[gd_scene load_steps=8 format=3 uid="uid://btjelqxpc6evr"]

[ext_resource type="Script" path="res://Player.gd" id="1"]
[ext_resource type="Script" path="res://addons/godot_rl_agents/sensors/sensors_3d/RaycastSensor3D.gd" id="3"]
[ext_resource type="PackedScene" uid="uid://dmvrtwu4ml51r" path="res://robot2.tscn" id="3_pt6ta"]

[sub_resource type="CapsuleShape3D" id="CapsuleShape3D_k5nui"]

[sub_resource type="CapsuleMesh" id="2"]

[sub_resource type="Sky" id="4"]

[sub_resource type="Environment" id="5"]
background_mode = 2
sky = SubResource("4")
sky_custom_fov = 1.1
ambient_light_color = Color(1, 1, 1, 1)
ambient_light_sky_contribution = 0.83
ambient_light_energy = 0.79
tonemap_mode = 3
glow_intensity = 0.65

[node name="Player" type="CharacterBody3D" groups=["AGENT"]]
transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 0)
script = ExtResource("1")

[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
shape = SubResource("CapsuleShape3D_k5nui")

[node name="MeshInstance3D" type="MeshInstance3D" parent="."]
transform = Transform3D(1, 0, 0, 0, -4.37114e-08, 1, 0, -1, -4.37114e-08, 0, 0, 0)
visible = false
mesh = SubResource("2")

[node name="Camera3D" type="Camera3D" parent="."]
transform = Transform3D(1, -1.54268e-08, 5.75736e-08, -1.54268e-08, 0.866025, 0.5, -5.75736e-08, -0.5, 0.866025, 0, 10, 13)
environment = SubResource("5")
far = 50.0

[node name="RayCastSensor3D" type="Node3D" parent="."]
transform = Transform3D(-1, 0, -8.74228e-08, 7.57103e-08, 0.5, -0.866025, 4.37114e-08, -0.866025, -0.5, 0, 3, 0)
script = ExtResource("3")
n_rays_width = 12.0
n_rays_height = 12.0
ray_length = 15.0

[node name="@node_0 0@29044" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-6.14364, -6.92623, 11.8018)

[node name="node_0 1" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-6.399, -5.74025, 12.2924)

[node name="node_0 2" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-6.60566, -4.51059, 12.6894)

[node name="node_0 3" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-6.76205, -3.24659, 12.9898)

[node name="node_0 4" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-6.86697, -1.95789, 13.1913)

[node name="node_0 5" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-6.91964, -0.654291, 13.2925)

[node name="node_0 6" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-6.91964, 0.654291, 13.2925)

[node name="node_0 7" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-6.86697, 1.95789, 13.1913)

[node name="node_0 8" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-6.76205, 3.24659, 12.9898)

[node name="node_0 9" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-6.60566, 4.51059, 12.6894)

[node name="node_0 10" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-6.399, 5.74025, 12.2924)

[node name="node_0 11" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-6.14364, 6.92623, 11.8018)

[node name="node_1 0" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-5.09167, -6.92623, 12.2924)

[node name="node_1 1" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-5.3033, -5.74025, 12.8033)

[node name="node_1 2" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-5.47458, -4.51059, 13.2168)

[node name="node_1 3" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-5.60418, -3.24659, 13.5297)

[node name="node_1 4" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-5.69114, -1.95789, 13.7396)

[node name="node_1 5" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-5.73479, -0.654291, 13.845)

[node name="node_1 6" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-5.73479, 0.654291, 13.845)

[node name="node_1 7" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-5.69114, 1.95789, 13.7396)

[node name="node_1 8" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-5.60418, 3.24659, 13.5297)

[node name="node_1 9" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-5.47458, 4.51059, 13.2168)

[node name="node_1 10" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-5.3033, 5.74025, 12.8033)

[node name="node_1 11" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-5.09167, 6.92623, 12.2924)

[node name="node_2 0" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-4.00094, -6.92623, 12.6894)

[node name="node_2 1" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-4.16724, -5.74025, 13.2168)

[node name="node_2 2" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-4.30182, -4.51059, 13.6436)

[node name="node_2 3" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-4.40367, -3.24659, 13.9667)

[node name="node_2 4" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-4.472, -1.95789, 14.1834)

[node name="node_2 5" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-4.50629, -0.654291, 14.2921)

[node name="node_2 6" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-4.50629, 0.654291, 14.2921)

[node name="node_2 7" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-4.472, 1.95789, 14.1834)

[node name="node_2 8" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-4.40367, 3.24659, 13.9667)

[node name="node_2 9" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-4.30182, 4.51059, 13.6436)

[node name="node_2 10" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-4.16724, 5.74025, 13.2168)

[node name="node_2 11" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-4.00094, 6.92623, 12.6894)

[node name="node_3 0" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-2.87976, -6.92623, 12.9898)

[node name="node_3 1" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-2.99946, -5.74025, 13.5297)

[node name="node_3 2" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-3.09633, -4.51059, 13.9667)

[node name="node_3 3" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-3.16964, -3.24659, 14.2973)

[node name="node_3 4" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-3.21882, -1.95789, 14.5192)

[node name="node_3 5" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-3.2435, -0.654291, 14.6305)

[node name="node_3 6" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-3.2435, 0.654291, 14.6305)

[node name="node_3 7" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-3.21882, 1.95789, 14.5192)

[node name="node_3 8" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-3.16964, 3.24659, 14.2973)

[node name="node_3 9" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-3.09633, 4.51059, 13.9667)

[node name="node_3 10" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-2.99946, 5.74025, 13.5297)

[node name="node_3 11" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-2.87976, 6.92623, 12.9898)

[node name="node_4 0" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-1.73667, -6.92623, 13.1913)

[node name="node_4 1" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-1.80886, -5.74025, 13.7396)

[node name="node_4 2" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-1.86728, -4.51059, 14.1834)

[node name="node_4 3" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-1.91148, -3.24659, 14.5192)

[node name="node_4 4" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-1.94114, -1.95789, 14.7444)

[node name="node_4 5" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-1.95603, -0.654291, 14.8575)

[node name="node_4 6" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-1.95603, 0.654291, 14.8575)

[node name="node_4 7" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-1.94114, 1.95789, 14.7444)

[node name="node_4 8" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-1.91148, 3.24659, 14.5192)

[node name="node_4 9" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-1.86728, 4.51059, 14.1834)

[node name="node_4 10" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-1.80886, 5.74025, 13.7396)

[node name="node_4 11" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-1.73667, 6.92623, 13.1913)

[node name="node_5 0" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-0.580363, -6.92623, 13.2925)

[node name="node_5 1" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-0.604486, -5.74025, 13.845)

[node name="node_5 2" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-0.624008, -4.51059, 14.2921)

[node name="node_5 3" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-0.638781, -3.24659, 14.6305)

[node name="node_5 4" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-0.648693, -1.95789, 14.8575)

[node name="node_5 5" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-0.653668, -0.654291, 14.9715)

[node name="node_5 6" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-0.653668, 0.654291, 14.9715)

[node name="node_5 7" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-0.648693, 1.95789, 14.8575)

[node name="node_5 8" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-0.638781, 3.24659, 14.6305)

[node name="node_5 9" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-0.624008, 4.51059, 14.2921)

[node name="node_5 10" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-0.604486, 5.74025, 13.845)

[node name="node_5 11" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(-0.580363, 6.92623, 13.2925)

[node name="node_6 0" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(0.580363, -6.92623, 13.2925)

[node name="node_6 1" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(0.604486, -5.74025, 13.845)

[node name="node_6 2" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(0.624008, -4.51059, 14.2921)

[node name="node_6 3" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(0.638781, -3.24659, 14.6305)

[node name="node_6 4" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(0.648693, -1.95789, 14.8575)

[node name="node_6 5" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(0.653668, -0.654291, 14.9715)

[node name="node_6 6" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(0.653668, 0.654291, 14.9715)

[node name="node_6 7" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(0.648693, 1.95789, 14.8575)

[node name="node_6 8" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(0.638781, 3.24659, 14.6305)

[node name="node_6 9" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(0.624008, 4.51059, 14.2921)

[node name="node_6 10" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(0.604486, 5.74025, 13.845)

[node name="node_6 11" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(0.580363, 6.92623, 13.2925)

[node name="node_7 0" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(1.73667, -6.92623, 13.1913)

[node name="node_7 1" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(1.80886, -5.74025, 13.7396)

[node name="node_7 2" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(1.86728, -4.51059, 14.1834)

[node name="node_7 3" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(1.91148, -3.24659, 14.5192)

[node name="node_7 4" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(1.94114, -1.95789, 14.7444)

[node name="node_7 5" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(1.95603, -0.654291, 14.8575)

[node name="node_7 6" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(1.95603, 0.654291, 14.8575)

[node name="node_7 7" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(1.94114, 1.95789, 14.7444)

[node name="node_7 8" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(1.91148, 3.24659, 14.5192)

[node name="node_7 9" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(1.86728, 4.51059, 14.1834)

[node name="node_7 10" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(1.80886, 5.74025, 13.7396)

[node name="node_7 11" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(1.73667, 6.92623, 13.1913)

[node name="node_8 0" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(2.87976, -6.92623, 12.9898)

[node name="node_8 1" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(2.99946, -5.74025, 13.5297)

[node name="node_8 2" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(3.09633, -4.51059, 13.9667)

[node name="node_8 3" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(3.16964, -3.24659, 14.2973)

[node name="node_8 4" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(3.21882, -1.95789, 14.5192)

[node name="node_8 5" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(3.2435, -0.654291, 14.6305)

[node name="node_8 6" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(3.2435, 0.654291, 14.6305)

[node name="node_8 7" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(3.21882, 1.95789, 14.5192)

[node name="node_8 8" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(3.16964, 3.24659, 14.2973)

[node name="node_8 9" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(3.09633, 4.51059, 13.9667)

[node name="node_8 10" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(2.99946, 5.74025, 13.5297)

[node name="node_8 11" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(2.87976, 6.92623, 12.9898)

[node name="node_9 0" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(4.00094, -6.92623, 12.6894)

[node name="node_9 1" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(4.16724, -5.74025, 13.2168)

[node name="node_9 2" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(4.30182, -4.51059, 13.6436)

[node name="node_9 3" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(4.40367, -3.24659, 13.9667)

[node name="node_9 4" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(4.472, -1.95789, 14.1834)

[node name="node_9 5" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(4.50629, -0.654291, 14.2921)

[node name="node_9 6" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(4.50629, 0.654291, 14.2921)

[node name="node_9 7" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(4.472, 1.95789, 14.1834)

[node name="node_9 8" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(4.40367, 3.24659, 13.9667)

[node name="node_9 9" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(4.30182, 4.51059, 13.6436)

[node name="node_9 10" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(4.16724, 5.74025, 13.2168)

[node name="node_9 11" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(4.00094, 6.92623, 12.6894)

[node name="node_10 0" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(5.09167, -6.92623, 12.2924)

[node name="node_10 1" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(5.3033, -5.74025, 12.8033)

[node name="node_10 2" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(5.47458, -4.51059, 13.2168)

[node name="node_10 3" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(5.60418, -3.24659, 13.5297)

[node name="node_10 4" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(5.69114, -1.95789, 13.7396)

[node name="node_10 5" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(5.73479, -0.654291, 13.845)

[node name="node_10 6" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(5.73479, 0.654291, 13.845)

[node name="node_10 7" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(5.69114, 1.95789, 13.7396)

[node name="node_10 8" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(5.60418, 3.24659, 13.5297)

[node name="node_10 9" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(5.47458, 4.51059, 13.2168)

[node name="node_10 10" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(5.3033, 5.74025, 12.8033)

[node name="node_10 11" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(5.09167, 6.92623, 12.2924)

[node name="node_11 0" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(6.14364, -6.92623, 11.8018)

[node name="node_11 1" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(6.399, -5.74025, 12.2924)

[node name="node_11 2" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(6.60566, -4.51059, 12.6894)

[node name="node_11 3" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(6.76205, -3.24659, 12.9898)

[node name="node_11 4" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(6.86697, -1.95789, 13.1913)

[node name="node_11 5" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(6.91964, -0.654291, 13.2925)

[node name="node_11 6" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(6.91964, 0.654291, 13.2925)

[node name="node_11 7" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(6.86697, 1.95789, 13.1913)

[node name="node_11 8" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(6.76205, 3.24659, 12.9898)

[node name="node_11 9" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(6.60566, 4.51059, 12.6894)

[node name="node_11 10" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(6.399, 5.74025, 12.2924)

[node name="node_11 11" type="RayCast3D" parent="RayCastSensor3D"]
target_position = Vector3(6.14364, 6.92623, 11.8018)

[node name="Robot" parent="." instance=ExtResource("3_pt6ta")]
transform = Transform3D(-1.5, 0, -2.26494e-07, 0, 1.5, 0, 2.26494e-07, 0, -1.5, 0, -0.951698, 0)