(_on_cell_body_entered.bind(i, j))
+		cell.body_exited.connect(_on_cell_body_exited.bind(i, j))
+
+	cell.collision_layer = 0
+	cell.collision_mask = detection_mask
+	cell.monitorable = true
+	add_child(cell)
+	cell.set_owner(get_tree().edited_scene_root)
+
+	var col_shape := CollisionShape2D.new()
+	col_shape.shape = _rectangle_shape
+	col_shape.name = "CollisionShape2D"
+	cell.add_child(col_shape)
+	col_shape.set_owner(get_tree().edited_scene_root)
+
+	if debug_view:
+		var quad = MeshInstance2D.new()
+		quad.name = "MeshInstance2D"
+		var quad_mesh = QuadMesh.new()
+
+		quad_mesh.set_size(Vector2(cell_width, cell_height))
+
+		quad.mesh = quad_mesh
+		cell.add_child(quad)
+		quad.set_owner(get_tree().edited_scene_root)
+
+
+func _update_obs(cell_i: int, cell_j: int, collision_layer: int, entered: bool):
+	for key in _collision_mapping:
+		var bit_mask = 2 ** key
+		if (collision_layer & bit_mask) > 0:
+			var collison_map_index = _collision_mapping[key]
+
+			var obs_index = (
+				(cell_i * grid_size_x * _n_layers_per_cell)
+				+ (cell_j * _n_layers_per_cell)
+				+ collison_map_index
+			)
+			#prints(obs_index, cell_i, cell_j)
+			if entered:
+				_obs_buffer[obs_index] += 1
+			else:
+				_obs_buffer[obs_index] -= 1
+
+
+func _toggle_cell(cell_i: int, cell_j: int):
+	var cell = get_node_or_null("GridCell %s %s" % [cell_i, cell_j])
+
+	if cell == null:
+		print("cell not found, returning")
+
+	var n_hits = 0
+	var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell)
+	for i in _n_layers_per_cell:
+		n_hits += _obs_buffer[start_index + i]
+
+	if n_hits > 0:
+		cell.modulate = _highlighted_cell_color
+	else:
+		cell.modulate = _standard_cell_color
+
+
+func _on_cell_area_entered(area: Area2D, cell_i: int, cell_j: int):
+	#prints("_on_cell_area_entered", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, area.collision_layer, true)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+	#print(_obs_buffer)
+
+
+func _on_cell_area_exited(area: Area2D, cell_i: int, cell_j: int):
+	#prints("_on_cell_area_exited", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, area.collision_layer, false)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+
+
+func _on_cell_body_entered(body: Node2D, cell_i: int, cell_j: int):
+	#prints("_on_cell_body_entered", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, body.collision_layer, true)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+
+
+func _on_cell_body_exited(body: Node2D, cell_i: int, cell_j: int):
+	#prints("_on_cell_body_exited", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, body.collision_layer, false)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)

addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd

@@ -0,0 +1,25 @@
+extends Node2D
+class_name ISensor2D
+
+var _obs: Array = []
+var _active := false
+
+
+func get_observation():
+	pass
+
+
+func activate():
+	_active = true
+
+
+func deactivate():
+	_active = false
+
+
+func _update_observation():
+	pass
+
+
+func reset():
+	pass

addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd

@@ -0,0 +1,118 @@
+@tool
+extends ISensor2D
+class_name RaycastSensor2D
+
+@export_flags_2d_physics var collision_mask := 1:
+	get:
+		return collision_mask
+	set(value):
+		collision_mask = value
+		_update()
+
+@export var collide_with_areas := false:
+	get:
+		return collide_with_areas
+	set(value):
+		collide_with_areas = value
+		_update()
+
+@export var collide_with_bodies := true:
+	get:
+		return collide_with_bodies
+	set(value):
+		collide_with_bodies = value
+		_update()
+
+@export var n_rays := 16.0:
+	get:
+		return n_rays
+	set(value):
+		n_rays = value
+		_update()
+
+@export_range(5, 3000, 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 = false
+		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 get_observation() -> Array:
+	return self.calculate_raycasts()
+
+
+func calculate_raycasts() -> Array:
+	var result = []
+	for ray in rays:
+		ray.enabled = true
+		ray.force_raycast_update()
+		var distance = _get_raycast_distance(ray)
+		result.append(distance)
+		ray.enabled = false
+	return result
+
+
+func _get_raycast_distance(ray: RayCast2D) -> float:
+	if !ray.is_colliding():
+		return 0.0
+
+	var distance = (global_position - ray.get_collision_point()).length()
+	distance = clamp(distance, 0.0, ray_length)
+	return (ray_length - distance) / ray_length

addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn

@@ -0,0 +1,7 @@
+[gd_scene load_steps=2 format=3 uid="uid://drvfihk5esgmv"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd" id="1"]
+
+[node name="RaycastSensor2D" type="Node2D"]
+script = ExtResource("1")
+n_rays = 17.0

addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn

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

addons/godot_rl_agents/sensors/sensors_3d/GridSensor3D.gd

@@ -0,0 +1,258 @@
+@tool
+extends ISensor3D
+class_name GridSensor3D
+
+@export var debug_view := false:
+	get:
+		return debug_view
+	set(value):
+		debug_view = value
+		_update()
+
+@export_flags_3d_physics var detection_mask := 0:
+	get:
+		return detection_mask
+	set(value):
+		detection_mask = value
+		_update()
+
+@export var collide_with_areas := false:
+	get:
+		return collide_with_areas
+	set(value):
+		collide_with_areas = value
+		_update()
+
+@export var collide_with_bodies := false:
+	# NOTE! The sensor will not detect StaticBody3D, add an area to static bodies to detect them
+	get:
+		return collide_with_bodies
+	set(value):
+		collide_with_bodies = value
+		_update()
+
+@export_range(0.1, 2, 0.1) var cell_width := 1.0:
+	get:
+		return cell_width
+	set(value):
+		cell_width = value
+		_update()
+
+@export_range(0.1, 2, 0.1) var cell_height := 1.0:
+	get:
+		return cell_height
+	set(value):
+		cell_height = value
+		_update()
+
+@export_range(1, 21, 2, "or_greater") var grid_size_x := 3:
+	get:
+		return grid_size_x
+	set(value):
+		grid_size_x = value
+		_update()
+
+@export_range(1, 21, 2, "or_greater") var grid_size_z := 3:
+	get:
+		return grid_size_z
+	set(value):
+		grid_size_z = value
+		_update()
+
+var _obs_buffer: PackedFloat64Array
+var _box_shape: BoxShape3D
+var _collision_mapping: Dictionary
+var _n_layers_per_cell: int
+
+var _highlighted_box_material: StandardMaterial3D
+var _standard_box_material: StandardMaterial3D
+
+
+func get_observation():
+	return _obs_buffer
+
+
+func reset():
+	_obs_buffer.fill(0)
+
+
+func _update():
+	if Engine.is_editor_hint():
+		if is_node_ready():
+			_spawn_nodes()
+
+
+func _ready() -> void:
+	_make_materials()
+
+	if Engine.is_editor_hint():
+		if get_child_count() == 0:
+			_spawn_nodes()
+	else:
+		_spawn_nodes()
+
+
+func _make_materials() -> void:
+	if _highlighted_box_material != null and _standard_box_material != null:
+		return
+
+	_standard_box_material = StandardMaterial3D.new()
+	_standard_box_material.set_transparency(1)  # ALPHA
+	_standard_box_material.albedo_color = Color(
+		100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0
+	)
+
+	_highlighted_box_material = StandardMaterial3D.new()
+	_highlighted_box_material.set_transparency(1)  # ALPHA
+	_highlighted_box_material.albedo_color = Color(
+		255.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0, 100.0 / 255.0
+	)
+
+
+func _get_collision_mapping() -> Dictionary:
+	# defines which layer is mapped to which cell obs index
+	var total_bits = 0
+	var collision_mapping = {}
+	for i in 32:
+		var bit_mask = 2 ** i
+		if (detection_mask & bit_mask) > 0:
+			collision_mapping[i] = total_bits
+			total_bits += 1
+
+	return collision_mapping
+
+
+func _spawn_nodes():
+	for cell in get_children():
+		cell.name = "_%s" % cell.name  # Otherwise naming below will fail
+		cell.queue_free()
+
+	_collision_mapping = _get_collision_mapping()
+	#prints("collision_mapping", _collision_mapping, len(_collision_mapping))
+	# allocate memory for the observations
+	_n_layers_per_cell = len(_collision_mapping)
+	_obs_buffer = PackedFloat64Array()
+	_obs_buffer.resize(grid_size_x * grid_size_z * _n_layers_per_cell)
+	_obs_buffer.fill(0)
+	#prints(len(_obs_buffer), _obs_buffer )
+
+	_box_shape = BoxShape3D.new()
+	_box_shape.set_size(Vector3(cell_width, cell_height, cell_width))
+
+	var shift := Vector3(
+		-(grid_size_x / 2) * cell_width,
+		0,
+		-(grid_size_z / 2) * cell_width,
+	)
+
+	for i in grid_size_x:
+		for j in grid_size_z:
+			var cell_position = Vector3(i * cell_width, 0.0, j * cell_width) + shift
+			_create_cell(i, j, cell_position)
+
+
+func _create_cell(i: int, j: int, position: Vector3):
+	var cell := Area3D.new()
+	cell.position = position
+	cell.name = "GridCell %s %s" % [i, j]
+
+	if collide_with_areas:
+		cell.area_entered.connect(_on_cell_area_entered.bind(i, j))
+		cell.area_exited.connect(_on_cell_area_exited.bind(i, j))
+
+	if collide_with_bodies:
+		cell.body_entered.connect(_on_cell_body_entered.bind(i, j))
+		cell.body_exited.connect(_on_cell_body_exited.bind(i, j))
+
+#		cell.body_shape_entered.connect(_on_cell_body_shape_entered.bind(i, j))
+#		cell.body_shape_exited.connect(_on_cell_body_shape_exited.bind(i, j))
+
+	cell.collision_layer = 0
+	cell.collision_mask = detection_mask
+	cell.monitorable = true
+	cell.input_ray_pickable = false
+	add_child(cell)
+	cell.set_owner(get_tree().edited_scene_root)
+
+	var col_shape := CollisionShape3D.new()
+	col_shape.shape = _box_shape
+	col_shape.name = "CollisionShape3D"
+	cell.add_child(col_shape)
+	col_shape.set_owner(get_tree().edited_scene_root)
+
+	if debug_view:
+		var box = MeshInstance3D.new()
+		box.name = "MeshInstance3D"
+		var box_mesh = BoxMesh.new()
+
+		box_mesh.set_size(Vector3(cell_width, cell_height, cell_width))
+		box_mesh.material = _standard_box_material
+
+		box.mesh = box_mesh
+		cell.add_child(box)
+		box.set_owner(get_tree().edited_scene_root)
+
+
+func _update_obs(cell_i: int, cell_j: int, collision_layer: int, entered: bool):
+	for key in _collision_mapping:
+		var bit_mask = 2 ** key
+		if (collision_layer & bit_mask) > 0:
+			var collison_map_index = _collision_mapping[key]
+
+			var obs_index = (
+				(cell_i * grid_size_x * _n_layers_per_cell)
+				+ (cell_j * _n_layers_per_cell)
+				+ collison_map_index
+			)
+			#prints(obs_index, cell_i, cell_j)
+			if entered:
+				_obs_buffer[obs_index] += 1
+			else:
+				_obs_buffer[obs_index] -= 1
+
+
+func _toggle_cell(cell_i: int, cell_j: int):
+	var cell = get_node_or_null("GridCell %s %s" % [cell_i, cell_j])
+
+	if cell == null:
+		print("cell not found, returning")
+
+	var n_hits = 0
+	var start_index = (cell_i * grid_size_x * _n_layers_per_cell) + (cell_j * _n_layers_per_cell)
+	for i in _n_layers_per_cell:
+		n_hits += _obs_buffer[start_index + i]
+
+	var cell_mesh = cell.get_node_or_null("MeshInstance3D")
+	if n_hits > 0:
+		cell_mesh.mesh.material = _highlighted_box_material
+	else:
+		cell_mesh.mesh.material = _standard_box_material
+
+
+func _on_cell_area_entered(area: Area3D, cell_i: int, cell_j: int):
+	#prints("_on_cell_area_entered", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, area.collision_layer, true)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+	#print(_obs_buffer)
+
+
+func _on_cell_area_exited(area: Area3D, cell_i: int, cell_j: int):
+	#prints("_on_cell_area_exited", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, area.collision_layer, false)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+
+
+func _on_cell_body_entered(body: Node3D, cell_i: int, cell_j: int):
+	#prints("_on_cell_body_entered", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, body.collision_layer, true)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)
+
+
+func _on_cell_body_exited(body: Node3D, cell_i: int, cell_j: int):
+	#prints("_on_cell_body_exited", cell_i, cell_j)
+	_update_obs(cell_i, cell_j, body.collision_layer, false)
+	if debug_view:
+		_toggle_cell(cell_i, cell_j)

addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd

@@ -0,0 +1,25 @@
+extends Node3D
+class_name ISensor3D
+
+var _obs: Array = []
+var _active := false
+
+
+func get_observation():
+	pass
+
+
+func activate():
+	_active = true
+
+
+func deactivate():
+	_active = false
+
+
+func _update_observation():
+	pass
+
+
+func reset():
+	pass

addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd

@@ -0,0 +1,21 @@
+extends Node3D
+class_name RGBCameraSensor3D
+var camera_pixels = null
+
+@onready var camera_texture := $Control/TextureRect/CameraTexture as Sprite2D
+@onready var sub_viewport := $SubViewport as SubViewport
+
+
+func get_camera_pixel_encoding():
+	return camera_texture.get_texture().get_image().get_data().hex_encode()
+
+
+func get_camera_shape() -> Array:
+	assert(
+		sub_viewport.size.x >= 36 and sub_viewport.size.y >= 36,
+		"SubViewport size must be 36x36 or larger."
+	)
+	if sub_viewport.transparent_bg:
+		return [4, sub_viewport.size.y, sub_viewport.size.x]
+	else:
+		return [3, sub_viewport.size.y, sub_viewport.size.x]

addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn

@@ -0,0 +1,41 @@
+[gd_scene load_steps=3 format=3 uid="uid://baaywi3arsl2m"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" id="1"]
+
+[sub_resource type="ViewportTexture" id="1"]
+viewport_path = NodePath("SubViewport")
+
+[node name="RGBCameraSensor3D" type="Node3D"]
+script = ExtResource("1")
+
+[node name="RemoteTransform3D" type="RemoteTransform3D" parent="."]
+remote_path = NodePath("../SubViewport/Camera3D")
+
+[node name="SubViewport" type="SubViewport" parent="."]
+size = Vector2i(32, 32)
+render_target_update_mode = 3
+
+[node name="Camera3D" type="Camera3D" parent="SubViewport"]
+near = 0.5
+
+[node name="Control" type="Control" parent="."]
+layout_mode = 3
+anchors_preset = 15
+anchor_right = 1.0
+anchor_bottom = 1.0
+grow_horizontal = 2
+grow_vertical = 2
+
+[node name="TextureRect" type="ColorRect" parent="Control"]
+layout_mode = 0
+offset_left = 1096.0
+offset_top = 534.0
+offset_right = 1114.0
+offset_bottom = 552.0
+scale = Vector2(10, 10)
+color = Color(0.00784314, 0.00784314, 0.00784314, 1)
+
+[node name="CameraTexture" type="Sprite2D" parent="Control/TextureRect"]
+texture = SubResource("1")
+offset = Vector2(9, 9)
+flip_v = true

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd

@@ -0,0 +1,185 @@
+@tool
+extends ISensor3D
+class_name RayCastSensor3D
+@export_flags_3d_physics var collision_mask = 1:
+	get:
+		return collision_mask
+	set(value):
+		collision_mask = value
+		_update()
+@export_flags_3d_physics var boolean_class_mask = 1:
+	get:
+		return boolean_class_mask
+	set(value):
+		boolean_class_mask = value
+		_update()
+
+@export var n_rays_width := 6.0:
+	get:
+		return n_rays_width
+	set(value):
+		n_rays_width = value
+		_update()
+
+@export var n_rays_height := 6.0:
+	get:
+		return n_rays_height
+	set(value):
+		n_rays_height = value
+		_update()
+
+@export var ray_length := 10.0:
+	get:
+		return ray_length
+	set(value):
+		ray_length = value
+		_update()
+
+@export var cone_width := 60.0:
+	get:
+		return cone_width
+	set(value):
+		cone_width = value
+		_update()
+
+@export var cone_height := 60.0:
+	get:
+		return cone_height
+	set(value):
+		cone_height = value
+		_update()
+
+@export var collide_with_areas := false:
+	get:
+		return collide_with_areas
+	set(value):
+		collide_with_areas = value
+		_update()
+
+@export var collide_with_bodies := true:
+	get:
+		return collide_with_bodies
+	set(value):
+		collide_with_bodies = value
+		_update()
+
+@export var class_sensor := false
+
+var rays := []
+var geo = null
+
+
+func _update():
+	if Engine.is_editor_hint():
+		if is_node_ready():
+			_spawn_nodes()
+
+
+func _ready() -> void:
+	if Engine.is_editor_hint():
+		if get_child_count() == 0:
+			_spawn_nodes()
+	else:
+		_spawn_nodes()
+
+
+func _spawn_nodes():
+	print("spawning nodes")
+	for ray in get_children():
+		ray.queue_free()
+	if geo:
+		geo.clear()
+	#$Lines.remove_points()
+	rays = []
+
+	var horizontal_step = cone_width / (n_rays_width)
+	var vertical_step = cone_height / (n_rays_height)
+
+	var horizontal_start = horizontal_step / 2 - cone_width / 2
+	var vertical_start = vertical_step / 2 - cone_height / 2
+
+	var points = []
+
+	for i in n_rays_width:
+		for j in n_rays_height:
+			var angle_w = horizontal_start + i * horizontal_step
+			var angle_h = vertical_start + j * vertical_step
+			#angle_h = 0.0
+			var ray = RayCast3D.new()
+			var cast_to = to_spherical_coords(ray_length, angle_w, angle_h)
+			ray.set_target_position(cast_to)
+
+			points.append(cast_to)
+
+			ray.set_name("node_" + str(i) + " " + str(j))
+			ray.enabled = true
+			ray.collide_with_bodies = collide_with_bodies
+			ray.collide_with_areas = collide_with_areas
+			ray.collision_mask = collision_mask
+			add_child(ray)
+			ray.set_owner(get_tree().edited_scene_root)
+			rays.append(ray)
+			ray.force_raycast_update()
+
+
+#    if Engine.editor_hint:
+#        _create_debug_lines(points)
+
+
+func _create_debug_lines(points):
+	if not geo:
+		geo = ImmediateMesh.new()
+		add_child(geo)
+
+	geo.clear()
+	geo.begin(Mesh.PRIMITIVE_LINES)
+	for point in points:
+		geo.set_color(Color.AQUA)
+		geo.add_vertex(Vector3.ZERO)
+		geo.add_vertex(point)
+	geo.end()
+
+
+func display():
+	if geo:
+		geo.display()
+
+
+func to_spherical_coords(r, inc, azimuth) -> Vector3:
+	return Vector3(
+		r * sin(deg_to_rad(inc)) * cos(deg_to_rad(azimuth)),
+		r * sin(deg_to_rad(azimuth)),
+		r * cos(deg_to_rad(inc)) * cos(deg_to_rad(azimuth))
+	)
+
+
+func get_observation() -> Array:
+	return self.calculate_raycasts()
+
+
+func calculate_raycasts() -> Array:
+	var result = []
+	for ray in rays:
+		ray.set_enabled(true)
+		ray.force_raycast_update()
+		var distance = _get_raycast_distance(ray)
+
+		result.append(distance)
+		if class_sensor:
+			var hit_class: float = 0
+			if ray.get_collider():
+				var hit_collision_layer = ray.get_collider().collision_layer
+				hit_collision_layer = hit_collision_layer & collision_mask
+				hit_class = (hit_collision_layer & boolean_class_mask) > 0
+			result.append(float(hit_class))
+		ray.set_enabled(false)
+	return result
+
+
+func _get_raycast_distance(ray: RayCast3D) -> float:
+	if !ray.is_colliding():
+		return 0.0
+
+	var distance = (global_transform.origin - ray.get_collision_point()).length()
+	distance = clamp(distance, 0.0, ray_length)
+	return (ray_length - distance) / ray_length

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn

@@ -0,0 +1,27 @@
+[gd_scene load_steps=2 format=3 uid="uid://b803cbh1fmy66"]
+
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" id="1"]
+
+[node name="RaycastSensor3D" type="Node3D"]
+script = ExtResource("1")
+n_rays_width = 4.0
+n_rays_height = 2.0
+ray_length = 11.0
+
+[node name="node_1 0" type="RayCast3D" parent="."]
+target_position = Vector3(-1.38686, -2.84701, 10.5343)
+
+[node name="node_1 1" type="RayCast3D" parent="."]
+target_position = Vector3(-1.38686, 2.84701, 10.5343)
+
+[node name="node_2 0" type="RayCast3D" parent="."]
+target_position = Vector3(1.38686, -2.84701, 10.5343)
+
+[node name="node_2 1" type="RayCast3D" parent="."]
+target_position = Vector3(1.38686, 2.84701, 10.5343)
+
+[node name="node_3 0" type="RayCast3D" parent="."]
+target_position = Vector3(4.06608, -2.84701, 9.81639)
+
+[node name="node_3 1" type="RayCast3D" parent="."]
+target_position = Vector3(4.06608, 2.84701, 9.81639)

addons/godot_rl_agents/sync.gd

@@ -0,0 +1,540 @@
+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(0, 10, 0.1, "or_greater") var speed_up := 1.0
+@export var onnx_model_path := ""
+
+# Onnx model stored for each requested path
+var onnx_models: Dictionary
+
+@onready var start_time = Time.get_ticks_msec()
+
+const MAJOR_VERSION := "0"
+const MINOR_VERSION := "7" 
+const DEFAULT_PORT := "11008"
+const DEFAULT_SEED := "1"
+var stream: StreamPeerTCP = null
+var connected = false
+var message_center
+var should_connect = true
+
+var all_agents: Array
+var agents_training: Array
+var agents_inference: Array
+var agents_heuristic: Array
+
+## For recording expert demos
+var agent_demo_record: Node
+## Stores recorded trajectories
+var demo_trajectories: Array
+## A trajectory includes obs: Array, acts: Array, terminal (set in Python env instead)
+var current_demo_trajectory: Array
+
+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 _action_space_inference: Array[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()
+	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", all_agents)
+
+	_initialize_training_agents()
+	_initialize_inference_agents()
+	_initialize_demo_recording()
+
+	_set_seed()
+	_set_action_repeat()
+	initialized = true
+
+
+func _initialize_training_agents():
+	if agents_training.size() > 0:
+		_obs_space = agents_training[0].get_obs_space()
+		_action_space = agents_training[0].get_action_space()
+		connected = connect_to_server()
+		if connected:
+			_set_heuristic("model", agents_training)
+			_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?"
+			)
+
+
+func _initialize_inference_agents():
+	if agents_inference.size() > 0:
+		if control_mode == 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_models[onnx_model_path] = ONNXModel.new(onnx_model_path, 1)
+
+		for agent in agents_inference:
+			_action_space_inference.append(agent.get_action_space())
+
+			var agent_onnx_model: ONNXModel
+			if agent.onnx_model_path.is_empty():
+				assert(
+					onnx_models.has(onnx_model_path),
+					(
+						"Node %s has no onnx model path set " % agent.get_path()
+						+ "and sync node's control mode is not set to OnnxInference. "
+						+ "Either add the path to the AIController, "
+						+ "or if you want to use the path set on sync node instead, "
+						+ "set control mode to OnnxInference."
+					)
+				)
+				prints(
+					"Info: AIController %s" % agent.get_path(),
+					"has no onnx model path set.",
+					"Using path set on the sync node instead."
+				)
+				agent_onnx_model = onnx_models[onnx_model_path]
+			else:
+				if not onnx_models.has(agent.onnx_model_path):
+					assert(
+						FileAccess.file_exists(agent.onnx_model_path),
+						(
+							"Onnx Model Path set on %s node does not exist: %s"
+							% [agent.get_path(), agent.onnx_model_path]
+						)
+					)
+					onnx_models[agent.onnx_model_path] = ONNXModel.new(agent.onnx_model_path, 1)
+				agent_onnx_model = onnx_models[agent.onnx_model_path]
+
+			agent.onnx_model = agent_onnx_model
+		_set_heuristic("model", agents_inference)
+
+
+func _initialize_demo_recording():
+	if agent_demo_record:
+		InputMap.add_action("RemoveLastDemoEpisode")
+		InputMap.action_add_event(
+			"RemoveLastDemoEpisode", agent_demo_record.remove_last_episode_key
+		)
+		current_demo_trajectory.resize(2)
+		current_demo_trajectory[0] = []
+		current_demo_trajectory[1] = []
+		agent_demo_record.heuristic = "demo_record"
+
+
+func _physics_process(_delta):
+	# two modes, human control, agent control
+	# pause tree, send obs, get actions, set actions, unpause tree
+
+	_demo_record_process()
+
+	if n_action_steps % action_repeat != 0:
+		n_action_steps += 1
+		return
+
+	n_action_steps += 1
+
+	_training_process()
+	_inference_process()
+	_heuristic_process()
+
+
+func _training_process():
+	if connected:
+		get_tree().set_pause(true)
+
+		if just_reset:
+			just_reset = false
+			var obs = _get_obs_from_agents(agents_training)
+
+			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(agents_training)
+
+			var reply = {"type": "step", "obs": obs, "reward": reward, "done": done}
+			_send_dict_as_json_message(reply)
+
+		var handled = handle_message()
+
+
+func _inference_process():
+	if agents_inference.size() > 0:
+		var obs: Array = _get_obs_from_agents(agents_inference)
+		var actions = []
+
+		for agent_id in range(0, agents_inference.size()):
+			var action = agents_inference[agent_id].onnx_model.run_inference(
+				obs[agent_id]["obs"], 1.0
+			)
+			action["output"] = clamp_array(action["output"], -1.0, 1.0)
+			var action_dict = _extract_action_dict(
+				action["output"], _action_space_inference[agent_id]
+			)
+			actions.append(action_dict)
+
+		_set_agent_actions(actions, agents_inference)
+		_reset_agents_if_done(agents_inference)
+		get_tree().set_pause(false)
+
+
+func _demo_record_process():
+	if not agent_demo_record:
+		return
+
+	if Input.is_action_just_pressed("RemoveLastDemoEpisode"):
+		print("[Sync script][Demo recorder] Removing last recorded episode.")
+		demo_trajectories.remove_at(demo_trajectories.size() - 1)
+		print("Remaining episode count: %d" % demo_trajectories.size())
+
+	if n_action_steps % agent_demo_record.action_repeat != 0:
+		return
+
+	var obs_dict: Dictionary = agent_demo_record.get_obs()
+
+	# Get the current obs from the agent
+	assert(
+		obs_dict.has("obs"),
+		"Demo recorder needs an 'obs' key in get_obs() returned dictionary to record obs from."
+	)
+	current_demo_trajectory[0].append(obs_dict.obs)
+
+	# Get the action applied for the current obs from the agent
+	agent_demo_record.set_action()
+	var acts = agent_demo_record.get_action()
+
+	var terminal = agent_demo_record.get_done()
+	# Record actions only for non-terminal states
+	if terminal:
+		agent_demo_record.set_done_false()
+	else:
+		current_demo_trajectory[1].append(acts)
+
+	if terminal:
+		#current_demo_trajectory[2].append(true)
+		demo_trajectories.append(current_demo_trajectory.duplicate(true))
+		print("[Sync script][Demo recorder] Recorded episode count: %d" % demo_trajectories.size())
+		current_demo_trajectory[0].clear()
+		current_demo_trajectory[1].clear()
+
+
+func _heuristic_process():
+	for agent in agents_heuristic:
+		_reset_agents_if_done(agents_heuristic)
+
+
+func _extract_action_dict(action_array: Array, action_space: Dictionary):
+	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
+
+
+## For AIControllers that inherit mode from sync, sets the correct mode.
+func _set_agent_mode(agent: Node):
+	var agent_inherits_mode: bool = agent.control_mode == agent.ControlModes.INHERIT_FROM_SYNC
+
+	if agent_inherits_mode:
+		match control_mode:
+			ControlModes.HUMAN:
+				agent.control_mode = agent.ControlModes.HUMAN
+			ControlModes.TRAINING:
+				agent.control_mode = agent.ControlModes.TRAINING
+			ControlModes.ONNX_INFERENCE:
+				agent.control_mode = agent.ControlModes.ONNX_INFERENCE
+
+
+func _get_agents():
+	all_agents = get_tree().get_nodes_in_group("AGENT")
+	for agent in all_agents:
+		_set_agent_mode(agent)
+
+		if agent.control_mode == agent.ControlModes.TRAINING:
+			agents_training.append(agent)
+		elif agent.control_mode == agent.ControlModes.ONNX_INFERENCE:
+			agents_inference.append(agent)
+		elif agent.control_mode == agent.ControlModes.HUMAN:
+			agents_heuristic.append(agent)
+		elif agent.control_mode == agent.ControlModes.RECORD_EXPERT_DEMOS:
+			assert(
+				not agent_demo_record,
+				"Currently only a single AIController can be used for recording expert demos."
+			)
+			agent_demo_record = agent
+
+
+func _set_heuristic(heuristic, agents: Array):
+	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, "", false))
+
+
+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_training)
+	}
+	_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_float()
+
+
+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_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, agents_training)
+		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 all_agents:
+		returns.append(agent.call(method))
+
+	return returns
+
+
+func _reset_agents_if_done(agents = all_agents):
+	for agent in agents:
+		if agent.get_done():
+			agent.set_done_false()
+
+
+func _reset_agents(agents = all_agents):
+	for agent in agents:
+		agent.needs_reset = true
+		#agent.reset()
+
+
+func _get_obs_from_agents(agents: Array = all_agents):
+	var obs = []
+	for agent in agents:
+		obs.append(agent.get_obs())
+	return obs
+
+
+func _get_reward_from_agents(agents: Array = agents_training):
+	var rewards = []
+	for agent in agents:
+		rewards.append(agent.get_reward())
+		agent.zero_reward()
+	return rewards
+
+
+func _get_done_from_agents(agents: Array = agents_training):
+	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, agents: Array = all_agents):
+	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
+
+
+## Save recorded export demos on window exit (Close window instead of "Stop" button in Godot Editor)
+func _notification(what):
+	if not agent_demo_record:
+		return
+
+	if what == NOTIFICATION_PREDELETE:
+		var json_string = JSON.stringify(demo_trajectories, "", false)
+		var file = FileAccess.open(agent_demo_record.expert_demo_save_path, FileAccess.WRITE)
+
+		if not file:
+			var error: Error = FileAccess.get_open_error()
+			assert(not error, "There was an error opening the file: %d" % error)
+
+		file.store_line(json_string)
+		var error = file.get_error()
+		assert(not error, "There was an error after trying to write to the file: %d" % error)

alps_field_2k.hdr

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90ef5a4e0c46d0177a06406b59142a6bb426176a85c195fa23d2e443383a9e12
+size 6531494

cartoon_plane/scene.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69acdd991464940059d06172ab3c298f11b312f5d924bef1ba3f8b4a35ba2032
+size 216896

cartoon_plane/scene.gltf

@@ -0,0 +1,3208 @@
+{
+  "accessors": [
+    {
+      "bufferView": 2,
+      "componentType": 5126,
+      "count": 163,
+      "max": [
+        12.949999809265137,
+        12.070835113525391,
+        16.631193161010742
+      ],
+      "min": [
+        -10.476770401000977,
+        -12.561528205871582,
+        -10.497358322143555
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 1956,
+      "componentType": 5126,
+      "count": 163,
+      "max": [
+        0.7753106951713562,
+        0.91143244504928589,
+        0.28564080595970154
+      ],
+      "min": [
+        -0.95833677053451538,
+        -0.91143244504928589,
+        -1
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "componentType": 5126,
+      "count": 163,
+      "max": [
+        0.95105659961700439,
+        0.8090171217918396,
+        2.4478199023292291e-08,
+        1
+      ],
+      "min": [
+        -1,
+        -1,
+        -2.7669146973607894e-08,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "componentType": 5126,
+      "count": 163,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "componentType": 5125,
+      "count": 435,
+      "max": [
+        162
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 3912,
+      "componentType": 5126,
+      "count": 168,
+      "max": [
+        69.045951843261719,
+        115.68470764160156,
+        1.6864264011383057
+      ],
+      "min": [
+        -131.32583618164062,
+        -115.68470764160156,
+        -3.4447975158691406
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 5928,
+      "componentType": 5126,
+      "count": 168,
+      "max": [
+        1,
+        0.99593973159790039,
+        0.99936956167221069
+      ],
+      "min": [
+        -1,
+        -0.99593973159790039,
+        -0.99936956167221069
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 2608,
+      "componentType": 5126,
+      "count": 168,
+      "max": [
+        0.99999493360519409,
+        0.92716342210769653,
+        0.99593979120254517,
+        1
+      ],
+      "min": [
+        -0.99999487400054932,
+        -0.92672520875930786,
+        -1,
+        -1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 1304,
+      "componentType": 5126,
+      "count": 168,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 1740,
+      "componentType": 5125,
+      "count": 252,
+      "max": [
+        167
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 7944,
+      "componentType": 5126,
+      "count": 74,
+      "max": [
+        -0.37032601237297058,
+        4.978886604309082,
+        -2.5330522060394287
+      ],
+      "min": [
+        -2.423985481262207,
+        -16.757600784301758,
+        -4.5867118835449219
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 8832,
+      "componentType": 5126,
+      "count": 74,
+      "max": [
+        0.96592593193054199,
+        1,
+        0.96592593193054199
+      ],
+      "min": [
+        -0.96592593193054199,
+        -1,
+        -0.96592593193054199
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 5296,
+      "componentType": 5126,
+      "count": 74,
+      "max": [
+        1,
+        4.1499621418179872e-24,
+        0.96592593193054199,
+        1
+      ],
+      "min": [
+        -1,
+        -9.3374238909908813e-24,
+        -0.96592587232589722,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 2648,
+      "componentType": 5126,
+      "count": 74,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 2748,
+      "componentType": 5125,
+      "count": 144,
+      "max": [
+        73
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 9720,
+      "componentType": 5126,
+      "count": 168,
+      "max": [
+        -103.08991241455078,
+        -37.86639404296875,
+        -0.033820558339357376
+      ],
+      "min": [
+        -124.04102325439453,
+        -92.227767944335938,
+        -2.9683210849761963
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 11736,
+      "componentType": 5126,
+      "count": 168,
+      "max": [
+        1,
+        1,
+        1
+      ],
+      "min": [
+        -1,
+        -1,
+        -1
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 6480,
+      "componentType": 5126,
+      "count": 168,
+      "max": [
+        1,
+        0.99937671422958374,
+        1,
+        1
+      ],
+      "min": [
+        -1,
+        -0.99937677383422852,
+        -1,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 3240,
+      "componentType": 5126,
+      "count": 168,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 3324,
+      "componentType": 5125,
+      "count": 252,
+      "max": [
+        167
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 13752,
+      "componentType": 5126,
+      "count": 386,
+      "max": [
+        10.651838302612305,
+        7.7758417129516602,
+        10.651838302612305
+      ],
+      "min": [
+        -10.651838302612305,
+        -7.7758417129516602,
+        -10.651838302612305
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 18384,
+      "componentType": 5126,
+      "count": 386,
+      "max": [
+        0.96592593193054199,
+        1,
+        0.96592593193054199
+      ],
+      "min": [
+        -0.96592593193054199,
+        -1,
+        -0.96592593193054199
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 9168,
+      "componentType": 5126,
+      "count": 386,
+      "max": [
+        1,
+        3.6031600814112608e-08,
+        1,
+        1
+      ],
+      "min": [
+        -1,
+        -4.9005969060544885e-08,
+        -0.96592593193054199,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 4584,
+      "componentType": 5126,
+      "count": 386,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 4332,
+      "componentType": 5125,
+      "count": 576,
+      "max": [
+        385
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 23016,
+      "componentType": 5126,
+      "count": 74,
+      "max": [
+        -0.69157510995864868,
+        9.2979526519775391,
+        -4.7304153442382812
+      ],
+      "min": [
+        -4.526735782623291,
+        -31.294424057006836,
+        -8.5655755996704102
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 23904,
+      "componentType": 5126,
+      "count": 74,
+      "max": [
+        0.96592593193054199,
+        1,
+        0.96592593193054199
+      ],
+      "min": [
+        -0.96592593193054199,
+        -1,
+        -0.96592593193054199
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 15344,
+      "componentType": 5126,
+      "count": 74,
+      "max": [
+        1,
+        6.6666974310416953e-24,
+        0.96592593193054199,
+        1
+      ],
+      "min": [
+        -1,
+        -3.4205967316382915e-24,
+        -0.96592587232589722,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 7672,
+      "componentType": 5126,
+      "count": 74,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 6636,
+      "componentType": 5125,
+      "count": 144,
+      "max": [
+        73
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 24792,
+      "componentType": 5126,
+      "count": 158,
+      "max": [
+        -192.51797485351562,
+        -70.714591979980469,
+        -0.063159093260765076
+      ],
+      "min": [
+        -231.6436767578125,
+        -172.23316955566406,
+        -5.5432696342468262
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 26688,
+      "componentType": 5126,
+      "count": 158,
+      "max": [
+        1,
+        1,
+        1
+      ],
+      "min": [
+        -1,
+        -1,
+        -1
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 16528,
+      "componentType": 5126,
+      "count": 158,
+      "max": [
+        1,
+        0.99937677383422852,
+        1,
+        1
+      ],
+      "min": [
+        -1,
+        -0.99937683343887329,
+        -1,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 8264,
+      "componentType": 5126,
+      "count": 158,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 7212,
+      "componentType": 5125,
+      "count": 252,
+      "max": [
+        157
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 28584,
+      "componentType": 5126,
+      "count": 386,
+      "max": [
+        19.892055511474609,
+        14.521201133728027,
+        19.892055511474609
+      ],
+      "min": [
+        -19.892055511474609,
+        -14.521201133728027,
+        -19.892055511474609
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 33216,
+      "componentType": 5126,
+      "count": 386,
+      "max": [
+        0.96592593193054199,
+        1,
+        0.96592593193054199
+      ],
+      "min": [
+        -0.96592593193054199,
+        -1,
+        -0.96592593193054199
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 19056,
+      "componentType": 5126,
+      "count": 386,
+      "max": [
+        1,
+        4.1396436500917844e-08,
+        1,
+        1
+      ],
+      "min": [
+        -1,
+        -7.2341222789873427e-08,
+        -0.96592593193054199,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 9528,
+      "componentType": 5126,
+      "count": 386,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 8220,
+      "componentType": 5125,
+      "count": 576,
+      "max": [
+        385
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 37848,
+      "componentType": 5126,
+      "count": 74,
+      "max": [
+        -0.69157510995864868,
+        9.2979526519775391,
+        -4.7304153442382812
+      ],
+      "min": [
+        -4.526735782623291,
+        -31.294424057006836,
+        -8.5655755996704102
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 38736,
+      "componentType": 5126,
+      "count": 74,
+      "max": [
+        0.96592593193054199,
+        1,
+        0.96592593193054199
+      ],
+      "min": [
+        -0.96592593193054199,
+        -1,
+        -0.96592593193054199
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 25232,
+      "componentType": 5126,
+      "count": 74,
+      "max": [
+        1,
+        6.6666974310416953e-24,
+        0.96592593193054199,
+        1
+      ],
+      "min": [
+        -1,
+        -3.4205967316382915e-24,
+        -0.96592587232589722,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 12616,
+      "componentType": 5126,
+      "count": 74,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 10524,
+      "componentType": 5125,
+      "count": 144,
+      "max": [
+        73
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 39624,
+      "componentType": 5126,
+      "count": 158,
+      "max": [
+        -192.51797485351562,
+        -70.714591979980469,
+        -0.063159093260765076
+      ],
+      "min": [
+        -231.6436767578125,
+        -172.23316955566406,
+        -5.5432696342468262
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 41520,
+      "componentType": 5126,
+      "count": 158,
+      "max": [
+        1,
+        1,
+        1
+      ],
+      "min": [
+        -1,
+        -1,
+        -1
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 26416,
+      "componentType": 5126,
+      "count": 158,
+      "max": [
+        1,
+        0.99937677383422852,
+        1,
+        1
+      ],
+      "min": [
+        -1,
+        -0.99937683343887329,
+        -1,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 13208,
+      "componentType": 5126,
+      "count": 158,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 11100,
+      "componentType": 5125,
+      "count": 252,
+      "max": [
+        157
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 43416,
+      "componentType": 5126,
+      "count": 386,
+      "max": [
+        19.892055511474609,
+        14.521201133728027,
+        19.892055511474609
+      ],
+      "min": [
+        -19.892055511474609,
+        -14.521201133728027,
+        -19.892055511474609
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 48048,
+      "componentType": 5126,
+      "count": 386,
+      "max": [
+        0.96592593193054199,
+        1,
+        0.96592593193054199
+      ],
+      "min": [
+        -0.96592593193054199,
+        -1,
+        -0.96592593193054199
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 28944,
+      "componentType": 5126,
+      "count": 386,
+      "max": [
+        1,
+        4.1396436500917844e-08,
+        1,
+        1
+      ],
+      "min": [
+        -1,
+        -7.2341222789873427e-08,
+        -0.96592593193054199,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 14472,
+      "componentType": 5126,
+      "count": 386,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 12108,
+      "componentType": 5125,
+      "count": 576,
+      "max": [
+        385
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 52680,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        87.186851501464844,
+        -26.638965606689453,
+        299.34503173828125
+      ],
+      "min": [
+        48.678955078125,
+        -30.55317497253418,
+        232.06298828125
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 53352,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        0.98992806673049927,
+        1,
+        0.98992806673049927
+      ],
+      "min": [
+        -0.98992806673049927,
+        -1,
+        -0.98992806673049927
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 35120,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        0.98992812633514404,
+        0.0073813591152429581,
+        0.98467016220092773,
+        1
+      ],
+      "min": [
+        -0.98992806673049927,
+        -0.0089176241308450699,
+        -0.98467016220092773,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 17560,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 14412,
+      "componentType": 5125,
+      "count": 84,
+      "max": [
+        55
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 54024,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        87.186851501464844,
+        -32.165931701660156,
+        299.34503173828125
+      ],
+      "min": [
+        48.678955078125,
+        -36.08013916015625,
+        232.06298828125
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 54696,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        0.98992806673049927,
+        1,
+        0.98992806673049927
+      ],
+      "min": [
+        -0.98992806673049927,
+        -1,
+        -0.98992806673049927
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 36016,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        0.98992812633514404,
+        0.0073813600465655327,
+        0.98467016220092773,
+        1
+      ],
+      "min": [
+        -0.98992806673049927,
+        -0.0089175542816519737,
+        -0.98467016220092773,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 18008,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 14748,
+      "componentType": 5125,
+      "count": 84,
+      "max": [
+        55
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 55368,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        87.186851501464844,
+        -37.051544189453125,
+        299.34503173828125
+      ],
+      "min": [
+        48.678955078125,
+        -40.965751647949219,
+        232.06298828125
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 56040,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        0.98992806673049927,
+        1,
+        0.98992806673049927
+      ],
+      "min": [
+        -0.98992806673049927,
+        -1,
+        -0.98992806673049927
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 36912,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        0.98992812633514404,
+        0.0073827789165079594,
+        0.98467016220092773,
+        1
+      ],
+      "min": [
+        -0.98992806673049927,
+        -0.0089190937578678131,
+        -0.98467016220092773,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 18456,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 15084,
+      "componentType": 5125,
+      "count": 84,
+      "max": [
+        55
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 56712,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        87.186851501464844,
+        -26.638965606689453,
+        299.34503173828125
+      ],
+      "min": [
+        48.678955078125,
+        -30.55317497253418,
+        232.06298828125
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 57384,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        0.98992806673049927,
+        1,
+        0.98992806673049927
+      ],
+      "min": [
+        -0.98992806673049927,
+        -1,
+        -0.98992806673049927
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 37808,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        0.98992812633514404,
+        0.0073813591152429581,
+        0.98467016220092773,
+        1
+      ],
+      "min": [
+        -0.98992806673049927,
+        -0.0089176241308450699,
+        -0.98467016220092773,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 18904,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 15420,
+      "componentType": 5125,
+      "count": 84,
+      "max": [
+        55
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 58056,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        87.186851501464844,
+        -32.165931701660156,
+        299.34503173828125
+      ],
+      "min": [
+        48.678955078125,
+        -36.08013916015625,
+        232.06298828125
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 58728,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        0.98992806673049927,
+        1,
+        0.98992806673049927
+      ],
+      "min": [
+        -0.98992806673049927,
+        -1,
+        -0.98992806673049927
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 38704,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        0.98992812633514404,
+        0.0073813600465655327,
+        0.98467016220092773,
+        1
+      ],
+      "min": [
+        -0.98992806673049927,
+        -0.0089175542816519737,
+        -0.98467016220092773,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 19352,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 15756,
+      "componentType": 5125,
+      "count": 84,
+      "max": [
+        55
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 59400,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        87.186851501464844,
+        -37.051544189453125,
+        299.34503173828125
+      ],
+      "min": [
+        48.678955078125,
+        -40.965751647949219,
+        232.06298828125
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 60072,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        0.98992806673049927,
+        1,
+        0.98992806673049927
+      ],
+      "min": [
+        -0.98992806673049927,
+        -1,
+        -0.98992806673049927
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 39600,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        0.98992812633514404,
+        0.0073827789165079594,
+        0.98467016220092773,
+        1
+      ],
+      "min": [
+        -0.98992806673049927,
+        -0.0089190937578678131,
+        -0.98467016220092773,
+        1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 19800,
+      "componentType": 5126,
+      "count": 56,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 16092,
+      "componentType": 5125,
+      "count": 84,
+      "max": [
+        55
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 60744,
+      "componentType": 5126,
+      "count": 529,
+      "max": [
+        417.94387817382812,
+        99.216903686523438,
+        398.960693359375
+      ],
+      "min": [
+        -417.86929321289062,
+        -95.718612670898438,
+        -393.07296752929688
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 67092,
+      "componentType": 5126,
+      "count": 529,
+      "max": [
+        1,
+        0.99993491172790527,
+        0.99861770868301392
+      ],
+      "min": [
+        -1,
+        -0.99995923042297363,
+        -0.99959629774093628
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 40496,
+      "componentType": 5126,
+      "count": 529,
+      "max": [
+        1,
+        0.99503612518310547,
+        0.98400908708572388,
+        1
+      ],
+      "min": [
+        -1,
+        -0.93140757083892822,
+        -0.99999719858169556,
+        -1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 20248,
+      "componentType": 5126,
+      "count": 529,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 16428,
+      "componentType": 5125,
+      "count": 972,
+      "max": [
+        528
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 73440,
+      "componentType": 5126,
+      "count": 244,
+      "max": [
+        434.4974365234375,
+        99.216903686523438,
+        398.960693359375
+      ],
+      "min": [
+        -434.42288208007812,
+        -112.64717864990234,
+        -393.07296752929688
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 76368,
+      "componentType": 5126,
+      "count": 244,
+      "max": [
+        0.99999499320983887,
+        0.99967437982559204,
+        0.96623903512954712
+      ],
+      "min": [
+        -0.99999505281448364,
+        -0.99965155124664307,
+        -0.99979156255722046
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 48960,
+      "componentType": 5126,
+      "count": 244,
+      "max": [
+        1,
+        0.99794167280197144,
+        0.95789152383804321,
+        1
+      ],
+      "min": [
+        -1,
+        -0.99984729290008545,
+        -0.9979901909828186,
+        -1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 24480,
+      "componentType": 5126,
+      "count": 244,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 20316,
+      "componentType": 5125,
+      "count": 420,
+      "max": [
+        243
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 79296,
+      "componentType": 5126,
+      "count": 16,
+      "max": [
+        72.184349060058594,
+        87.669517517089844,
+        225.43736267089844
+      ],
+      "min": [
+        -72.109786987304688,
+        -11.801899909973145,
+        6.5268120765686035
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 79488,
+      "componentType": 5126,
+      "count": 16,
+      "max": [
+        0.94465756416320801,
+        0.99961799383163452,
+        0.87517642974853516
+      ],
+      "min": [
+        -0.99990540742874146,
+        -0.95777672529220581,
+        -0.59132260084152222
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 52864,
+      "componentType": 5126,
+      "count": 16,
+      "max": [
+        0.99952733516693115,
+        0.39090055227279663,
+        0.018440555781126022,
+        1
+      ],
+      "min": [
+        -0.99994564056396484,
+        -0.1586826890707016,
+        -0.99664419889450073,
+        -1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 26432,
+      "componentType": 5126,
+      "count": 16,
+      "max": [
+        0.97632133960723877,
+        0.98159992694854736
+      ],
+      "min": [
+        0.013218616135418415,
+        0.5194861888885498
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 21996,
+      "componentType": 5125,
+      "count": 24,
+      "max": [
+        15
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 79680,
+      "componentType": 5126,
+      "count": 120,
+      "max": [
+        359.43194580078125,
+        -52.727996826171875,
+        234.7813720703125
+      ],
+      "min": [
+        -359.35739135742188,
+        -85.97186279296875,
+        4.0965709686279297
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 81120,
+      "componentType": 5126,
+      "count": 120,
+      "max": [
+        0.98549240827560425,
+        0.99958568811416626,
+        0.99996495246887207
+      ],
+      "min": [
+        -0.92871010303497314,
+        -0.99781399965286255,
+        -0.99984771013259888
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 53120,
+      "componentType": 5126,
+      "count": 120,
+      "max": [
+        1,
+        0.061126749962568283,
+        0.99963241815567017,
+        1
+      ],
+      "min": [
+        -0.99977493286132812,
+        -0.99864476919174194,
+        -0.97820085287094116,
+        -1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 26560,
+      "componentType": 5126,
+      "count": 120,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 22092,
+      "componentType": 5125,
+      "count": 180,
+      "max": [
+        119
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 82560,
+      "componentType": 5126,
+      "count": 275,
+      "max": [
+        0.050080213695764542,
+        99.216903686523438,
+        398.960693359375
+      ],
+      "min": [
+        -417.86929321289062,
+        -95.718612670898438,
+        -393.07296752929688
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 85860,
+      "componentType": 5126,
+      "count": 275,
+      "max": [
+        1,
+        0.99992120265960693,
+        0.99861770868301392
+      ],
+      "min": [
+        -1,
+        -0.99995225667953491,
+        -0.99959629774093628
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 55040,
+      "componentType": 5126,
+      "count": 275,
+      "max": [
+        1,
+        0.99503612518310547,
+        0.9840090274810791,
+        1
+      ],
+      "min": [
+        -1,
+        -0.93140757083892822,
+        -0.99999719858169556,
+        -1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 27520,
+      "componentType": 5126,
+      "count": 275,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 22812,
+      "componentType": 5125,
+      "count": 486,
+      "max": [
+        274
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 89160,
+      "componentType": 5126,
+      "count": 121,
+      "max": [
+        0.031271640211343765,
+        99.216903686523438,
+        398.960693359375
+      ],
+      "min": [
+        -434.42288208007812,
+        -112.64717864990234,
+        -393.07296752929688
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 90612,
+      "componentType": 5126,
+      "count": 121,
+      "max": [
+        0.18651074171066284,
+        0.99967437982559204,
+        0.96623897552490234
+      ],
+      "min": [
+        -0.99999505281448364,
+        -0.99965155124664307,
+        -0.99979156255722046
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 59440,
+      "componentType": 5126,
+      "count": 121,
+      "max": [
+        1,
+        0.99720406532287598,
+        0.95789152383804321,
+        1
+      ],
+      "min": [
+        -0.99976450204849243,
+        -0.99984729290008545,
+        -0.99799007177352905,
+        -1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 29720,
+      "componentType": 5126,
+      "count": 121,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 24756,
+      "componentType": 5125,
+      "count": 210,
+      "max": [
+        120
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 92064,
+      "componentType": 5126,
+      "count": 8,
+      "max": [
+        -4.3827910423278809,
+        87.669517517089844,
+        225.43736267089844
+      ],
+      "min": [
+        -72.109786987304688,
+        -11.801899909973145,
+        6.5268120765686035
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 92160,
+      "componentType": 5126,
+      "count": 8,
+      "max": [
+        0,
+        0.45346537232398987,
+        0.89127397537231445
+      ],
+      "min": [
+        -0.97785824537277222,
+        0.1951594352722168,
+        -0.075538128614425659
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 61376,
+      "componentType": 5126,
+      "count": 8,
+      "max": [
+        0.058859270066022873,
+        0,
+        0,
+        -1
+      ],
+      "min": [
+        -1,
+        -0.15251168608665466,
+        -0.99502462148666382,
+        -1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 30688,
+      "componentType": 5126,
+      "count": 8,
+      "max": [
+        0.97632133960723877,
+        0.98159992694854736
+      ],
+      "min": [
+        0.013218616135418415,
+        0.5194861888885498
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 25596,
+      "componentType": 5125,
+      "count": 12,
+      "max": [
+        7
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 92256,
+      "componentType": 5126,
+      "count": 60,
+      "max": [
+        -63.003810882568359,
+        -52.727996826171875,
+        234.7813720703125
+      ],
+      "min": [
+        -359.35739135742188,
+        -85.97186279296875,
+        4.0965709686279297
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 2,
+      "byteOffset": 92976,
+      "componentType": 5126,
+      "count": 60,
+      "max": [
+        0.99946296215057373,
+        0.99798387289047241,
+        0.9749215841293335
+      ],
+      "min": [
+        -0.99926775693893433,
+        -0.96400362253189087,
+        -0.99917972087860107
+      ],
+      "type": "VEC3"
+    },
+    {
+      "bufferView": 3,
+      "byteOffset": 61504,
+      "componentType": 5126,
+      "count": 60,
+      "max": [
+        0.99996131658554077,
+        0.24199792742729187,
+        0.97319614887237549,
+        1
+      ],
+      "min": [
+        -0.96364772319793701,
+        -0.99789917469024658,
+        -0.97976201772689819,
+        -1
+      ],
+      "type": "VEC4"
+    },
+    {
+      "bufferView": 1,
+      "byteOffset": 30752,
+      "componentType": 5126,
+      "count": 60,
+      "max": [
+        1,
+        1
+      ],
+      "min": [
+        0,
+        0
+      ],
+      "type": "VEC2"
+    },
+    {
+      "bufferView": 0,
+      "byteOffset": 25644,
+      "componentType": 5125,
+      "count": 90,
+      "max": [
+        59
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 4,
+      "componentType": 5126,
+      "count": 175,
+      "max": [
+        3
+      ],
+      "min": [
+        0
+      ],
+      "type": "SCALAR"
+    },
+    {
+      "bufferView": 5,
+      "componentType": 5126,
+      "count": 175,
+      "max": [
+        0,
+        0,
+        0.99452191591262817,
+        1
+      ],
+      "min": [
+        0,
+        0,
+        -0.86602538824081421,
+        -0.5
+      ],
+      "type": "VEC4"
+    }
+  ],
+  "animations": [
+    {
+      "channels": [
+        {
+          "sampler": 0,
+          "target": {
+            "node": 5,
+            "path": "rotation"
+          }
+        }
+      ],
+      "name": "Main",
+      "samplers": [
+        {
+          "input": 125,
+          "interpolation": "LINEAR",
+          "output": 126
+        }
+      ]
+    }
+  ],
+  "asset": {
+    "extras": {
+      "author": "antonmoek (https://sketchfab.com/antonmoek)",
+      "license": "CC-BY-4.0 (http://creativecommons.org/licenses/by/4.0/)",
+      "source": "https://sketchfab.com/models/f312ec9f87794bdd83630a3bc694d8ea",
+      "title": "Cartoon Plane"
+    },
+    "generator": "Sketchfab-3.34.6",
+    "version": "2.0"
+  },
+  "bufferViews": [
+    {
+      "buffer": 0,
+      "byteLength": 26004,
+      "byteOffset": 0,
+      "name": "floatBufferViews",
+      "target": 34963
+    },
+    {
+      "buffer": 0,
+      "byteLength": 31232,
+      "byteOffset": 26004,
+      "byteStride": 8,
+      "name": "floatBufferViews",
+      "target": 34962
+    },
+    {
+      "buffer": 0,
+      "byteLength": 93696,
+      "byteOffset": 57236,
+      "byteStride": 12,
+      "name": "floatBufferViews",
+      "target": 34962
+    },
+    {
+      "buffer": 0,
+      "byteLength": 62464,
+      "byteOffset": 150932,
+      "byteStride": 16,
+      "name": "floatBufferViews",
+      "target": 34962
+    },
+    {
+      "buffer": 0,
+      "byteLength": 700,
+      "byteOffset": 213396,
+      "name": "floatBufferViews"
+    },
+    {
+      "buffer": 0,
+      "byteLength": 2800,
+      "byteOffset": 214096,
+      "byteStride": 16,
+      "name": "floatBufferViews"
+    }
+  ],
+  "buffers": [
+    {
+      "byteLength": 216896,
+      "uri": "scene.bin"
+    }
+  ],
+  "materials": [
+    {
+      "doubleSided": true,
+      "emissiveFactor": [
+        0,
+        0,
+        0
+      ],
+      "name": "Cube_1_3__0",
+      "pbrMetallicRoughness": {
+        "baseColorFactor": [
+          1,
+          1,
+          1,
+          1
+        ],
+        "metallicFactor": 0,
+        "roughnessFactor": 0.59999999999999998
+      }
+    },
+    {
+      "doubleSided": true,
+      "emissiveFactor": [
+        0,
+        0,
+        0
+      ],
+      "name": "material",
+      "pbrMetallicRoughness": {
+        "baseColorFactor": [
+          1,
+          0.0096157397000000006,
+          0.1496889756,
+          1
+        ],
+        "metallicFactor": 0,
+        "roughnessFactor": 0.59999999999999998
+      }
+    },
+    {
+      "doubleSided": true,
+      "emissiveFactor": [
+        0,
+        0,
+        0
+      ],
+      "name": "Body",
+      "pbrMetallicRoughness": {
+        "baseColorFactor": [
+          1,
+          0.86990751550000001,
+          0.81930244399999996,
+          1
+        ],
+        "metallicFactor": 0.40000000000000002,
+        "roughnessFactor": 0.59999999999999998
+      }
+    },
+    {
+      "doubleSided": true,
+      "emissiveFactor": [
+        0,
+        0,
+        0
+      ],
+      "name": "material_3",
+      "pbrMetallicRoughness": {
+        "baseColorFactor": [
+          0.0094488200000000001,
+          0.0275591,
+          0.10000000000000001,
+          1
+        ],
+        "metallicFactor": 0,
+        "roughnessFactor": 0.59999999999999998
+      }
+    },
+    {
+      "doubleSided": true,
+      "emissiveFactor": [
+        0,
+        0,
+        0
+      ],
+      "name": "Glass",
+      "pbrMetallicRoughness": {
+        "baseColorFactor": [
+          0.021520143799999999,
+          0.0201165003,
+          0.034218421399999997,
+          1
+        ],
+        "metallicFactor": 0,
+        "roughnessFactor": 0.53000000000000003
+      }
+    }
+  ],
+  "meshes": [
+    {
+      "name": "Propeller_1_Red_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 1,
+            "POSITION": 0,
+            "TANGENT": 2,
+            "TEXCOORD_0": 3
+          },
+          "indices": 4,
+          "material": 1,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Propeller_1_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 6,
+            "POSITION": 5,
+            "TANGENT": 7,
+            "TEXCOORD_0": 8
+          },
+          "indices": 9,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cylinder_1_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 11,
+            "POSITION": 10,
+            "TANGENT": 12,
+            "TEXCOORD_0": 13
+          },
+          "indices": 14,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "WheelCarcas_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 16,
+            "POSITION": 15,
+            "TANGENT": 17,
+            "TEXCOORD_0": 18
+          },
+          "indices": 19,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Wheel_Gum_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 21,
+            "POSITION": 20,
+            "TANGENT": 22,
+            "TEXCOORD_0": 23
+          },
+          "indices": 24,
+          "material": 3,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cylinder_1_2_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 26,
+            "POSITION": 25,
+            "TANGENT": 27,
+            "TEXCOORD_0": 28
+          },
+          "indices": 29,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "WheelCarcas_2_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 31,
+            "POSITION": 30,
+            "TANGENT": 32,
+            "TEXCOORD_0": 33
+          },
+          "indices": 34,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Wheel_2_Gum_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 36,
+            "POSITION": 35,
+            "TANGENT": 37,
+            "TEXCOORD_0": 38
+          },
+          "indices": 39,
+          "material": 3,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cylinder_1_3_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 41,
+            "POSITION": 40,
+            "TANGENT": 42,
+            "TEXCOORD_0": 43
+          },
+          "indices": 44,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "WheelCarcas_3_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 46,
+            "POSITION": 45,
+            "TANGENT": 47,
+            "TEXCOORD_0": 48
+          },
+          "indices": 49,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Wheel_4_Gum_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 51,
+            "POSITION": 50,
+            "TANGENT": 52,
+            "TEXCOORD_0": 53
+          },
+          "indices": 54,
+          "material": 3,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_2_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 56,
+            "POSITION": 55,
+            "TANGENT": 57,
+            "TEXCOORD_0": 58
+          },
+          "indices": 59,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_1_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 61,
+            "POSITION": 60,
+            "TANGENT": 62,
+            "TEXCOORD_0": 63
+          },
+          "indices": 64,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 66,
+            "POSITION": 65,
+            "TANGENT": 67,
+            "TEXCOORD_0": 68
+          },
+          "indices": 69,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_2_2_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 71,
+            "POSITION": 70,
+            "TANGENT": 72,
+            "TEXCOORD_0": 73
+          },
+          "indices": 74,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_1_2_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 76,
+            "POSITION": 75,
+            "TANGENT": 77,
+            "TEXCOORD_0": 78
+          },
+          "indices": 79,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_2_3_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 81,
+            "POSITION": 80,
+            "TANGENT": 82,
+            "TEXCOORD_0": 83
+          },
+          "indices": 84,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_1_3_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 86,
+            "POSITION": 85,
+            "TANGENT": 87,
+            "TEXCOORD_0": 88
+          },
+          "indices": 89,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_1_3_Red_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 91,
+            "POSITION": 90,
+            "TANGENT": 92,
+            "TEXCOORD_0": 93
+          },
+          "indices": 94,
+          "material": 1,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_1_3_Glass_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 96,
+            "POSITION": 95,
+            "TANGENT": 97,
+            "TEXCOORD_0": 98
+          },
+          "indices": 99,
+          "material": 4,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_1_3__0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 101,
+            "POSITION": 100,
+            "TANGENT": 102,
+            "TEXCOORD_0": 103
+          },
+          "indices": 104,
+          "material": 0,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_3_Body_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 106,
+            "POSITION": 105,
+            "TANGENT": 107,
+            "TEXCOORD_0": 108
+          },
+          "indices": 109,
+          "material": 2,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_3_Red_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 111,
+            "POSITION": 110,
+            "TANGENT": 112,
+            "TEXCOORD_0": 113
+          },
+          "indices": 114,
+          "material": 1,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_3_Glass_0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 116,
+            "POSITION": 115,
+            "TANGENT": 117,
+            "TEXCOORD_0": 118
+          },
+          "indices": 119,
+          "material": 4,
+          "mode": 4
+        }
+      ]
+    },
+    {
+      "name": "Cube_3__0",
+      "primitives": [
+        {
+          "attributes": {
+            "NORMAL": 121,
+            "POSITION": 120,
+            "TANGENT": 122,
+            "TEXCOORD_0": 123
+          },
+          "indices": 124,
+          "material": 0,
+          "mode": 4
+        }
+      ]
+    }
+  ],
+  "nodes": [
+    {
+      "children": [
+        1
+      ],
+      "name": "RootNode (gltf orientation matrix)",
+      "rotation": [
+        -0.70710678118654746,
+        -0,
+        -0,
+        0.70710678118654757
+      ]
+    },
+    {
+      "children": [
+        2
+      ],
+      "name": "RootNode (model correction matrix)"
+    },
+    {
+      "children": [
+        3
+      ],
+      "matrix": [
+        1,
+        0,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        -1,
+        0,
+        0,
+        0,
+        0,
+        0,
+        1
+      ],
+      "name": "12cc6a9ff2ae45b08826ba235d9cb8b7.fbx"
+    },
+    {
+      "children": [
+        4
+      ],
+      "name": ""
+    },
+    {
+      "children": [
+        5,
+        8,
+        13
+      ],
+      "name": "RootNode"
+    },
+    {
+      "children": [
+        6,
+        7
+      ],
+      "name": "Propeller_1",
+      "translation": [
+        0.87334871292114258,
+        -46.024806976318359,
+        401.43350219726562
+      ]
+    },
+    {
+      "mesh": 0,
+      "name": "Propeller_1_Red_0"
+    },
+    {
+      "mesh": 1,
+      "name": "Propeller_1_Body_0"
+    },
+    {
+      "children": [
+        9,
+        12
+      ],
+      "name": "Physical_Sky",
+      "rotation": [
+        -0.025235366076231003,
+        -0.24497584998607635,
+        0.0050951233133673668,
+        0.96918731927871704
+      ]
+    },
+    {
+      "children": [
+        10,
+        11
+      ],
+      "name": "Sky_Null",
+      "rotation": [
+        -9.6296497219361793e-35,
+        5.5511151231257827e-17,
+        1.7347234759768071e-18,
+        1
+      ],
+      "translation": [
+        195.25096130371094,
+        64.4552001953125,
+        239.44844055175781
+      ]
+    },
+    {
+      "name": "Sun",
+      "rotation": [
+        -0.17988117039203644,
+        -0.030783185735344887,
+        -0.0056319795548915863,
+        0.98319041728973389
+      ],
+      "translation": [
+        -8659.806640625,
+        52407.35546875,
+        138158.203125
+      ]
+    },
+    {
+      "name": "Moon",
+      "rotation": [
+        -0.041607432067394257,
+        -0.76001834869384766,
+        -0.048896394670009613,
+        0.64672273397445679
+      ],
+      "translation": [
+        -3951.258544921875,
+        517.194091796875,
+        -640.604736328125
+      ]
+    },
+    {
+      "name": "Shadow_Plane",
+      "rotation": [
+        -3.4694469519536142e-18,
+        5.5511151231257827e-17,
+        1.7347234759768071e-18,
+        1
+      ],
+      "translation": [
+        1.9895196601282805e-13,
+        10000,
+        3.4106051316484809e-13
+      ]
+    },
+    {
+      "children": [
+        14,
+        21,
+        28,
+        35,
+        42,
+        49
+      ],
+      "name": "Plane",
+      "translation": [
+        -2.5442404747009277,
+        -22.783651351928711,
+        0
+      ]
+    },
+    {
+      "children": [
+        15,
+        17,
+        19
+      ],
+      "name": "Wheel_Back",
+      "rotation": [
+        0.084529757499694824,
+        -0.0008930605836212635,
+        -0.01052663940936327,
+        0.99636495113372803
+      ],
+      "translation": [
+        3.2151377201080322,
+        -59.613082885742188,
+        -256.31814575195312
+      ]
+    },
+    {
+      "children": [
+        16
+      ],
+      "name": "Cylinder_1",
+      "rotation": [
+        -0.5,
+        -0.5,
+        -0.5,
+        0.5
+      ],
+      "translation": [
+        6.5183935165405273,
+        -27.543468475341797,
+        -1.7053025658242404e-13
+      ]
+    },
+    {
+      "mesh": 2,
+      "name": "Cylinder_1_Body_0"
+    },
+    {
+      "children": [
+        18
+      ],
+      "name": "WheelCarcas",
+      "rotation": [
+        1.7554505758210904e-36,
+        -3.2779658070858577e-19,
+        5.3553050112402912e-18,
+        1
+      ],
+      "translation": [
+        114.38583374023438,
+        59.170185089111328,
+        -8.5265128291212022e-14
+      ]
+    },
+    {
+      "mesh": 3,
+      "name": "WheelCarcas_Body_0"
+    },
+    {
+      "children": [
+        20
+      ],
+      "name": "Wheel",
+      "rotation": [
+        1.096210767028243e-17,
+        8.6640510360998597e-18,
+        -0.7071068286895752,
+        0.7071068286895752
+      ],
+      "translation": [
+        0.62235832214355469,
+        -32.489803314208984,
+        -2.8421709430404007e-14
+      ]
+    },
+    {
+      "mesh": 4,
+      "name": "Wheel_Gum_0"
+    },
+    {
+      "children": [
+        22,
+        24,
+        26
+      ],
+      "name": "Wheel_1",
+      "rotation": [
+        0,
+        0,
+        0.16323453187942505,
+        0.9865872859954834
+      ],
+      "translation": [
+        81.309646606445312,
+        -76.375755310058594,
+        232.74148559570312
+      ]
+    },
+    {
+      "children": [
+        23
+      ],
+      "name": "Cylinder_1_2",
+      "rotation": [
+        0.5,
+        0.5,
+        0.5,
+        -0.5
+      ],
+      "translation": [
+        12.172945976257324,
+        -51.436775207519531,
+        0
+      ]
+    },
+    {
+      "mesh": 5,
+      "name": "Cylinder_1_2_Body_0"
+    },
+    {
+      "children": [
+        25
+      ],
+      "name": "WheelCarcas_2",
+      "rotation": [
+        0,
+        -0,
+        -2.7755575615628914e-17,
+        1
+      ],
+      "translation": [
+        213.61283874511719,
+        110.49892425537109,
+        0
+      ]
+    },
+    {
+      "mesh": 6,
+      "name": "WheelCarcas_2_Body_0"
+    },
+    {
+      "children": [
+        27
+      ],
+      "name": "Wheel_2",
+      "rotation": [
+        0,
+        -0,
+        -0.7071068286895752,
+        0.7071068286895752
+      ],
+      "translation": [
+        1.1622394323348999,
+        -60.673938751220703,
+        0
+      ]
+    },
+    {
+      "mesh": 7,
+      "name": "Wheel_2_Gum_0"
+    },
+    {
+      "children": [
+        29,
+        31,
+        33
+      ],
+      "name": "Wheel_3",
+      "rotation": [
+        0,
+        -0,
+        -0.16122730076313019,
+        0.98691731691360474
+      ],
+      "translation": [
+        -81.572341918945312,
+        -76.375755310058594,
+        232.74148559570312
+      ]
+    },
+    {
+      "children": [
+        30
+      ],
+      "name": "Cylinder_1_3",
+      "rotation": [
+        -0.5,
+        -0.5,
+        -0.5,
+        0.5
+      ],
+      "translation": [
+        12.172945976257324,
+        -51.436775207519531,
+        0
+      ]
+    },
+    {
+      "mesh": 8,
+      "name": "Cylinder_1_3_Body_0"
+    },
+    {
+      "children": [
+        32
+      ],
+      "name": "WheelCarcas_3",
+      "translation": [
+        213.61283874511719,
+        110.49892425537109,
+        0
+      ]
+    },
+    {
+      "mesh": 9,
+      "name": "WheelCarcas_3_Body_0"
+    },
+    {
+      "children": [
+        34
+      ],
+      "name": "Wheel_4",
+      "rotation": [
+        0,
+        0,
+        -0.7071068286895752,
+        0.7071068286895752
+      ],
+      "translation": [
+        1.1622394323348999,
+        -60.673938751220703,
+        0
+      ]
+    },
+    {
+      "mesh": 10,
+      "name": "Wheel_4_Gum_0"
+    },
+    {
+      "children": [
+        36,
+        38,
+        40
+      ],
+      "name": "Air_motor_right",
+      "rotation": [
+        0,
+        0,
+        1,
+        -6.1232342629258393e-17
+      ],
+      "translation": [
+        5.773159728050814e-15,
+        -45.567302703857422,
+        0
+      ]
+    },
+    {
+      "children": [
+        37
+      ],
+      "name": "Cube_2"
+    },
+    {
+      "mesh": 11,
+      "name": "Cube_2_Body_0"
+    },
+    {
+      "children": [
+        39
+      ],
+      "name": "Cube_1"
+    },
+    {
+      "mesh": 12,
+      "name": "Cube_1_Body_0"
+    },
+    {
+      "children": [
+        41
+      ],
+      "name": "Cube"
+    },
+    {
+      "mesh": 13,
+      "name": "Cube_Body_0"
+    },
+    {
+      "children": [
+        43,
+        45,
+        47
+      ],
+      "name": "Air_motor_left",
+      "translation": [
+        -2.6645352591003757e-15,
+        22.783651351928711,
+        0
+      ]
+    },
+    {
+      "children": [
+        44
+      ],
+      "name": "Cube_2_2"
+    },
+    {
+      "mesh": 14,
+      "name": "Cube_2_2_Body_0"
+    },
+    {
+      "children": [
+        46
+      ],
+      "name": "Cube_1_2"
+    },
+    {
+      "mesh": 15,
+      "name": "Cube_1_2_Body_0"
+    },
+    {
+      "children": [
+        48
+      ],
+      "name": "Cube_2_3"
+    },
+    {
+      "mesh": 16,
+      "name": "Cube_2_3_Body_0"
+    },
+    {
+      "children": [
+        50,
+        55
+      ],
+      "name": "Body",
+      "translation": [
+        -2.6645352591003757e-15,
+        22.783651351928711,
+        0
+      ]
+    },
+    {
+      "children": [
+        51,
+        52,
+        53,
+        54
+      ],
+      "name": "Cube_1_3"
+    },
+    {
+      "mesh": 17,
+      "name": "Cube_1_3_Body_0"
+    },
+    {
+      "mesh": 18,
+      "name": "Cube_1_3_Red_0"
+    },
+    {
+      "mesh": 19,
+      "name": "Cube_1_3_Glass_0"
+    },
+    {
+      "mesh": 20,
+      "name": "Cube_1_3__0"
+    },
+    {
+      "children": [
+        56,
+        57,
+        58,
+        59
+      ],
+      "name": "Cube_3"
+    },
+    {
+      "mesh": 21,
+      "name": "Cube_3_Body_0"
+    },
+    {
+      "mesh": 22,
+      "name": "Cube_3_Red_0"
+    },
+    {
+      "mesh": 23,
+      "name": "Cube_3_Glass_0"
+    },
+    {
+      "mesh": 24,
+      "name": "Cube_3__0"
+    }
+  ],
+  "scene": 0,
+  "scenes": [
+    {
+      "name": "OSG_Scene",
+      "nodes": [
+        0
+      ]
+    }
+  ]
+}
+