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
+scenes/blender/parking.blend filter=lfs diff=lfs merge=lfs -text

3DCarParkingExample.csproj

@@ -0,0 +1,10 @@
+<Project Sdk="Godot.NET.Sdk/4.2.1">
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <EnableDynamicLoading>true</EnableDynamicLoading>
+    <RootNamespace>GodotRLAgents</RootNamespace>
+  </PropertyGroup>
+  <ItemGroup>
+    <PackageReference Include="Microsoft.ML.OnnxRuntime" Version="1.15.1" />
+  </ItemGroup>
+</Project>

3DCarParkingExample.sln

@@ -0,0 +1,19 @@
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2012
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "3DCarParkingExample", "3DCarParkingExample.csproj", "{D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}"
+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
+		{D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}.ExportDebug|Any CPU.ActiveCfg = ExportDebug|Any CPU
+		{D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}.ExportDebug|Any CPU.Build.0 = ExportDebug|Any CPU
+		{D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}.ExportRelease|Any CPU.ActiveCfg = ExportRelease|Any CPU
+		{D30E1C4E-9E5D-4A7B-BE94-BC24DD6418C6}.ExportRelease|Any CPU.Build.0 = ExportRelease|Any CPU
+	EndGlobalSection
+EndGlobal

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 3DCarParking 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_3DCarParking
+```
+
+
+

addons/godot_rl_agents/controller/ai_controller_2d.gd

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

addons/godot_rl_agents/controller/ai_controller_3d.gd

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

addons/godot_rl_agents/godot_rl_agents.gd

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

addons/godot_rl_agents/onnx/csharp/ONNXInference.cs

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

addons/godot_rl_agents/onnx/csharp/SessionConfigurator.cs

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

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

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

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

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

addons/godot_rl_agents/onnx/wrapper/ONNX_wrapper.gd

@@ -0,0 +1,24 @@
+extends Resource
+class_name ONNXModel
+var inferencer_script = load("res://addons/godot_rl_agents/onnx/csharp/ONNXInference.cs")
+
+var inferencer = null
+
+# Must provide the path to the model and the batch size
+func _init(model_path, batch_size):
+	inferencer = inferencer_script.new()
+	inferencer.Initialize(model_path, batch_size)
+
+# This function is the one that will be called from the game, 
+# requires the observation as an array and the state_ins as an int
+# returns an Array containing the action the model takes. 
+func run_inference(obs : Array, state_ins : int) -> Dictionary:
+	if inferencer == null:
+		printerr("Inferencer not initialized")
+		return {}
+	return inferencer.RunInference(obs, state_ins)
+
+func _notification(what):
+	if what == NOTIFICATION_PREDELETE:
+		inferencer.FreeDisposables()
+		inferencer.free()

addons/godot_rl_agents/plugin.cfg

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

addons/godot_rl_agents/sensors/sensors_2d/ExampleRaycastSensor2D.tscn

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

addons/godot_rl_agents/sensors/sensors_2d/ISensor2D.gd

@@ -0,0 +1,20 @@
+extends Node2D
+class_name ISensor2D
+
+var _obs : Array = []
+var _active := false
+
+func get_observation():
+	pass
+	
+func activate():
+	_active = true
+	
+func deactivate():
+	_active = false
+
+func _update_observation():
+	pass
+	
+func reset():
+	pass

addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.gd

@@ -0,0 +1,118 @@
+@tool
+extends ISensor2D
+class_name RaycastSensor2D
+
+@export_flags_2d_physics var collision_mask := 1:
+	get: return collision_mask
+	set(value):
+		collision_mask = value
+		_update()
+
+@export var collide_with_areas := false:
+	get: return collide_with_areas
+	set(value):
+		collide_with_areas = value
+		_update()
+
+@export var collide_with_bodies := true:
+	get: return collide_with_bodies
+	set(value):
+		collide_with_bodies = value
+		_update()
+
+@export var n_rays := 16.0:
+	get: return n_rays
+	set(value):
+		n_rays = value
+		_update()
+	
+@export_range(5,200,5.0) var ray_length := 200:
+	get: return ray_length
+	set(value):
+		ray_length = value
+		_update()
+@export_range(5,360,5.0) var cone_width := 360.0:
+	get: return cone_width
+	set(value):
+		cone_width = value
+		_update()
+	
+@export var debug_draw := true :
+	get: return debug_draw 
+	set(value):
+		debug_draw = value
+		_update()  
+
+
+var _angles = []
+var rays := []
+
+func _update():
+	if Engine.is_editor_hint():
+		if debug_draw:
+			_spawn_nodes()
+		else:
+			for ray in get_children():
+				if ray is RayCast2D:
+					remove_child(ray)
+
+func _ready() -> void:
+	_spawn_nodes()
+
+func _spawn_nodes():
+	for ray in rays:
+		ray.queue_free()
+	rays = []
+		
+	_angles = []
+	var step = cone_width / (n_rays)
+	var start = step/2 - cone_width/2
+	
+	for i in n_rays:
+		var angle = start + i * step
+		var ray = RayCast2D.new()
+		ray.set_target_position(Vector2(
+			ray_length*cos(deg_to_rad(angle)),
+			ray_length*sin(deg_to_rad(angle))
+		))
+		ray.set_name("node_"+str(i))
+		ray.enabled  = true
+		ray.collide_with_areas = collide_with_areas
+		ray.collide_with_bodies = collide_with_bodies
+		ray.collision_mask = collision_mask
+		add_child(ray)
+		rays.append(ray)
+		
+		
+		_angles.append(start + i * step)
+	
+
+func _physics_process(delta: float) -> void:
+	if self._active:
+		self._obs = calculate_raycasts()
+		
+func get_observation() -> Array:
+	if len(self._obs) == 0:
+		print("obs was null, forcing raycast update")
+		return self.calculate_raycasts()
+	return self._obs
+	
+
+func calculate_raycasts() -> Array:
+	var result = []
+	for ray in rays:
+		ray.force_raycast_update()
+		var distance = _get_raycast_distance(ray)
+		result.append(distance)
+	return result
+
+func _get_raycast_distance(ray : RayCast2D) -> float : 
+	if !ray.is_colliding():
+		return 0.0
+		
+	var distance = (global_position - ray.get_collision_point()).length()
+	distance = clamp(distance, 0.0, ray_length)
+	return (ray_length - distance) / ray_length
+	
+	
+	

addons/godot_rl_agents/sensors/sensors_2d/RaycastSensor2D.tscn

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

addons/godot_rl_agents/sensors/sensors_3d/ExampleRaycastSensor3D.tscn

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

addons/godot_rl_agents/sensors/sensors_3d/ISensor3D.gd

@@ -0,0 +1,20 @@
+extends Node3D
+class_name ISensor3D
+
+var _obs : Array = []
+var _active := false
+
+func get_observation():
+	pass
+	
+func activate():
+	_active = true
+	
+func deactivate():
+	_active = false
+
+func _update_observation():
+	pass
+	
+func reset():
+	pass

addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd

@@ -0,0 +1,11 @@
+extends Node3D
+class_name RGBCameraSensor3D
+var camera_pixels = null
+
+@onready var camera_texture := $Control/TextureRect/CameraTexture as Sprite2D
+
+func get_camera_pixel_encoding():
+	return camera_texture.get_texture().get_data().data["data"].hex_encode()
+
+func get_camera_shape()-> Array:
+	return [$SubViewport.size[0], $SubViewport.size[1], 4]

addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.tscn

@@ -0,0 +1,42 @@
+[gd_scene load_steps=3 format=2]
+
+[ext_resource path="res://addons/godot_rl_agents/sensors/sensors_3d/RGBCameraSensor3D.gd" type="Script" 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 = Vector2( 32, 32 )
+render_target_update_mode = 3
+
+[node name="Camera3D" type="Camera3D" parent="SubViewport"]
+near = 0.5
+
+[node name="Control" type="Control" parent="."]
+anchor_right = 1.0
+anchor_bottom = 1.0
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="TextureRect" type="ColorRect" parent="Control"]
+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 )
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="CameraTexture" type="Sprite2D" parent="Control/TextureRect"]
+texture = SubResource( 1 )
+offset = Vector2( 9, 9 )
+flip_v = true

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd

@@ -0,0 +1,166 @@
+@tool
+extends ISensor3D
+class_name RayCastSensor3D
+@export_flags_3d_physics var collision_mask = 1:
+	get: return collision_mask
+	set(value):
+		collision_mask = value
+		_update()
+@export_flags_3d_physics var boolean_class_mask = 1:
+	get: return boolean_class_mask
+	set(value):
+		boolean_class_mask = value
+		_update()
+
+@export var n_rays_width := 6.0:
+	get: return n_rays_width
+	set(value):
+		n_rays_width = value
+		_update()
+	
+@export var n_rays_height := 6.0:
+	get: return n_rays_height
+	set(value):
+		n_rays_height = value
+		_update()
+
+@export var ray_length := 10.0:
+	get: return ray_length
+	set(value):
+		ray_length = value
+		_update()
+		
+@export var cone_width := 60.0:
+	get: return cone_width
+	set(value):
+		cone_width = value
+		_update()
+		
+@export var cone_height := 60.0:
+	get: return cone_height
+	set(value):
+		cone_height = value
+		_update()
+
+@export var collide_with_areas := false:
+	get: return collide_with_areas
+	set(value):
+		collide_with_areas = value
+		_update()
+		
+@export var collide_with_bodies := true:
+	get: return collide_with_bodies
+	set(value):
+		collide_with_bodies = value
+		_update()
+
+@export var class_sensor := false
+		
+var rays := []
+var geo = null
+
+func _update():
+	if Engine.is_editor_hint():
+		if is_node_ready():
+			_spawn_nodes()	
+
+func _ready() -> void:
+	if Engine.is_editor_hint():	
+		if get_child_count() == 0:
+			_spawn_nodes()
+	else:
+		_spawn_nodes()
+
+func _spawn_nodes():
+	print("spawning nodes")
+	for ray in get_children():
+		ray.queue_free()
+	if geo:
+		geo.clear()
+	#$Lines.remove_points()
+	rays = []
+	
+	var horizontal_step = cone_width / (n_rays_width)
+	var vertical_step = cone_height / (n_rays_height)
+	
+	var horizontal_start = horizontal_step/2 - cone_width/2
+	var vertical_start = vertical_step/2 - cone_height/2   
+
+	var points = []
+	
+	for i in n_rays_width:
+		for j in n_rays_height:
+			var angle_w = horizontal_start + i * horizontal_step
+			var angle_h = vertical_start + j * vertical_step
+			#angle_h = 0.0
+			var ray = RayCast3D.new()
+			var cast_to = to_spherical_coords(ray_length, angle_w, angle_h)
+			ray.set_target_position(cast_to)
+
+			points.append(cast_to)
+			
+			ray.set_name("node_"+str(i)+" "+str(j))
+			ray.enabled  = true
+			ray.collide_with_bodies = collide_with_bodies
+			ray.collide_with_areas = collide_with_areas
+			ray.collision_mask = collision_mask
+			add_child(ray)
+			ray.set_owner(get_tree().edited_scene_root)
+			rays.append(ray)
+			ray.force_raycast_update()
+			
+#    if Engine.editor_hint:
+#        _create_debug_lines(points)
+		
+func _create_debug_lines(points):
+	if not geo: 
+		geo = ImmediateMesh.new()
+		add_child(geo)
+		
+	geo.clear()
+	geo.begin(Mesh.PRIMITIVE_LINES)
+	for point in points:
+		geo.set_color(Color.AQUA)
+		geo.add_vertex(Vector3.ZERO)
+		geo.add_vertex(point)
+	geo.end()
+
+func display():
+	if geo:
+		geo.display()
+	
+func to_spherical_coords(r, inc, azimuth) -> Vector3:
+	return Vector3(
+		r*sin(deg_to_rad(inc))*cos(deg_to_rad(azimuth)),
+		r*sin(deg_to_rad(azimuth)),
+		r*cos(deg_to_rad(inc))*cos(deg_to_rad(azimuth))       
+	)
+	
+func get_observation() -> Array:
+	return self.calculate_raycasts()
+
+func calculate_raycasts() -> Array:
+	var result = []
+	for ray in rays:
+		ray.set_enabled(true)
+		ray.force_raycast_update()
+		var distance = _get_raycast_distance(ray)
+
+		result.append(distance)
+		if class_sensor:
+			var hit_class = 0 
+			if ray.get_collider():
+				var hit_collision_layer = ray.get_collider().collision_layer
+				hit_collision_layer = hit_collision_layer & collision_mask
+				hit_class = (hit_collision_layer & boolean_class_mask) > 0
+			result.append(hit_class)
+		ray.set_enabled(false)
+	return result
+
+func _get_raycast_distance(ray : RayCast3D) -> float : 
+	if !ray.is_colliding():
+		return 0.0
+		
+	var distance = (global_transform.origin - ray.get_collision_point()).length()
+	distance = clamp(distance, 0.0, ray_length)
+	return (ray_length - distance) / ray_length

addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.tscn

@@ -0,0 +1,33 @@
+[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_0 0@18991" type="RayCast3D" parent="."]
+target_position = Vector3(-4.06608, -2.84701, 9.81639)
+
+[node name="node_0 1" type="RayCast3D" parent="."]
+target_position = Vector3(-4.06608, 2.84701, 9.81639)
+
+[node name="@node_1 0@18992" type="RayCast3D" parent="."]
+target_position = Vector3(-1.38686, -2.84701, 10.5343)
+
+[node name="@node_1 1@18993" type="RayCast3D" parent="."]
+target_position = Vector3(-1.38686, 2.84701, 10.5343)
+
+[node name="@node_2 0@18994" type="RayCast3D" parent="."]
+target_position = Vector3(1.38686, -2.84701, 10.5343)
+
+[node name="@node_2 1@18995" type="RayCast3D" parent="."]
+target_position = Vector3(1.38686, 2.84701, 10.5343)
+
+[node name="@node_3 0@18996" type="RayCast3D" parent="."]
+target_position = Vector3(4.06608, -2.84701, 9.81639)
+
+[node name="@node_3 1@18997" type="RayCast3D" parent="."]
+target_position = Vector3(4.06608, 2.84701, 9.81639)

addons/godot_rl_agents/sync.gd

@@ -0,0 +1,338 @@
+extends Node
+# --fixed-fps 2000 --disable-render-loop
+@export_range(1, 10, 1, "or_greater") var action_repeat := 8
+@export_range(1, 10, 1, "or_greater") var speed_up = 1
+@export var onnx_model_path := ""
+
+@onready var start_time = Time.get_ticks_msec()
+
+const MAJOR_VERSION := "0"
+const MINOR_VERSION := "3" 
+const DEFAULT_PORT := "11008"
+const DEFAULT_SEED := "1"
+var stream : StreamPeerTCP = null
+var connected = false
+var message_center
+var should_connect = true
+var agents
+var need_to_send_obs = false
+var args = null
+var initialized = false
+var just_reset = false
+var onnx_model = null
+var n_action_steps = 0
+
+var _action_space : Dictionary
+var _obs_space : Dictionary
+
+# Called when the node enters the scene tree for the first time.
+
+func _ready():
+	await get_tree().root.ready
+	get_tree().set_pause(true) 
+	_initialize()
+	await get_tree().create_timer(1.0).timeout
+	get_tree().set_pause(false) 
+	
+func _initialize():
+	_get_agents()
+	_obs_space = agents[0].get_obs_space()
+	_action_space = agents[0].get_action_space()
+	args = _get_args()
+	Engine.physics_ticks_per_second = _get_speedup() * 60 # Replace with function body.
+	Engine.time_scale = _get_speedup() * 1.0
+	prints("physics ticks", Engine.physics_ticks_per_second, Engine.time_scale, _get_speedup(), speed_up)
+	
+	# 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:		
+		connected = connect_to_server()
+		if connected:
+			_set_heuristic("model")
+			_handshake()
+			_send_env_info()
+		else:
+			_set_heuristic("human")  
+		
+	_set_seed()
+	_set_action_repeat()
+	initialized = true  
+
+func _physics_process(delta): 
+	# two modes, human control, agent control
+	# pause tree, send obs, get actions, set actions, unpause tree
+	if n_action_steps % action_repeat != 0:
+		n_action_steps += 1
+		return
+
+	n_action_steps += 1
+	
+	if connected:
+		get_tree().set_pause(true) 
+		
+		if just_reset:
+			just_reset = false
+			var obs = _get_obs_from_agents()
+		
+			var reply = {
+				"type": "reset",
+				"obs": obs
+			}
+			_send_dict_as_json_message(reply)
+			# this should go straight to getting the action and setting it checked the agent, no need to perform one phyics tick
+			get_tree().set_pause(false) 
+			return
+		
+		if need_to_send_obs:
+			need_to_send_obs = false
+			var reward = _get_reward_from_agents()
+			var done = _get_done_from_agents()
+			#_reset_agents_if_done() # this ensures the new observation is from the next env instance : NEEDS REFACTOR
+			
+			var obs = _get_obs_from_agents()
+			
+			var reply = {
+				"type": "step",
+				"obs": obs,
+				"reward": reward,
+				"done": done
+			}
+			_send_dict_as_json_message(reply)
+		
+		var handled = handle_message()
+	
+	elif onnx_model != null:
+		var obs : Array = _get_obs_from_agents()
+	
+		var actions = []
+		for o in obs:
+			var action = onnx_model.run_inference(o["obs"], 1.0)
+			action["output"] = clamp_array(action["output"], -1.0, 1.0)
+			var action_dict = _extract_action_dict(action["output"])
+			actions.append(action_dict)
+
+		_set_agent_actions(actions) 
+		need_to_send_obs = true
+		get_tree().set_pause(false) 
+		_reset_agents_if_done()	
+		
+	else:
+		_reset_agents_if_done()	
+
+func _extract_action_dict(action_array: Array):
+	var index = 0
+	var result = {}
+	for key in _action_space.keys():
+		var size = _action_space[key]["size"]
+		if _action_space[key]["action_type"] == "discrete":
+			result[key] = round(action_array[index])
+		else:
+			result[key] = action_array.slice(index,index+size)
+		index += size
+		
+	return result
+
+func _get_agents():
+	agents = get_tree().get_nodes_in_group("AGENT")
+
+func _set_heuristic(heuristic):
+	for agent in agents:
+		agent.set_heuristic(heuristic)
+
+func _handshake():
+	print("performing handshake")
+	
+	var json_dict = _get_dict_json_message()
+	assert(json_dict["type"] == "handshake")
+	var major_version = json_dict["major_version"]
+	var minor_version = json_dict["minor_version"]
+	if major_version != MAJOR_VERSION:
+		print("WARNING: major verison mismatch ", major_version, " ", MAJOR_VERSION)  
+	if minor_version != MINOR_VERSION:
+		print("WARNING: minor verison mismatch ", minor_version, " ", MINOR_VERSION)
+		
+	print("handshake complete")
+
+func _get_dict_json_message():
+	# returns a dictionary from of the most recent message
+	# this is not waiting
+	while stream.get_available_bytes() == 0:
+		stream.poll()
+		if stream.get_status() != 2:
+			print("server disconnected status, closing")
+			get_tree().quit()
+			return null
+
+		OS.delay_usec(10)
+		
+	var message = stream.get_string()
+	var json_data = JSON.parse_string(message)
+	
+	return json_data
+
+func _send_dict_as_json_message(dict):
+	stream.put_string(JSON.stringify(dict))
+
+func _send_env_info():
+	var json_dict = _get_dict_json_message()
+	assert(json_dict["type"] == "env_info")
+
+		
+	var message = {
+		"type" : "env_info",
+		"observation_space": _obs_space,
+		"action_space":_action_space,
+		"n_agents": len(agents)
+		}
+	_send_dict_as_json_message(message)
+
+func connect_to_server():
+	print("Waiting for one second to allow server to start")
+	OS.delay_msec(1000)
+	print("trying to connect to server")
+	stream = StreamPeerTCP.new()
+	
+	# "localhost" was not working on windows VM, had to use the IP
+	var ip = "127.0.0.1"
+	var port = _get_port()
+	var connect = stream.connect_to_host(ip, port)
+	stream.set_no_delay(true) # TODO check if this improves performance or not
+	stream.poll()
+	# Fetch the status until it is either connected (2) or failed to connect (3)
+	while stream.get_status() < 2:
+		stream.poll()
+	return stream.get_status() == 2
+
+func _get_args():
+	print("getting command line arguments")
+	var arguments = {}
+	for argument in OS.get_cmdline_args():
+		print(argument)
+		if argument.find("=") > -1:
+			var key_value = argument.split("=")
+			arguments[key_value[0].lstrip("--")] = key_value[1]
+		else:
+			# Options without an argument will be present in the dictionary,
+			# with the value set to an empty string.
+			arguments[argument.lstrip("--")] = ""
+
+	return arguments   
+
+func _get_speedup():
+	print(args)
+	return args.get("speedup", str(speed_up)).to_int()
+
+func _get_port():    
+	return args.get("port", DEFAULT_PORT).to_int()
+
+func _set_seed():
+	var _seed = args.get("env_seed", DEFAULT_SEED).to_int()
+	seed(_seed)
+
+func _set_action_repeat():
+	action_repeat = args.get("action_repeat", str(action_repeat)).to_int()
+	
+func disconnect_from_server():
+	stream.disconnect_from_host()
+
+
+
+func handle_message() -> bool:
+	# get json message: reset, step, close
+	var message = _get_dict_json_message()
+	if message["type"] == "close":
+		print("received close message, closing game")
+		get_tree().quit()
+		get_tree().set_pause(false) 
+		return true
+		
+	if message["type"] == "reset":
+		print("resetting all agents")
+		_reset_all_agents()
+		just_reset = true
+		get_tree().set_pause(false) 
+		#print("resetting forcing draw")
+#        RenderingServer.force_draw()
+#        var obs = _get_obs_from_agents()
+#        print("obs ", obs)
+#        var reply = {
+#            "type": "reset",
+#            "obs": obs
+#        }
+#        _send_dict_as_json_message(reply)   
+		return true
+		
+	if message["type"] == "call":
+		var method = message["method"]
+		var returns = _call_method_on_agents(method)
+		var reply = {
+			"type": "call",
+			"returns": returns
+		}
+		print("calling method from Python")
+		_send_dict_as_json_message(reply)   
+		return handle_message()
+	
+	if message["type"] == "action":
+		var action = message["action"]
+		_set_agent_actions(action) 
+		need_to_send_obs = true
+		get_tree().set_pause(false) 
+		return true
+		
+	print("message was not handled")
+	return false
+
+func _call_method_on_agents(method):
+	var returns = []
+	for agent in agents:
+		returns.append(agent.call(method))
+		
+	return returns
+
+
+func _reset_agents_if_done():
+	for agent in agents:
+		if agent.get_done(): 
+			agent.set_done_false()
+
+func _reset_all_agents():
+	for agent in agents:
+		agent.needs_reset = true
+		#agent.reset()   
+
+func _get_obs_from_agents():
+	var obs = []
+	for agent in agents:
+		obs.append(agent.get_obs())
+
+	return obs
+	
+func _get_reward_from_agents():
+	var rewards = [] 
+	for agent in agents:
+		rewards.append(agent.get_reward())
+		agent.zero_reward()
+	return rewards    
+	
+func _get_done_from_agents():
+	var dones = [] 
+	for agent in agents:
+		var done = agent.get_done()
+		if done: agent.set_done_false()
+		dones.append(done)
+	return dones    
+	
+func _set_agent_actions(actions):
+	for i in range(len(actions)):
+		agents[i].set_action(actions[i])
+	
+func clamp_array(arr : Array, min:float, max:float):
+	var output : Array = []
+	for a in arr:
+		output.append(clamp(a, min, max))
+	return output

onnx/model.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:902d0d267b3404a52b82cc90acefd0b5b1afea89965e3887a4a3b578bf84a4db
+size 25805

project.godot

@@ -0,0 +1,52 @@
+; Engine configuration file.
+; It's best edited using the editor UI and not directly,
+; since the parameters that go here are not all obvious.
+;
+; Format:
+;   [section] ; section goes between []
+;   param=value ; assign values to parameters
+
+config_version=5
+
+[application]
+
+config/name="3DCarParkingExample"
+config/description="An example of a simple 3d car parking RL environment. "
+run/main_scene="res://scenes/TrainingScene.tscn"
+config/features=PackedStringArray("4.2", "C#", "Forward Plus")
+config/icon="res://icon.svg"
+
+[dotnet]
+
+project/assembly_name="3DCarParkingExample"
+
+[editor_plugins]
+
+enabled=PackedStringArray("res://addons/godot_rl_agents/plugin.cfg")
+
+[input]
+
+move_forward={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":87,"key_label":0,"unicode":119,"echo":false,"script":null)
+, Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194320,"key_label":0,"unicode":0,"echo":false,"script":null)
+]
+}
+move_backward={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":83,"key_label":0,"unicode":115,"echo":false,"script":null)
+, Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194322,"key_label":0,"unicode":0,"echo":false,"script":null)
+]
+}
+steer_left={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":65,"key_label":0,"unicode":97,"echo":false,"script":null)
+, Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194319,"key_label":0,"unicode":0,"echo":false,"script":null)
+]
+}
+steer_right={
+"deadzone": 0.5,
+"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":68,"key_label":0,"unicode":100,"echo":false,"script":null)
+, Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":4194321,"key_label":0,"unicode":0,"echo":false,"script":null)
+]
+}

readme-license.md

@@ -0,0 +1,5 @@
+Simple 3D car parking environment made by Ivan-267 using Godot, Godot RL Agents, and Blender. 
+
+The following license is only for the assets in the folder "scenes\blender":
+Author: https://github.com/Ivan-267
+License: https://creativecommons.org/licenses/by/4.0/

scenes/TestingScene.tscn

@@ -0,0 +1,66 @@
+[gd_scene load_steps=8 format=3 uid="uid://00lmrvmkwpim"]
+
+[ext_resource type="PackedScene" uid="uid://ca6csk8y5nvuu" path="res://scenes/game_scene/GameScene.tscn" id="1_cnrg2"]
+[ext_resource type="Script" path="res://scenes/sync_override.gd" id="2_xg13p"]
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_vwcdc"]
+resource_local_to_scene = true
+shading_mode = 0
+albedo_color = Color(1, 0, 0, 1)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_k2b80"]
+resource_local_to_scene = true
+shading_mode = 0
+
+[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_g5l5s"]
+
+[sub_resource type="Sky" id="Sky_a413c"]
+sky_material = SubResource("ProceduralSkyMaterial_g5l5s")
+
+[sub_resource type="Environment" id="Environment_x2xl3"]
+background_mode = 2
+background_energy_multiplier = 1.2
+sky = SubResource("Sky_a413c")
+sdfgi_enabled = true
+glow_enabled = true
+glow_bloom = 0.02
+volumetric_fog_density = 0.01
+
+[node name="TrainingScene" type="Node3D"]
+
+[node name="GameScene" parent="." instance=ExtResource("1_cnrg2")]
+
+[node name="Car" parent="GameScene" index="0"]
+braking_material = SubResource("StandardMaterial3D_vwcdc")
+reversing_material = SubResource("StandardMaterial3D_k2b80")
+
+[node name="Camera3D" type="Camera3D" parent="GameScene/Car" index="8"]
+transform = Transform3D(-1, 2.99003e-08, -8.21505e-08, 0, 0.939693, 0.34202, 8.74228e-08, 0.34202, -0.939693, 0, 1.63, -2.105)
+current = true
+fov = 100.0
+
+[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
+transform = Transform3D(0.857167, 0.364187, -0.364187, 0, 0.707107, 0.707107, 0.515038, -0.606109, 0.606109, 0, 0, 0)
+shadow_enabled = true
+
+[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
+environment = SubResource("Environment_x2xl3")
+
+[node name="Sync" type="Node" parent="."]
+script = ExtResource("2_xg13p")
+speed_up = 3
+onnx_model_path = "onnx/model.onnx"
+
+[node name="Camera3D" type="Camera3D" parent="."]
+transform = Transform3D(0.999998, 0.0014048, -0.00103571, 0, 0.593419, 0.804894, 0.00174533, -0.804893, 0.593418, 0, 11.05, 9.648)
+current = true
+fov = 80.0
+size = 20.0
+
+[node name="Camera3D2" type="Camera3D" parent="."]
+transform = Transform3D(0.707106, 0.294355, -0.642927, 0, 0.909236, 0.416281, 0.707106, -0.294355, 0.642927, -7, 2.28, 7)
+fov = 91.6
+size = 20.0
+
+[editable path="GameScene"]
+[editable path="GameScene/Parking"]

scenes/TrainingScene.tscn

@@ -0,0 +1,128 @@
+[gd_scene load_steps=6 format=3 uid="uid://b4f2hcn0g5vjg"]
+
+[ext_resource type="PackedScene" uid="uid://ca6csk8y5nvuu" path="res://scenes/game_scene/GameScene.tscn" id="1_vdknj"]
+[ext_resource type="Script" path="res://scenes/sync_override.gd" id="2_p6jfa"]
+
+[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_g5l5s"]
+
+[sub_resource type="Sky" id="Sky_a413c"]
+sky_material = SubResource("ProceduralSkyMaterial_g5l5s")
+
+[sub_resource type="Environment" id="Environment_xy0xn"]
+background_mode = 2
+background_energy_multiplier = 1.2
+sky = SubResource("Sky_a413c")
+volumetric_fog_density = 0.01
+
+[node name="TrainingScene" type="Node3D"]
+
+[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
+transform = Transform3D(0.857167, 0.364187, -0.364187, 0, 0.707107, 0.707107, 0.515038, -0.606109, 0.606109, 0, 0, 0)
+shadow_enabled = true
+
+[node name="GameScene" parent="." instance=ExtResource("1_vdknj")]
+
+[node name="GameScene2" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 48, 0, 0)
+
+[node name="GameScene3" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -44, 0, 0)
+
+[node name="GameScene4" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 37)
+
+[node name="GameScene5" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 48, 0, 37)
+
+[node name="GameScene6" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -44, 0, 37)
+
+[node name="GameScene7" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 71)
+
+[node name="GameScene8" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 48, 0, 71)
+
+[node name="GameScene9" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -44, 0, 71)
+
+[node name="GameScene10" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 101)
+
+[node name="GameScene11" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 48, 0, 101)
+
+[node name="GameScene12" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -44, 0, 101)
+
+[node name="GameScene13" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 142.849, 0, 0)
+
+[node name="GameScene14" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 190.849, 0, 0)
+
+[node name="GameScene15" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 98.8491, 0, 0)
+
+[node name="GameScene16" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 142.849, 0, 37)
+
+[node name="GameScene17" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 190.849, 0, 37)
+
+[node name="GameScene18" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 98.8491, 0, 37)
+
+[node name="GameScene19" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 142.849, 0, 71)
+
+[node name="GameScene20" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 190.849, 0, 71)
+
+[node name="GameScene21" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 98.8491, 0, 71)
+
+[node name="GameScene22" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 142.849, 0, 101)
+
+[node name="GameScene23" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 190.849, 0, 101)
+
+[node name="GameScene24" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 98.8491, 0, 101)
+
+[node name="GameScene25" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -134.151, 0, 0)
+
+[node name="GameScene26" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -86.1509, 0, 0)
+
+[node name="GameScene27" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -178.151, 0, 0)
+
+[node name="GameScene28" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -134.151, 0, 37)
+
+[node name="GameScene29" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -86.1509, 0, 37)
+
+[node name="GameScene30" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -178.151, 0, 37)
+
+[node name="GameScene31" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -178.151, 0, 99)
+
+[node name="GameScene32" parent="." instance=ExtResource("1_vdknj")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -178.151, 0, 72)
+
+[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
+environment = SubResource("Environment_xy0xn")
+
+[node name="Sync" type="Node" parent="."]
+script = ExtResource("2_p6jfa")
+speed_up = 10
+
+[node name="Camera3D" type="Camera3D" parent="."]
+transform = Transform3D(0.999998, 0.0014048, -0.00103571, 0, 0.593419, 0.804894, 0.00174533, -0.804893, 0.593418, 0.695, 11.05, 9.648)
+fov = 80.0
+size = 20.0

scenes/blender/parking.blend

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:068f73437707265496e1a909678fe955cd537515d13ac85c8e39d58accc229e2
+size 1285376

scenes/car/Car.gd

@@ -0,0 +1,217 @@
+extends VehicleBody3D
+class_name Car
+
+@export var playing_area_x_size: float = 20
+@export var playing_area_z_size: float = 20
+
+@export var acceleration: float = 200
+@export var max_steer_angle: float = 20
+
+@export var parking_manager: ParkingManager
+@export var goal_marker: Node3D
+
+@onready var max_velocity = acceleration / mass * 40
+@onready var ai_controller: AIController3D = $AIController3D
+@onready var raycast_sensor: RayCastSensor3D = $RayCastSensor3D
+
+var goal_parking_spot: Transform3D
+
+var requested_acceleration: float
+var requested_steering: float
+var _initial_transform: Transform3D
+var times_restarted: int
+
+var _smallest_distance_to_goal: float = 0
+var _max_goal_dist: float = 1
+
+var episode_ended_unsuccessfully_reward: float = -6
+
+var _rear_lights: Array[MeshInstance3D]
+@export var braking_material: StandardMaterial3D
+@export var reversing_material: StandardMaterial3D
+
+func get_normalized_velocity():
+	return linear_velocity.normalized() * (linear_velocity.length() / max_velocity)
+	
+func _ready():
+	ai_controller.init(self)
+	_initial_transform = transform
+	
+	_rear_lights.resize(2)
+	_rear_lights[0] = $"car_base/Rear-light" as MeshInstance3D
+	_rear_lights[1] = $"car_base/Rear-light_001" as MeshInstance3D
+	
+	_max_goal_dist = (
+		Vector2(
+			playing_area_x_size,
+			playing_area_z_size
+		).length()
+	)
+		
+func reset():
+	times_restarted += 1
+	
+	transform = _initial_transform
+	
+	if randi_range(0, 1) == 0:
+		transform.origin = -transform.origin
+		transform.basis = transform.basis.rotated(Vector3.UP, PI)
+
+	linear_velocity = Vector3.ZERO
+	angular_velocity = Vector3.ZERO
+	
+	transform.basis = transform.basis.rotated(Vector3.UP, randf_range(-0.3, 0.3))
+	
+	parking_manager.disable_random_cars()
+	
+	goal_parking_spot = parking_manager.get_random_free_parking_spot_transform()
+	goal_marker.global_position = goal_parking_spot.origin + Vector3.UP * 3
+
+	_smallest_distance_to_goal = _get_current_distance_to_goal()
+	
+func _physics_process(delta):
+	_reset_if_needed()
+	_update_reward()
+	
+	if (ai_controller.heuristic != "human"):
+		engine_force = (requested_acceleration) * acceleration
+		steering = move_toward(steering, deg_to_rad(requested_steering * max_steer_angle), delta)
+	else:
+		engine_force = (
+			int(Input.is_action_pressed("move_forward")) -
+			int(Input.is_action_pressed("move_backward"))
+		) * acceleration
+		steering = move_toward(
+			steering,
+			deg_to_rad((
+				int(Input.is_action_pressed("steer_left")) -
+				int(Input.is_action_pressed("steer_right"))
+			) * max_steer_angle),
+			delta
+		)
+		
+	_update_rear_lights()
+	_reset_on_out_of_bounds()
+	_reset_on_turned_over()
+	_reset_on_went_away_from_goal()
+	_end_episode_on_goal_reached()
+
+func _update_rear_lights():
+	var velocity := get_normalized_velocity_in_player_reference().z
+	
+	set_rear_light_material(null)
+	
+	var brake_or_reverse_requested: bool
+	if (ai_controller.heuristic != "human"):
+		brake_or_reverse_requested = requested_acceleration < 0
+	else:
+		brake_or_reverse_requested = Input.is_action_pressed("move_backward")
+	
+	if velocity >= 0:
+		if brake_or_reverse_requested:
+			set_rear_light_material(braking_material)
+	elif velocity <= -0.015:
+		set_rear_light_material(reversing_material)
+
+func set_rear_light_material(material: StandardMaterial3D):
+	_rear_lights[0].set_surface_override_material(0, material)
+	_rear_lights[1].set_surface_override_material(0, material)
+
+func _reset_on_out_of_bounds():
+	if (position.y < -2 or abs(position.x) > 10 or abs(position.z) > 10):
+		_end_episode(episode_ended_unsuccessfully_reward)
+
+# If the agent was near the goal but has since moved away,
+# end the episode with a negative reward	
+func _reset_on_went_away_from_goal():
+	var goal_dist = _get_current_distance_to_goal()
+	if _smallest_distance_to_goal < 1.5 and goal_dist > _smallest_distance_to_goal + 3.5:
+		_end_episode(episode_ended_unsuccessfully_reward)
+
+# If the goal condition is reached, provide a reward based on:
+# how quickly the goal was reached,
+# the current velocity,
+# direction alignment, 
+# and distance from the goal position
+func _end_episode_on_goal_reached():
+	var goal_dist = _get_current_distance_to_goal()
+	if _is_goal_reached(goal_dist):
+		var parked_succesfully_reward: float = (
+			10
+			- _get_direction_difference() * 4
+			- (float(ai_controller.n_steps) / ai_controller.reset_after) * 2
+			- get_normalized_velocity().length()
+			- (goal_dist / _max_goal_dist)
+		)
+		_end_episode(parked_succesfully_reward)
+
+func _reset_on_turned_over():
+	if global_transform.basis.y.dot(Vector3.UP) < 0.6:
+		_end_episode(episode_ended_unsuccessfully_reward)
+
+func _end_episode(final_reward: float = 0):
+	ai_controller.reward += final_reward
+	ai_controller.needs_reset = true
+	ai_controller.done = true
+
+func _reset_if_needed():
+	if ai_controller.needs_reset:
+		reset()
+		ai_controller.reset()
+		
+func _update_reward():
+	if times_restarted == 0:
+		return
+	
+	var goal_dist = _get_current_distance_to_goal()
+	
+#	# If the car is close to the goal parking spot,
+	# we modify the reward based on the angle
+	var direction_multiplier = 1
+	if goal_dist < 1:
+		direction_multiplier = (1 - _get_direction_difference()) * 1.5
+
+	if goal_dist < _smallest_distance_to_goal:
+		ai_controller.reward += (
+			(_smallest_distance_to_goal - goal_dist) *
+			direction_multiplier
+		)
+		_smallest_distance_to_goal = goal_dist
+		
+	# Encourage shorter paths
+	if goal_dist > 2:
+		ai_controller.reward -= 10 * (get_normalized_velocity().length() / ai_controller.reset_after)
+		
+# Returns the difference between current direction and goal direction in range 0,1
+# If 1, the angle is 180 degrees, if 0, the direction is perfectly aligned.
+func _get_direction_difference() -> float:
+	return (global_transform.basis.z.dot(-goal_parking_spot.basis.z) + 1) / 2
+
+func _is_goal_reached(current_goal_dist: float) -> bool:
+	return (
+		current_goal_dist < 0.5 and
+		linear_velocity.length() < 0.05 and
+		_get_direction_difference() < 0.07
+	)
+
+func _get_current_distance_to_goal() -> float:
+	# Exclude Y difference from the calculated distance 
+	var goal_transform: Transform3D = goal_parking_spot
+	goal_transform.origin.y = global_position.y
+	return goal_transform.origin.distance_to(global_position)
+
+func get_normalized_velocity_in_player_reference() -> Vector3:
+	return (
+		global_transform.basis.inverse() *
+		get_normalized_velocity()
+		)
+
+func _on_green_space_body_entered(body):
+	_end_episode(episode_ended_unsuccessfully_reward)
+
+func _on_walls_body_entered(body):
+	_end_episode(episode_ended_unsuccessfully_reward)
+
+func _on_body_entered(body: PhysicsBody3D):
+	if body is StaticCar:
+		_end_episode(episode_ended_unsuccessfully_reward)

scenes/car/Car.tscn

@@ -0,0 +1,151 @@
+[gd_scene load_steps=9 format=3 uid="uid://cn2van3bgkmch"]
+
+[ext_resource type="Script" path="res://scenes/car/Car.gd" id="1_22tkk"]
+[ext_resource type="Material" uid="uid://chim7hdhvacuf" path="res://scenes/car/rear_light_braking.tres" id="2_on5f3"]
+[ext_resource type="Material" uid="uid://d0fd3s7j6iaxc" path="res://scenes/car/rear_light_reversing.tres" id="3_ic80y"]
+[ext_resource type="PackedScene" uid="uid://rfo6asayjvm8" path="res://scenes/blender/car_base.blend" id="4_5vyrv"]
+[ext_resource type="PackedScene" uid="uid://d3saly1xwj5s" path="res://scenes/car/Wheel.tscn" id="5_htwgt"]
+[ext_resource type="Script" path="res://scenes/car/CarAIController.gd" id="6_h3eqj"]
+[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" id="7_r8420"]
+
+[sub_resource type="ConvexPolygonShape3D" id="ConvexPolygonShape3D_ey2uy"]
+points = PackedVector3Array(-1.07131, 0.109052, -1.54357, 1.08983, 0.83316, 1.90767, -1.10341, 0.822321, 1.8853, 0.989547, -0.97941, 1.03135, 1.08983, 0.83316, -1.90767, -1.01606, -0.97941, -1.03135, -1.01606, -0.97941, 1.03135, 0.989547, -0.97941, -1.03135, -1.10341, 0.822321, -1.8853, 1.04556, -0.463054, -1.25862, 1.05067, -0.349671, 1.32232, -1.07441, 0.683148, 1.83514, -1.07441, 0.683148, -1.83514, -1.07131, 0.109052, 1.54357, 1.04556, -0.463054, 1.25862, 1.05067, -0.349671, -1.32232)
+
+[node name="Car" type="VehicleBody3D"]
+collision_layer = 2
+mass = 1000.0
+continuous_cd = true
+max_contacts_reported = 1
+script = ExtResource("1_22tkk")
+braking_material = ExtResource("2_on5f3")
+reversing_material = ExtResource("3_ic80y")
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
+transform = Transform3D(0.5, 0, 0, 0, -0.5, 7.54979e-08, 0, -7.54979e-08, -0.5, 0, 0, 0)
+shape = SubResource("ConvexPolygonShape3D_ey2uy")
+
+[node name="car_base" parent="." instance=ExtResource("4_5vyrv")]
+
+[node name="BackWheel" type="VehicleWheel3D" parent="."]
+transform = Transform3D(1, 0, 1.74846e-07, 0, 1, 0, -1.74846e-07, 0, 1, -0.7, -0.426319, -0.45)
+use_as_traction = true
+wheel_radius = 0.349
+suspension_travel = 0.3
+suspension_stiffness = 40.0
+
+[node name="Wheel" parent="BackWheel" instance=ExtResource("5_htwgt")]
+transform = Transform3D(-4.37114e-08, 1, -4.37114e-08, 0, -4.37114e-08, -1, -1, -4.37114e-08, 1.91069e-15, 0, 0, 0)
+
+[node name="BackWheel2" type="VehicleWheel3D" parent="."]
+transform = Transform3D(1, 0, 1.74846e-07, 0, 1, 0, -1.74846e-07, 0, 1, 0.7, -0.426473, -0.45)
+use_as_traction = true
+wheel_radius = 0.349
+suspension_travel = 0.3
+suspension_stiffness = 40.0
+
+[node name="Wheel3" parent="BackWheel2" instance=ExtResource("5_htwgt")]
+transform = Transform3D(-4.37114e-08, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, -4.37114e-08, 1.91069e-15, 0, 0, 0)
+
+[node name="FrontWheel" type="VehicleWheel3D" parent="."]
+transform = Transform3D(1, 0, 1.74846e-07, 0, 1, 0, -1.74846e-07, 0, 1, -0.7, -0.426473, 0.45)
+use_as_traction = true
+use_as_steering = true
+wheel_radius = 0.349
+suspension_travel = 0.3
+suspension_stiffness = 40.0
+
+[node name="Wheel2" parent="FrontWheel" instance=ExtResource("5_htwgt")]
+transform = Transform3D(-4.37114e-08, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, -4.37114e-08, 1.91069e-15, 0, 0, 0)
+
+[node name="FrontWheel2" type="VehicleWheel3D" parent="."]
+transform = Transform3D(1, 0, 1.74846e-07, 0, 1, 0, -1.74846e-07, 0, 1, 0.7, -0.426473, 0.45)
+use_as_traction = true
+use_as_steering = true
+wheel_radius = 0.349
+suspension_travel = 0.3
+suspension_stiffness = 40.0
+
+[node name="Wheel4" parent="FrontWheel2" instance=ExtResource("5_htwgt")]
+transform = Transform3D(-4.37114e-08, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, -4.37114e-08, 1.91069e-15, 0, 0, 0)
+
+[node name="AIController3D" type="Node3D" parent="."]
+script = ExtResource("6_h3eqj")
+reset_after = 1750
+
+[node name="RayCastSensor3D" type="Node3D" parent="."]
+script = ExtResource("7_r8420")
+n_rays_width = 17.0
+n_rays_height = 1.0
+cone_width = 360.0
+cone_height = 0.0
+collide_with_areas = true
+
+[node name="@RayCast3D@23670" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(-1.8375, 0, -9.82973)
+collide_with_areas = true
+
+[node name="node_1 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(-5.26432, 0, -8.50217)
+collide_with_areas = true
+
+[node name="node_2 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(-7.98017, 0, -6.02635)
+collide_with_areas = true
+
+[node name="node_3 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(-9.61826, 0, -2.73663)
+collide_with_areas = true
+
+[node name="node_4 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(-9.95734, 0, 0.922684)
+collide_with_areas = true
+
+[node name="node_5 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(-8.95163, 0, 4.45738)
+collide_with_areas = true
+
+[node name="node_6 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(-6.73696, 0, 7.39009)
+collide_with_areas = true
+
+[node name="node_7 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(-3.61242, 0, 9.32472)
+collide_with_areas = true
+
+[node name="node_8 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(0, 0, 10)
+collide_with_areas = true
+
+[node name="node_9 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(3.61242, 0, 9.32472)
+collide_with_areas = true
+
+[node name="node_10 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(6.73696, 0, 7.39009)
+collide_with_areas = true
+
+[node name="node_11 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(8.95163, 0, 4.45738)
+collide_with_areas = true
+
+[node name="node_12 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(9.95734, 0, 0.922684)
+collide_with_areas = true
+
+[node name="node_13 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(9.61826, 0, -2.73663)
+collide_with_areas = true
+
+[node name="node_14 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(7.98017, 0, -6.02635)
+collide_with_areas = true
+
+[node name="node_15 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(5.26432, 0, -8.50217)
+collide_with_areas = true
+
+[node name="node_16 0" type="RayCast3D" parent="RayCastSensor3D"]
+target_position = Vector3(1.8375, 0, -9.82973)
+collide_with_areas = true
+
+[connection signal="body_entered" from="." to="." method="_on_body_entered"]

scenes/car/CarAIController.gd

@@ -0,0 +1,66 @@
+extends AIController3D
+class_name CarAIController
+
+func get_obs() -> Dictionary:
+	
+	# Positions and velocities are converted to the player's frame of reference
+	var player_velocity = _player.get_normalized_velocity_in_player_reference()
+
+	var observations : Array = [
+		n_steps / float(reset_after),
+		player_velocity.x,
+		player_velocity.z,
+		_player.angular_velocity.y * 1.5,
+		_player.steering / deg_to_rad(_player.max_steer_angle)
+	]
+
+	# After the first reset, the goal parking position will be assigned,
+	# so we provide zero values for those positions before then
+	# (used for detecting the size of the observation space)
+	if _player.times_restarted == 0:
+		observations.append_array([0.0, 0.0, 0.0, 0.0])
+	else:
+		var goal_transform: Transform3D = _player.goal_parking_spot
+		var goal_position = (
+		_player.to_local(goal_transform.origin) /
+		Vector2(
+			_player.playing_area_x_size,
+			_player.playing_area_z_size
+		).length()
+		)
+		observations.append_array(
+			[
+				goal_position.x,
+				goal_position.z,
+				(goal_transform.basis.z - _player.global_transform.basis.z).x,
+				(goal_transform.basis.z - _player.global_transform.basis.z).z,
+			]
+		)
+			
+	observations.append_array(_player.raycast_sensor.get_observation())
+	return {"obs": observations}
+
+func get_reward() -> float:
+	return reward
+
+func get_action_space() -> Dictionary:
+	return {
+		"acceleration" : {
+			"size": 1,
+			"action_type": "continuous"
+		},
+		"steering" : {
+			"size": 1,
+			"action_type": "continuous"
+		},
+		}
+
+func _physics_process(delta):
+	n_steps += 1
+	if n_steps > reset_after:
+		needs_reset = true
+		done = true
+
+func set_action(action) -> void:
+	_player.requested_acceleration = clampf(action.acceleration[0], -1.0, 1.0)
+	_player.requested_steering = clampf(action.steering[0], -1.0, 1.0)

scenes/car/StaticCar.gd

@@ -0,0 +1,19 @@
+extends StaticBody3D
+class_name StaticCar
+
+var _material: StandardMaterial3D
+var _car_body: MeshInstance3D
+
+func _ready():
+	_car_body = $"car_base/Body" as MeshInstance3D
+	_material = _car_body.get_active_material(0)
+
+func randomize_color():
+	var instance_material = _material.duplicate()
+	instance_material.albedo_color = Color(
+		randf_range(0.2, 0.8),
+		randf_range(0.2, 0.8),
+		randf_range(0.2, 0.8),
+		1
+	)
+	_car_body.set_surface_override_material(0, instance_material)

scenes/car/StaticCar.tscn

@@ -0,0 +1,28 @@
+[gd_scene load_steps=5 format=3 uid="uid://cvaj7gdsqflcd"]
+
+[ext_resource type="Script" path="res://scenes/car/StaticCar.gd" id="1_pf02e"]
+[ext_resource type="PackedScene" uid="uid://d3saly1xwj5s" path="res://scenes/car/Wheel.tscn" id="2_tfmok"]
+[ext_resource type="PackedScene" uid="uid://rfo6asayjvm8" path="res://scenes/blender/car_base.blend" id="3_wccuk"]
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_7x1u3"]
+size = Vector3(1.5, 1.5, 1.85183)
+
+[node name="StaticCart" type="StaticBody3D"]
+script = ExtResource("1_pf02e")
+
+[node name="Wheel" parent="." instance=ExtResource("2_tfmok")]
+transform = Transform3D(-2.18557e-07, 1, -4.37114e-08, 0, -4.37114e-08, -1, -1, -2.18557e-07, 9.55345e-15, -0.7, -0.426319, -0.45)
+
+[node name="Wheel3" parent="." instance=ExtResource("2_tfmok")]
+transform = Transform3D(1.31135e-07, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, 1.31135e-07, -5.73207e-15, 0.7, -0.426473, -0.45)
+
+[node name="Wheel2" parent="." instance=ExtResource("2_tfmok")]
+transform = Transform3D(1.31135e-07, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, 1.31135e-07, -5.73207e-15, -0.7, -0.426473, 0.45)
+
+[node name="Wheel4" parent="." instance=ExtResource("2_tfmok")]
+transform = Transform3D(1.31135e-07, -1, 4.37114e-08, 0, -4.37114e-08, -1, 1, 1.31135e-07, -5.73207e-15, 0.7, -0.426473, 0.45)
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
+shape = SubResource("BoxShape3D_7x1u3")
+
+[node name="car_base" parent="." instance=ExtResource("3_wccuk")]

scenes/car/Wheel.tscn

@@ -0,0 +1,21 @@
+[gd_scene load_steps=3 format=3 uid="uid://d3saly1xwj5s"]
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_emc8j"]
+albedo_color = Color(0.0235294, 0.0235294, 0.0235294, 1)
+roughness = 0.46
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_5qqye"]
+albedo_color = Color(0.619608, 0.619608, 0.619608, 1)
+
+[node name="Wheel" type="CSGTorus3D"]
+transform = Transform3D(1, 0, 0, 0, -4.37114e-08, -1, 0, 1, -4.37114e-08, 0, 0, 0)
+inner_radius = 0.191
+outer_radius = 0.349
+sides = 16
+ring_sides = 5
+material = SubResource("StandardMaterial3D_emc8j")
+
+[node name="CSGCylinder3D" type="CSGCylinder3D" parent="."]
+radius = 0.296
+height = 0.112
+material = SubResource("StandardMaterial3D_5qqye")

scenes/car/rear_light_braking.tres

@@ -0,0 +1,5 @@
+[gd_resource type="StandardMaterial3D" format=3 uid="uid://chim7hdhvacuf"]
+
+[resource]
+resource_local_to_scene = true
+albedo_color = Color(1, 0, 0, 1)

scenes/car/rear_light_reversing.tres

@@ -0,0 +1,5 @@
+[gd_resource type="StandardMaterial3D" format=3 uid="uid://d0fd3s7j6iaxc"]
+
+[resource]
+resource_local_to_scene = true
+emission = Color(1, 1, 1, 1)

scenes/car/static_cart_material.tres

@@ -0,0 +1,6 @@
+[gd_resource type="StandardMaterial3D" format=3 uid="uid://bn1o1m8nhe72c"]
+
+[resource]
+resource_local_to_scene = true
+metallic = 0.16
+roughness = 0.29

scenes/game_scene/GameScene.tscn

@@ -0,0 +1,139 @@
+[gd_scene load_steps=15 format=3 uid="uid://ca6csk8y5nvuu"]
+
+[ext_resource type="PackedScene" uid="uid://cn2van3bgkmch" path="res://scenes/car/Car.tscn" id="1_5vpyy"]
+[ext_resource type="Script" path="res://scenes/game_scene/ParkingSpotManager.gd" id="3_0vbrg"]
+[ext_resource type="Script" path="res://scenes/game_scene/ParkingManager.gd" id="3_x8b77"]
+[ext_resource type="PackedScene" uid="uid://cvaj7gdsqflcd" path="res://scenes/car/StaticCar.tscn" id="4_tyjtq"]
+[ext_resource type="PackedScene" uid="uid://cc7x3j2c0bo3i" path="res://scenes/blender/parking.blend" id="5_x8abj"]
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_u0d82"]
+resource_local_to_scene = true
+shading_mode = 0
+albedo_color = Color(1, 0, 0, 1)
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_nr3lu"]
+resource_local_to_scene = true
+shading_mode = 0
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_nxaf6"]
+size = Vector3(20, 5, 20)
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_evajx"]
+size = Vector3(12.2, 2.5, 2)
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_75vn3"]
+size = Vector3(2, 10, 23.5)
+
+[sub_resource type="ConcavePolygonShape3D" id="ConcavePolygonShape3D_65cdh"]
+data = PackedVector3Array(5.9011, -0.0092, -0.8469, -5.9011, -0.0092, 0.8469, -5.9011, -0.0092, -0.8469, 5.9011, -0.0092, -0.8469, 5.9011, -0.0092, 0.8469, -5.9011, -0.0092, 0.8469, 5.9011, -0.0092, 0.8469, -6.0066, 0.1706, 0.9483, -5.9011, -0.0092, 0.8469, 5.9011, -0.0092, 0.8469, 6.0066, 0.1706, 0.9483, -6.0066, 0.1706, 0.9483, -5.9011, -0.0092, -0.8469, 6.0066, 0.1706, -0.9483, 5.9011, -0.0092, -0.8469, -5.9011, -0.0092, -0.8469, -6.0066, 0.1706, -0.9483, 6.0066, 0.1706, -0.9483, 5.9011, -0.0092, -0.8469, 6.0066, 0.1706, 0.9483, 5.9011, -0.0092, 0.8469, 5.9011, -0.0092, -0.8469, 6.0066, 0.1706, -0.9483, 6.0066, 0.1706, 0.9483, -6.0737, -0.0534, 1.0128, -6.0737, 0.1348, -1.0128, -6.0737, 0.1348, 1.0128, -6.0737, -0.0534, 1.0128, -6.0737, -0.0534, -1.0128, -6.0737, 0.1348, -1.0128, -6.0737, -0.0534, -1.0128, 6.0737, -0.0534, 1.0128, 6.0737, -0.0534, -1.0128, -6.0737, -0.0534, -1.0128, -6.0737, -0.0534, 1.0128, 6.0737, -0.0534, 1.0128, -6.0737, -0.0534, -1.0128, 6.0737, 0.1348, -1.0128, -6.0737, 0.1348, -1.0128, -6.0737, -0.0534, -1.0128, 6.0737, -0.0534, -1.0128, 6.0737, 0.1348, -1.0128, 6.0737, -0.0534, -1.0128, 6.0737, 0.1348, 1.0128, 6.0737, 0.1348, -1.0128, 6.0737, -0.0534, -1.0128, 6.0737, -0.0534, 1.0128, 6.0737, 0.1348, 1.0128, -5.9011, -0.0092, 0.8469, -6.0066, 0.1706, -0.9483, -5.9011, -0.0092, -0.8469, -5.9011, -0.0092, 0.8469, -6.0066, 0.1706, 0.9483, -6.0066, 0.1706, -0.9483, -6.0066, 0.1706, 0.9483, -6.0737, 0.1348, -1.0128, -6.0066, 0.1706, -0.9483, -6.0066, 0.1706, 0.9483, -6.0737, 0.1348, 1.0128, -6.0737, 0.1348, -1.0128, -6.0066, 0.1706, -0.9483, 6.0737, 0.1348, -1.0128, 6.0066, 0.1706, -0.9483, -6.0066, 0.1706, -0.9483, -6.0737, 0.1348, -1.0128, 6.0737, 0.1348, -1.0128, 6.0066, 0.1706, -0.9483, 6.0737, 0.1348, 1.0128, 6.0066, 0.1706, 0.9483, 6.0066, 0.1706, -0.9483, 6.0737, 0.1348, -1.0128, 6.0737, 0.1348, 1.0128, 6.0066, 0.1706, 0.9483, -6.0737, 0.1348, 1.0128, -6.0066, 0.1706, 0.9483, 6.0066, 0.1706, 0.9483, 6.0737, 0.1348, 1.0128, -6.0737, 0.1348, 1.0128, 6.0737, -0.0534, 1.0128, -6.0737, 0.1348, 1.0128, 6.0737, 0.1348, 1.0128, 6.0737, -0.0534, 1.0128, -6.0737, -0.0534, 1.0128, -6.0737, 0.1348, 1.0128)
+
+[sub_resource type="PrismMesh" id="PrismMesh_f41ct"]
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_cbhkg"]
+albedo_color = Color(0, 1, 0.0627451, 1)
+
+[sub_resource type="BoxMesh" id="BoxMesh_0kec2"]
+size = Vector3(0.5, 1, 0.5)
+
+[node name="GameScene" type="Node3D"]
+
+[node name="Car" parent="." node_paths=PackedStringArray("parking_manager", "goal_marker") instance=ExtResource("1_5vpyy")]
+transform = Transform3D(-1, 0, -8.74228e-08, 0, 1, 0, 8.74228e-08, 0, -1, 7.22273, 0.919515, 7.72317)
+collision_mask = 513
+contact_monitor = true
+parking_manager = NodePath("../Parking")
+goal_marker = NodePath("../GoalMarker")
+braking_material = SubResource("StandardMaterial3D_u0d82")
+reversing_material = SubResource("StandardMaterial3D_nr3lu")
+
+[node name="Static" type="Node3D" parent="."]
+
+[node name="Ground" type="StaticBody3D" parent="Static"]
+collision_layer = 512
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="Static/Ground"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -2.5, 0)
+shape = SubResource("BoxShape3D_nxaf6")
+
+[node name="GreenSpace" type="Area3D" parent="Static"]
+collision_mask = 3
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="Static/GreenSpace"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.32474, 0)
+shape = SubResource("BoxShape3D_evajx")
+
+[node name="Walls" type="Area3D" parent="Static"]
+collision_mask = 3
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="Static/Walls"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 10.75, 0, 0)
+shape = SubResource("BoxShape3D_75vn3")
+
+[node name="CollisionShape3D4" type="CollisionShape3D" parent="Static/Walls"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -10.75, 0, 0)
+shape = SubResource("BoxShape3D_75vn3")
+
+[node name="CollisionShape3D2" type="CollisionShape3D" parent="Static/Walls"]
+transform = Transform3D(-4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, 0, 0, 10.75)
+shape = SubResource("BoxShape3D_75vn3")
+
+[node name="CollisionShape3D3" type="CollisionShape3D" parent="Static/Walls"]
+transform = Transform3D(-4.37114e-08, 0, 1, 0, 1, 0, -1, 0, -4.37114e-08, 0, 0, -10.75)
+shape = SubResource("BoxShape3D_75vn3")
+
+[node name="Parking" parent="." instance=ExtResource("5_x8abj")]
+script = ExtResource("3_x8b77")
+parked_car_transform_randomness = 0.35
+
+[node name="StaticBody3D" type="StaticBody3D" parent="Parking/GreenSpace" index="2"]
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="Parking/GreenSpace/StaticBody3D"]
+shape = SubResource("ConcavePolygonShape3D_65cdh")
+
+[node name="ParkingSpots" parent="Parking" index="4"]
+script = ExtResource("3_0vbrg")
+
+[node name="Cart" parent="Parking/ParkingSpots/ParkingSpot" index="0" instance=ExtResource("4_tyjtq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.704576, -0.203074)
+
+[node name="Cart2" parent="Parking/ParkingSpots/ParkingSpot_001" index="0" instance=ExtResource("4_tyjtq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, -0.203)
+
+[node name="Cart3" parent="Parking/ParkingSpots/ParkingSpot_002" index="0" instance=ExtResource("4_tyjtq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, -0.203)
+
+[node name="Cart4" parent="Parking/ParkingSpots/ParkingSpot_003" index="0" instance=ExtResource("4_tyjtq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, -0.203)
+
+[node name="Cart5" parent="Parking/ParkingSpots/ParkingSpot_004" index="0" instance=ExtResource("4_tyjtq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, -0.203)
+
+[node name="Cart6" parent="Parking/ParkingSpots/ParkingSpot_005" index="0" instance=ExtResource("4_tyjtq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, 0.203)
+
+[node name="Cart7" parent="Parking/ParkingSpots/ParkingSpot_006" index="0" instance=ExtResource("4_tyjtq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, 0.203)
+
+[node name="Cart8" parent="Parking/ParkingSpots/ParkingSpot_007" index="0" instance=ExtResource("4_tyjtq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, 0.203)
+
+[node name="Cart9" parent="Parking/ParkingSpots/ParkingSpot_008" index="0" instance=ExtResource("4_tyjtq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, 0.203)
+
+[node name="Cart10" parent="Parking/ParkingSpots/ParkingSpot_009" index="0" instance=ExtResource("4_tyjtq")]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.705, 0.203)
+
+[node name="GoalMarker" type="MeshInstance3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, -1, 8.74228e-08, 0, -8.74228e-08, -1, 0, 2.17536, 0)
+mesh = SubResource("PrismMesh_f41ct")
+surface_material_override/0 = SubResource("StandardMaterial3D_cbhkg")
+
+[node name="MeshInstance3D" type="MeshInstance3D" parent="GoalMarker"]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -1, 0)
+mesh = SubResource("BoxMesh_0kec2")
+surface_material_override/0 = SubResource("StandardMaterial3D_cbhkg")
+
+[connection signal="body_entered" from="Static/GreenSpace" to="Car" method="_on_green_space_body_entered"]
+[connection signal="body_entered" from="Static/Walls" to="Car" method="_on_walls_body_entered"]
+
+[editable path="Parking"]

scenes/game_scene/ParkingManager.gd

@@ -0,0 +1,37 @@
+extends Node3D
+class_name ParkingManager
+
+@export var disable_random_amount_of_cars_each_episode := true
+@export var disable_parked_cars_count := 1
+@export var parked_car_transform_randomness := 0.2
+
+@onready var _parking_spot_manager: ParkingSpotManager = $ParkingSpots
+
+func _ready():
+	_parking_spot_manager.parked_car_transform_randomness = parked_car_transform_randomness
+
+func disable_random_cars():
+	_parking_spot_manager.disable_random_cars(
+		disable_parked_cars_count if not disable_random_amount_of_cars_each_episode 
+		else randi_range(1, _parking_spot_manager.total_cars)
+	)
+	
+func get_parking_spots() -> Array[Node3D]:
+	return _parking_spot_manager.parking_spots
+
+func get_closest_free_parking_spot_transform(from_global_position: Vector3):
+	var closest_distance: float = INF
+	var closest_transform: Transform3D
+	
+	for parking_spot in _parking_spot_manager.parking_spots:
+		if not parking_spot.visible:		
+			var distance: float = from_global_position.distance_to(parking_spot.global_position) 
+			if distance < closest_distance:			
+				closest_distance = distance
+				closest_transform = parking_spot.global_transform
+	
+	assert(closest_distance != INF, "Closest distance is INF")
+	return closest_transform
+
+func get_random_free_parking_spot_transform():
+	return _parking_spot_manager.get_random_free_parking_spot_transform()

scenes/game_scene/ParkingSpotManager.gd

@@ -0,0 +1,48 @@
+extends Node3D
+class_name ParkingSpotManager
+
+var total_cars: int
+var parking_spots: Array[Node3D]
+var free_parking_spots: Array[Node3D]
+var parked_car_transform_randomness
+
+func _ready():
+	total_cars = get_child_count()
+	parking_spots.append_array(get_children())
+	
+func disable_random_cars(number_of_cars_to_disable: int):
+	assert(number_of_cars_to_disable <= total_cars,
+	"Can't disable more than the total number of parking_spots.")
+	var disabled_cars: int = 0
+	free_parking_spots.clear()
+
+	parking_spots.shuffle()
+	
+	for parking_spot in parking_spots:
+		if disabled_cars < number_of_cars_to_disable:
+			parking_spot.process_mode = Node.PROCESS_MODE_DISABLED
+			parking_spot.hide()
+			free_parking_spots.append(parking_spot)
+		else:
+			parking_spot.process_mode = Node.PROCESS_MODE_INHERIT
+			parking_spot.show()
+			
+			var car: Node3D = parking_spot.get_child(0)
+			randomize_car_transform(car, parking_spot)
+			randomize_car_color(car)
+		disabled_cars += 1
+
+func randomize_car_color(car: Node3D):
+	car.randomize_color()
+	
+func randomize_car_transform(car: Node3D, parking_space: Node3D):
+	var randomness = parked_car_transform_randomness
+	var rotation_randomness = randomness * 0.35
+	var parking_space_position = parking_space.global_position
+	
+	car.global_position.x = parking_space_position.x + randf_range(-randomness, randomness)
+	car.global_position.z = parking_space_position.z + randf_range(-randomness, randomness)
+	car.global_rotation.y = parking_space.global_rotation.y + randf_range(-rotation_randomness, rotation_randomness)
+
+func get_random_free_parking_spot_transform():
+	return free_parking_spots.pick_random().global_transform

scenes/sync_override.gd

@@ -0,0 +1,6 @@
+extends "res://addons/godot_rl_agents/sync.gd"
+
+# Lowers the physics ticks per second
+func _initialize():
+	super._initialize()
+	Engine.physics_ticks_per_second = _get_speedup() * 30