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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

@@ -1,4 +1,4 @@
-<Project Sdk="Godot.NET.Sdk/4.1.1">
+<Project Sdk="Godot.NET.Sdk/4.2.1">
   <PropertyGroup>
     <TargetFramework>net6.0</TargetFramework>
     <EnableDynamicLoading>true</EnableDynamicLoading>

FlyBy.csproj.old

@@ -1,4 +1,4 @@
-<Project Sdk="Godot.NET.Sdk/4.0.2">
+<Project Sdk="Godot.NET.Sdk/4.1.3">
   <PropertyGroup>
     <TargetFramework>net6.0</TargetFramework>
     <EnableDynamicLoading>true</EnableDynamicLoading>

FlyBy.gd

@@ -1,15 +1,12 @@
 extends Node3D
 
-
-# Declare member variables here. Examples:
-# var a = 2
-# var b = "text"
 var goals = null
 
+
 # Called when the node enters the scene tree for the first time.
 func _ready():
 	goals = $Goals.get_children()
-	pass # Replace with function body.
+
 
 func get_next_goal(current_goal):
 	if current_goal == null:
@@ -17,16 +14,11 @@ func get_next_goal(current_goal):
 	var index = null
 	for i in len(goals):
 		if goals[i] == current_goal:
-			index = (i+1) % len(goals)
+			index = (i + 1) % len(goals)
 			break
-			
+
 	return goals[index]
 
+
 func get_last_goal():
 	return goals[-1]
-			
-
-
-# Called every frame. 'delta' is the elapsed time since the previous frame.
-#func _process(delta):
-#    pass

FlyBy.tscn

@@ -2,14 +2,14 @@
 
 [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://t6dny8qa4t0s" path="res://alps_field_2k.hdr" id="2_retnu"]
-[ext_resource type="PackedScene" path="res://Goal.tscn" id="3"]
+[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://bllectxwni4aa" path="res://concrete_wall_004_diff_1k.jpg" id="7_mnp35"]
-[ext_resource type="Texture2D" uid="uid://dldtb41hye81g" path="res://concrete_wall_004_ao_1k.jpg" id="8_mhe64"]
-[ext_resource type="Texture2D" uid="uid://5a5t67qitvfe" path="res://concrete_wall_004_arm_1k.jpg" id="9_1x60u"]
-[ext_resource type="Texture2D" uid="uid://c5i52p54pfjkb" path="res://concrete_wall_004_nor_gl_1k.jpg" id="10_x6htc"]
+[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")
@@ -229,51 +229,67 @@ 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="."]
 

Goal.tscn

@@ -1,27 +1,27 @@
-[gd_scene load_steps=4 format=2]
+[gd_scene load_steps=4 format=3 uid="uid://bjx0dykb8q6kf"]
 
-[ext_resource path="res://Goal.gd" type="Script" id=1]
+[ext_resource type="Script" path="res://Goal.gd" id="1"]
 
-[sub_resource type="StandardMaterial3D" id=1]
-flags_transparent = true
-albedo_color = Color( 0.372549, 0.0823529, 0.109804, 0.705882 )
+[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]
-radius = 5.0
+[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 )
+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 )
+material = SubResource("1")
+script = ExtResource("1")
 
 [node name="Area3D" type="Area3D" parent="."]
 
 [node name="CollisionShape3D" type="CollisionShape3D" parent="Area3D"]
-shape = SubResource( 2 )
+shape = SubResource("2")
 
 [connection signal="body_entered" from="Area3D" to="." method="_on_Area_body_entered"]

Plane.gd

@@ -23,142 +23,67 @@ 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 done = false
-var _heuristic = "human"
 var best_goal_distance := 10000.0
 var transform_backup = null
-var n_steps = 0
-const MAX_STEPS = 200000
-var needs_reset = false
-var reward = 0.0
 
 
 func _ready():
+	ai_controller.init(self)
 	transform_backup = transform
-	pass
-	
-func reset():
-	needs_reset = false
-	
+
+
+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)
+	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
-	n_steps = 0
 	found_goal = false
-	exited_arena = false 
-	done = false
+	exited_arena = false
 	best_goal_distance = to_local(cur_goal.position).length()
-	# reset position, orientation, velocity
-
-func reset_if_done():
-	if done:
-		reset()
-		
-func get_done():
-	return done
-	
-func set_done_false():
-	done = false
-	
-func get_obs():
-	if cur_goal == null:
-		reset()
-	#var goal_vector = (cur_goal.position - position).normalized() # global frame of reference
-	var goal_vector = to_local(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 = environment.get_next_goal(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}
+	ai_controller.reset()
 
 
 func update_reward():
-	reward -= 0.01 # step penalty
-	reward += shaping_reward()
+	ai_controller.reward -= 0.01  # step penalty
+	ai_controller.reward += shaping_reward()
+
 
-func get_reward():
-	return reward
-	
 func shaping_reward():
 	var s_reward = 0.0
 	var 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 
+	return s_reward
+
 
 func set_heuristic(heuristic):
 	self._heuristic = heuristic
 
-	
-func get_obs_space():
-	# typs of obs space: box, discrete, repeated
-	return {
-		"obs": {
-			"size": [len(get_obs()["obs"])],
-			"space": "box"
-	}
-	}   
-func get_action_space():
-	return {
-		"turn" : {
-			"size": 1,
-			"action_type": "continuous"
-		},        
-		"pitch" : {
-		"size": 1,
-			"action_type": "continuous"
-		}
-	}
-
-func set_action(action):
-	turn_input = action["turn"][0]
-	pitch_input = action["pitch"][0]
 
 func _physics_process(delta):
-	n_steps +=1    
-	if n_steps >= MAX_STEPS:
-		done = true
-		needs_reset = true
-
-	if needs_reset:
-		needs_reset = false
-		reset()
+	if ai_controller.needs_reset:
+		game_over()
 		return
-	
+
 	if cur_goal == null:
-		reset()
+		game_over()
 	set_input()
 	if Input.is_action_just_pressed("r_key"):
-		reset()
+		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(
+		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)
@@ -169,28 +94,29 @@ func _physics_process(delta):
 	set_velocity(velocity)
 	set_up_direction(Vector3.UP)
 	move_and_slide()
-	n_steps += 1
-		
 	update_reward()
-		
-func zero_reward():
-	reward = 0.0  
-	
+
+
 func set_input():
-	if _heuristic == "model":
+	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")
+		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:
-		reward += 100.0
+		ai_controller.reward += 100.0
 		cur_goal = environment.get_next_goal(cur_goal)
-	
+
+
 func exited_game_area():
-	done = true
-	reward -= 10.0
+	ai_controller.done = true
+	ai_controller.reward -= 10.0
 	exited_arena = true
-	reset()
+	game_over()

Plane.tscn

@@ -1,12 +1,13 @@
-[gd_scene load_steps=4 format=3 uid="uid://3xxv82w5v8bo"]
+[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://dydo4wxntjd3p" path="res://cartoon_plane/scene.gltf" id="2_0hy0d"]
+[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" groups=["AGENT"]]
+[node name="Plane" type="CharacterBody3D"]
 collision_mask = 2
 script = ExtResource("2")
 turn_speed = 2.0
@@ -21,3 +22,7 @@ transform = Transform3D(-0.01, 0, -8.74228e-10, 0, 0.01, 0, 8.74228e-10, 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

@@ -1,17 +1,9 @@
 extends Node3D
 
 
-# Declare member variables here. Examples:
-# var a = 2
-# var b = "text"
 @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")
-
-
-# Called every frame. 'delta' is the elapsed time since the previous frame.
-#func _process(delta):
-#    pass

addons/godot_rl_agents/controller/ai_controller_2d.gd

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

addons/godot_rl_agents/controller/ai_controller_3d.gd

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

addons/godot_rl_agents/onnx/csharp/ONNXInference.cs

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

addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs

@@ -1,106 +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 {
-
-		private static SessionOptions options = new SessionOptions();
-		
-/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/GetSessionOptions/*'/>
-		public static SessionOptions GetSessionOptions() {
-			options = new SessionOptions();
-			options.LogSeverityLevel = OrtLoggingLevel.ORT_LOGGING_LEVEL_WARNING; 
-			// see warnings
-			SystemCheck();
-			return options;
-		}
-/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SystemCheck/*'/>
+namespace GodotONNX
+{
+	/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/SessionConfigurator/*'/>
 
-static public void SystemCheck()  
+	public static class SessionConfigurator
 	{
-		//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
-		int ComputeAPIID = 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
-		
-		string [] ComputeNames = {"CUDA", "DirectML/ROCm", "DirectML", "CoreML", "CPU"};
-		//match OS and Compute API
-		options.AppendExecutionProvider_CPU(0); // Always use CPU
-		GD.Print("OS: " + OSName, " | Compute API: " + ComputeNames[ComputeAPIID]);
-
-		switch (OSName) 
+		public enum ComputeName
 		{
-		case "Windows": //Can use CUDA, DirectML
-			if (ComputeAPIID == 0) 
-				{
-				//CUDA 
-				//options.AppendExecutionProvider_CUDA(0);
-				options.AppendExecutionProvider_DML(0);
-					}
-			else if (ComputeAPIID == 1) 
-				{ 
-				//DirectML
-				options.AppendExecutionProvider_DML(0);
-				}
-			break;
-		case "X11": //Can use CUDA, ROCm
-			if (ComputeAPIID == 0) 
-				{ 
-				//CUDA
-				//options.AppendExecutionProvider_CUDA(0);
-				}
-			if (ComputeAPIID == 1) 
-				{
-				//ROCm, only works on x86 
-				//Research indicates that this has to be compiled as a GDNative plugin
-				GD.Print("ROCm not supported yet, using CPU.");
-				options.AppendExecutionProvider_CPU(0);
-				}
-			
-			break;
-		case "OSX": //Can use CoreML
-			if (ComputeAPIID == 0) { //CoreML
-			//TODO: Needs testing
-				options.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;
+			CUDA,
+			ROCm,
+			DirectML,
+			CoreML,
+			CPU
 		}
-	}
-/// <include file='docs/SessionConfigurator.xml' path='docs/members[@name="SessionConfigurator"]/ComputeCheck/*'/>
 
-	public static int 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 2, should use DirectML only
-		return 2;}
-	if (adapterName.Contains("AMD")) {
-		//Return 1, should use DirectML, check later for ROCm
-		return 1;}
-	if (adapterName.Contains("NVIDIA")){
-		//Return 0, should use CUDA
-		return 0;}
-	
-	GD.Print("Graphics Card not recognized."); //Return -1, should use CPU
-	return -1;
+        /// <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/wrapper/ONNX_wrapper.gd

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

addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn

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

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd

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

addons/godot_rl_agents/sync.gd

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

alps_field_2k.hdr.import

@@ -3,25 +3,26 @@
 importer="texture"
 type="CompressedTexture2D"
 uid="uid://btons2a8wn2fu"
-path="res://.godot/imported/alps_field_2k.hdr-3700cd621ede9e1814580eb21c62fe71.ctex"
+path.bptc="res://.godot/imported/alps_field_2k.hdr-3700cd621ede9e1814580eb21c62fe71.bptc.ctex"
 metadata={
-"vram_texture": false
+"imported_formats": ["s3tc_bptc"],
+"vram_texture": true
 }
 
 [deps]
 
 source_file="res://alps_field_2k.hdr"
-dest_files=["res://.godot/imported/alps_field_2k.hdr-3700cd621ede9e1814580eb21c62fe71.ctex"]
+dest_files=["res://.godot/imported/alps_field_2k.hdr-3700cd621ede9e1814580eb21c62fe71.bptc.ctex"]
 
 [params]
 
-compress/mode=0
+compress/mode=2
 compress/high_quality=false
 compress/lossy_quality=0.7
 compress/hdr_compression=1
 compress/normal_map=0
 compress/channel_pack=0
-mipmaps/generate=false
+mipmaps/generate=true
 mipmaps/limit=-1
 roughness/mode=0
 roughness/src_normal=""
@@ -31,4 +32,4 @@ process/normal_map_invert_y=false
 process/hdr_as_srgb=false
 process/hdr_clamp_exposure=false
 process/size_limit=0
-detect_3d/compress_to=1
+detect_3d/compress_to=0

bin/FlyBy.exe

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2de407f42a3db0dece9ff075b69219a30493b90c67f0a14bc450b414fba39125
-size 71425536
+oid sha256:910d1661cf406eb788be65369b4784b8bde02dd16e327fac690b501d08e9e886
+size 69051392

bin/FlyBy.pck

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4b3c756c0d4aa378b8a562acbea615aa733e93dda20e686c5f2b0bf1e9602002
-size 13684624
+oid sha256:b9e3b0a80e0c9eac9dc780af6f3b948c787162bc756508639932709e3be9e772
+size 7141264

bin/FlyBy.x86_64

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:843a1e5f8df1e6b2fe57ff86ca637436c7e1216f8409f2b079090c373548e86f
-size 72784744
+oid sha256:fb6fa01639dd98489aac3e0dd5f9ecf0691b25b37a717f7380b1350d91ed23a4
+size 61637496

concrete_wall_004_ao_1k.jpg.import

@@ -3,32 +3,33 @@
 importer="texture"
 type="CompressedTexture2D"
 uid="uid://jguvr0spp5gu"
-path="res://.godot/imported/concrete_wall_004_ao_1k.jpg-0d870bfa68d10989c64e8f80fd173f1c.ctex"
+path.s3tc="res://.godot/imported/concrete_wall_004_ao_1k.jpg-0d870bfa68d10989c64e8f80fd173f1c.s3tc.ctex"
 metadata={
-"vram_texture": false
+"imported_formats": ["s3tc_bptc"],
+"vram_texture": true
 }
 
 [deps]
 
 source_file="res://concrete_wall_004_ao_1k.jpg"
-dest_files=["res://.godot/imported/concrete_wall_004_ao_1k.jpg-0d870bfa68d10989c64e8f80fd173f1c.ctex"]
+dest_files=["res://.godot/imported/concrete_wall_004_ao_1k.jpg-0d870bfa68d10989c64e8f80fd173f1c.s3tc.ctex"]
 
 [params]
 
-compress/mode=0
+compress/mode=2
 compress/high_quality=false
 compress/lossy_quality=0.7
 compress/hdr_compression=1
 compress/normal_map=0
 compress/channel_pack=0
-mipmaps/generate=false
+mipmaps/generate=true
 mipmaps/limit=-1
-roughness/mode=0
-roughness/src_normal=""
+roughness/mode=8
+roughness/src_normal="res://concrete_wall_004_nor_gl_1k.jpg"
 process/fix_alpha_border=true
 process/premult_alpha=false
 process/normal_map_invert_y=false
 process/hdr_as_srgb=false
 process/hdr_clamp_exposure=false
 process/size_limit=0
-detect_3d/compress_to=1
+detect_3d/compress_to=0

concrete_wall_004_arm_1k.jpg.import

@@ -3,25 +3,26 @@
 importer="texture"
 type="CompressedTexture2D"
 uid="uid://s3lmg34s3mwq"
-path="res://.godot/imported/concrete_wall_004_arm_1k.jpg-751ec2fe192db08c6d0a22459d60b1bf.ctex"
+path.s3tc="res://.godot/imported/concrete_wall_004_arm_1k.jpg-751ec2fe192db08c6d0a22459d60b1bf.s3tc.ctex"
 metadata={
-"vram_texture": false
+"imported_formats": ["s3tc_bptc"],
+"vram_texture": true
 }
 
 [deps]
 
 source_file="res://concrete_wall_004_arm_1k.jpg"
-dest_files=["res://.godot/imported/concrete_wall_004_arm_1k.jpg-751ec2fe192db08c6d0a22459d60b1bf.ctex"]
+dest_files=["res://.godot/imported/concrete_wall_004_arm_1k.jpg-751ec2fe192db08c6d0a22459d60b1bf.s3tc.ctex"]
 
 [params]
 
-compress/mode=0
+compress/mode=2
 compress/high_quality=false
 compress/lossy_quality=0.7
 compress/hdr_compression=1
 compress/normal_map=0
 compress/channel_pack=0
-mipmaps/generate=false
+mipmaps/generate=true
 mipmaps/limit=-1
 roughness/mode=0
 roughness/src_normal=""
@@ -31,4 +32,4 @@ process/normal_map_invert_y=false
 process/hdr_as_srgb=false
 process/hdr_clamp_exposure=false
 process/size_limit=0
-detect_3d/compress_to=1
+detect_3d/compress_to=0

concrete_wall_004_diff_1k.jpg.import

@@ -3,25 +3,26 @@
 importer="texture"
 type="CompressedTexture2D"
 uid="uid://dshko3ip30c4i"
-path="res://.godot/imported/concrete_wall_004_diff_1k.jpg-866ca6527ab775aadb16bf165a04e3bd.ctex"
+path.s3tc="res://.godot/imported/concrete_wall_004_diff_1k.jpg-866ca6527ab775aadb16bf165a04e3bd.s3tc.ctex"
 metadata={
-"vram_texture": false
+"imported_formats": ["s3tc_bptc"],
+"vram_texture": true
 }
 
 [deps]
 
 source_file="res://concrete_wall_004_diff_1k.jpg"
-dest_files=["res://.godot/imported/concrete_wall_004_diff_1k.jpg-866ca6527ab775aadb16bf165a04e3bd.ctex"]
+dest_files=["res://.godot/imported/concrete_wall_004_diff_1k.jpg-866ca6527ab775aadb16bf165a04e3bd.s3tc.ctex"]
 
 [params]
 
-compress/mode=0
+compress/mode=2
 compress/high_quality=false
 compress/lossy_quality=0.7
 compress/hdr_compression=1
 compress/normal_map=0
 compress/channel_pack=0
-mipmaps/generate=false
+mipmaps/generate=true
 mipmaps/limit=-1
 roughness/mode=0
 roughness/src_normal=""
@@ -31,4 +32,4 @@ process/normal_map_invert_y=false
 process/hdr_as_srgb=false
 process/hdr_clamp_exposure=false
 process/size_limit=0
-detect_3d/compress_to=1
+detect_3d/compress_to=0

concrete_wall_004_nor_gl_1k.jpg.import

@@ -3,32 +3,33 @@
 importer="texture"
 type="CompressedTexture2D"
 uid="uid://dtdl5r8j46ocg"
-path="res://.godot/imported/concrete_wall_004_nor_gl_1k.jpg-b2340a16d191e361bd651d2096627034.ctex"
+path.s3tc="res://.godot/imported/concrete_wall_004_nor_gl_1k.jpg-b2340a16d191e361bd651d2096627034.s3tc.ctex"
 metadata={
-"vram_texture": false
+"imported_formats": ["s3tc_bptc"],
+"vram_texture": true
 }
 
 [deps]
 
 source_file="res://concrete_wall_004_nor_gl_1k.jpg"
-dest_files=["res://.godot/imported/concrete_wall_004_nor_gl_1k.jpg-b2340a16d191e361bd651d2096627034.ctex"]
+dest_files=["res://.godot/imported/concrete_wall_004_nor_gl_1k.jpg-b2340a16d191e361bd651d2096627034.s3tc.ctex"]
 
 [params]
 
-compress/mode=0
+compress/mode=2
 compress/high_quality=false
 compress/lossy_quality=0.7
 compress/hdr_compression=1
-compress/normal_map=0
+compress/normal_map=1
 compress/channel_pack=0
-mipmaps/generate=false
+mipmaps/generate=true
 mipmaps/limit=-1
-roughness/mode=0
-roughness/src_normal=""
+roughness/mode=1
+roughness/src_normal="res://concrete_wall_004_nor_gl_1k.jpg"
 process/fix_alpha_border=true
 process/premult_alpha=false
 process/normal_map_invert_y=false
 process/hdr_as_srgb=false
 process/hdr_clamp_exposure=false
 process/size_limit=0
-detect_3d/compress_to=1
+detect_3d/compress_to=0

project.godot

@@ -12,7 +12,7 @@ config_version=5
 
 config/name="FlyBy"
 run/main_scene="res://FlyBy.tscn"
-config/features=PackedStringArray("4.0", "C#")
+config/features=PackedStringArray("4.1", "C#")
 config/icon="res://icon.png"
 
 [dotnet]
@@ -21,7 +21,7 @@ project/assembly_name="FlyBy"
 
 [editor_plugins]
 
-enabled=PackedStringArray()
+enabled=PackedStringArray("res://addons/godot_rl_agents/plugin.cfg")
 
 [input]