diff --git a/examples/under_the_hood/godot_example.py b/examples/under_the_hood/godot_example.py
index 84a37b30..2e3bba90 100644
--- a/examples/under_the_hood/godot_example.py
+++ b/examples/under_the_hood/godot_example.py
@@ -139,11 +139,12 @@ def make_scene(build_exe):
     # act!
     for i in range(100):
         action = [env.action_space.sample()]
+        print(f"action: {action}")
         obs, reward, done, info = env.step(action=action)
-        axim1.set_data(obs["CameraSensor"].reshape(3, camera_height, camera_width).transpose(1, 2, 0))
-        fig1.canvas.flush_events()
-        axim2.set_data(obs["SecurityCamera"].reshape(3, 256, 256).transpose(1, 2, 0))
-        fig2.canvas.flush_events()
+        # axim1.set_data(obs["CameraSensor"].reshape(3, camera_height, camera_width).transpose(1, 2, 0))
+        # fig1.canvas.flush_events()
+        # axim2.set_data(obs["SecurityCamera"].reshape(3, 256, 256).transpose(1, 2, 0))
+        # fig2.canvas.flush_events()
 
         plt.pause(0.1)
 
diff --git a/integrations/Godot/README.md b/integrations/Godot/README.md
index c518340a..7c8920f1 100644
--- a/integrations/Godot/README.md
+++ b/integrations/Godot/README.md
@@ -25,3 +25,20 @@ scene.render()
 - Run the python script. It should print "Waiting for connection...", meaning that it has spawned a websocket server, and is waiting for a connection from the Godot client.
 - Press Play (F5) in Godot. It should connect to the Python client, then display a basic Sphere. The python script should finish execution.
 
+### Add glTF extensions
+
+The integration uses the `GLTFDocument` API to load and save glTF files. You can find the main glTF loading logic in the `simulate_godot/Simulate/Commands/initialize.gd` script.
+To register new extensions, we use the `GLTFDocumentExtension` API. Currently, we register the `HFExtension` class to load every extension.
+
+For every node found with the label `extensions`, the `_import_node` method from the registered `HFExtension` class will be called with a few arguments:
+- `state`: the current `GLTFState` object which contains basically all the data and nodes.
+- `gltf_node`: -- not sure what this one is for --
+- `json`: json object containing all the default attributes of the node (name, id, translation, rotation, etc.)
+- `node`: a temporary node in the tree that we can replace with a more adapted class. 
+
+All extensions are mapped in the `_import_node` method. To add a new extension, you need to add a mapping following the same pattern as you can find in the file.
+You can then create a new script extending a Node type that makes the most sense for the glTF extension, then import all the fields of the extensions as attributes of this node.
+To see how you can access the custom attributes through `GLTFState` object, you can check how the other extension nodes are written. 
+
+Now, when the glTF parser will find a node with the extension you defined, it'll create a node of the types you defined and fill its attributes with all the values you mapped and that are found in the glTF file.
+Once all this data is imported in the scene, you can use it in any way you want. 
\ No newline at end of file
diff --git a/integrations/Godot/simulate_godot/Scenes/scene.tscn b/integrations/Godot/simulate_godot/Scenes/scene.tscn
index 7fcae24e..f1d1597c 100644
--- a/integrations/Godot/simulate_godot/Scenes/scene.tscn
+++ b/integrations/Godot/simulate_godot/Scenes/scene.tscn
@@ -6,6 +6,6 @@
 
 [node name="BaseWorld" type="Node3D" parent="."]
 
-[node name="Camera" type="Camera3D" parent="BaseWorld"]
-transform = Transform3D(0.707107, -0.5, 0.5, 0, 0.707107, 0.707107, -0.707107, -0.5, 0.5, 8, 8, 8)
+[node name="Camera3D" type="Camera3D" parent="BaseWorld"]
+transform = Transform3D(0.651331, 0, -0.758794, 0, 1, 0, 0.758794, 0, 0.651331, -5.6946, 6.34299, 6.48804)
 script = ExtResource("2_cqhjv")
diff --git a/integrations/Godot/simulate_godot/Simulate/Bridge/client.gd b/integrations/Godot/simulate_godot/Simulate/Bridge/client.gd
index f82c7c8e..b3d579eb 100644
--- a/integrations/Godot/simulate_godot/Simulate/Bridge/client.gd
+++ b/integrations/Godot/simulate_godot/Simulate/Bridge/client.gd
@@ -18,15 +18,17 @@ var _warmed_up: bool = false
 func _ready() -> void:
 	_status = _stream.get_status()
 
+
 func _physics_process(_delta) -> void:
 	# this is called at a fixed rate
 	update_status()
-	print("------------physic step--------------")
+#	print("------------physic step--------------")
 
 	if _status == _stream.STATUS_CONNECTED:
 		get_tree().paused = true
 		read()
 
+
 func update_status() -> void:
 	# Get the current stream status
 	_stream.poll()
@@ -46,6 +48,7 @@ func update_status() -> void:
 				print("Error with socket stream.")
 				emit_signal("error")
 
+
 func read() -> void:
 	# Get data from TCP stream, only reads 1 command at a time
 	while true:
@@ -77,6 +80,7 @@ func read() -> void:
 				get_tree().paused = false
 				break
 
+
 func connect_to_host(host: String, port: int) -> void:
 	# Connect to the TCP server that was setup on the python-side API
 	print("Connecting to %s:%d" % [host, port])
@@ -89,18 +93,16 @@ func connect_to_host(host: String, port: int) -> void:
 		_stream.disconnect_from_host()
 		emit_signal("error")
 
+
 func send(out_data: PackedByteArray) -> bool:
 	# Send back data to the python-side code, usually for callbacks and obs
 	if _status != _stream.STATUS_CONNECTED:
 		print("Error: Stream is not currently connected.")
 		return false
 	
-	var stream_error: int = _stream.put_data(PackedByteArray([len(out_data)]))
-	if stream_error != OK:
-		print("Error writing to stream: ", error)
-		return false
+	_stream.put_32(len(out_data))
 	
-	stream_error = _stream.put_data(out_data)
+	var stream_error = _stream.put_data(out_data)
 	if stream_error != OK:
 		print("Error writing to stream: ", error)
 		return false
diff --git a/integrations/Godot/simulate_godot/Simulate/Bridge/command.gd b/integrations/Godot/simulate_godot/Simulate/Bridge/command.gd
index fe3be828..a1bcf964 100644
--- a/integrations/Godot/simulate_godot/Simulate/Bridge/command.gd
+++ b/integrations/Godot/simulate_godot/Simulate/Bridge/command.gd
@@ -2,20 +2,16 @@ class_name Command
 extends Node
 
 
-signal callback
-
 var content : Variant
 var _commands : Dictionary
 
 
 func load_commands() -> void:
-	
 	var com_path : String = "res://Simulate/Commands"
 	var directory = DirAccess.open(com_path)
 	
 	if directory:
 		directory.list_dir_begin()
-		
 		while true:
 			var file = directory.get_next()
 			if file == "":
@@ -23,18 +19,12 @@ func load_commands() -> void:
 			var command_name = file.split(".")[0]
 			var command_script = load(com_path + "/" + file)
 			_commands[command_name] = command_script.new()
-			_commands[command_name].connect("callback", _handle_callback)
-			add_child(_commands[command_name])
-		
 		directory.list_dir_end()
 
+
 func execute(type: String) -> void:
 	if type in _commands:
 		_commands[type].execute(content)
 	else:
 		print("Unknown command.")
-		emit_signal("callback", PackedByteArray([97, 99, 107]))
-		
-		
-func _handle_callback(callback_data: PackedByteArray) -> void:
-	emit_signal("callback", callback_data)
+		Simulator.send_callback("{}")
diff --git a/integrations/Godot/simulate_godot/Simulate/Commands/close.gd b/integrations/Godot/simulate_godot/Simulate/Commands/close.gd
index ec5a3142..b95fa524 100644
--- a/integrations/Godot/simulate_godot/Simulate/Commands/close.gd
+++ b/integrations/Godot/simulate_godot/Simulate/Commands/close.gd
@@ -2,11 +2,7 @@ extends Node
 # Close the simulation
 
 
-signal callback
-
-
 func execute(_content: Variant) -> void:
-	get_tree().paused = false
-	get_tree().quit()
-	print("Close called!")
-	emit_signal("callback", PackedByteArray([97, 99, 107]))
+	Simulator.get_tree().paused = false
+#	Simulator.get_tree().quit()
+	Simulator.send_callback("{}")
diff --git a/integrations/Godot/simulate_godot/Simulate/Commands/initialize.gd b/integrations/Godot/simulate_godot/Simulate/Commands/initialize.gd
index 1acda15c..d87d93e2 100644
--- a/integrations/Godot/simulate_godot/Simulate/Commands/initialize.gd
+++ b/integrations/Godot/simulate_godot/Simulate/Commands/initialize.gd
@@ -2,9 +2,6 @@ extends Node
 # Build the scene and sets global simulation metadata
 
 
-signal callback
-
-
 func execute(content: Variant) -> void:
 	var content_bytes : PackedByteArray = Marshalls.base64_to_raw(content["b64bytes"])
 	
@@ -12,9 +9,12 @@ func execute(content: Variant) -> void:
 	var gltf_doc : GLTFDocument = GLTFDocument.new()
 	
 	gltf_doc.register_gltf_document_extension(HFExtensions.new(), false)
-
+	
 	gltf_doc.append_from_buffer(content_bytes, "", gltf_state)
 	var gltf_scene = gltf_doc.generate_scene(gltf_state)
-	get_tree().current_scene.add_child(gltf_scene)
+	gltf_scene.name = "Scene"
 	
-	emit_signal("callback", PackedByteArray([97, 99, 107]))
+	Config.parse(gltf_state.json["extensions"].get("HF_config", {}))
+	Simulator.add_child(gltf_scene)
+	Simulator.load_nodes()
+	Simulator.send_callback("{}")
diff --git a/integrations/Godot/simulate_godot/Simulate/Commands/reset.gd b/integrations/Godot/simulate_godot/Simulate/Commands/reset.gd
index 977ac6c9..d6766228 100644
--- a/integrations/Godot/simulate_godot/Simulate/Commands/reset.gd
+++ b/integrations/Godot/simulate_godot/Simulate/Commands/reset.gd
@@ -2,9 +2,6 @@ extends Node
 # Reset the simulation
 
 
-signal callback
-
-
-func execute(_content:Variant) -> void:
-	get_tree().paused = false
-	emit_signal("callback", PackedByteArray([97, 99, 107]))
+func execute(_content: Variant) -> void:
+	Simulator.get_tree().paused = false
+	Simulator.send_callback("{}")
diff --git a/integrations/Godot/simulate_godot/Simulate/Commands/step.gd b/integrations/Godot/simulate_godot/Simulate/Commands/step.gd
index 3559d2a2..4c7c0436 100644
--- a/integrations/Godot/simulate_godot/Simulate/Commands/step.gd
+++ b/integrations/Godot/simulate_godot/Simulate/Commands/step.gd
@@ -2,9 +2,35 @@ extends Node
 # Step through the simulation (also steps the physics!)
 
 
-signal callback
+var frame_skip: int
+var time_step: float
+var return_frames: bool
+var return_nodes: bool
 
 
-func execute(_content: Variant) -> void:
-	get_tree().paused = false
-	emit_signal("callback", PackedByteArray([97, 99, 107]))
+func execute(content: Variant) -> void:
+	if content.get("frame_skip", 1):
+		Simulator.get_tree().paused = false
+	if content.has("action"):
+		for actor in Simulator.actors:
+			actor.step(content.get("action"))
+	var event_data = {
+		"actor_sensor_buffers": {
+			"raycast_sensor": {
+				"type": "float",
+				"shape": [1, 1, 4],
+				"floatBuffer": [0.0, 0.0, 0.0, 0.0]
+			}
+		},
+		"actor_reward_buffer": {
+			"type": "float",
+			"shape": 1,
+			"floatBuffer": [0.0]
+		},
+		"actor_done_buffer": {
+			"type": "uint8",
+			"shape": 1,
+			"uintBuffer": [0]
+		}
+	}
+	Simulator.send_callback(str(event_data))
diff --git a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_actuator.gd b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_actuator.gd
index 86049867..411b096d 100644
--- a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_actuator.gd
+++ b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_actuator.gd
@@ -1,5 +1,5 @@
-extends Node3D
 class_name HFActuator
+extends Node3D
 
 
 var action_mapping: ActionMapping
@@ -8,18 +8,18 @@ var n: int
 var dtype: String
 var low: Array
 var high: Array
-var shape: Array
+var shape: Array 
 var actuator_tag: String
+var is_actor: bool
 
 
 func import(state: GLTFState, json: Dictionary, extensions: Dictionary):
-	print("Importing an actuator.")
 	var actuator: Dictionary = state.json["extensions"]["HF_actuators"]["objects"][extensions["HF_actuators"]["object_id"]]
 	action_space = ActionSpace.new()
 	name = extensions["HF_actuators"]["name"]
-	var mesh = MeshInstance3D.new()
-	mesh.mesh = state.meshes[json["mesh"]].mesh.get_mesh()
-	add_child(mesh)
+	
+	if json.has("extras"):
+		is_actor = json["extras"].get("is_actor", false)
 	
 	position = Vector3(
 		json["translation"][0], 
@@ -88,12 +88,12 @@ func import(state: GLTFState, json: Dictionary, extensions: Dictionary):
 
 class ActionMapping:
 	var action: String
-	var amplitude: float
-	var offset: float
+	var amplitude: float = 1.0
+	var offset: float = 0.0
 	var axis: Vector3
 	var position: Vector3
-	var use_local_coordinates: bool
-	var is_impulse: bool
+	var use_local_coordinates: bool = true
+	var is_impulse: bool = false
 	var max_velocity_threshold: float
 
 
diff --git a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_articulation_body.gd b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_articulation_body.gd
index c83b697d..6fa29cb4 100644
--- a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_articulation_body.gd
+++ b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_articulation_body.gd
@@ -1,5 +1,5 @@
-extends Generic6DOFJoint3D
 class_name HFArticulationBody
+extends Generic6DOFJoint3D
 
 
 var joint_type: String = ""
@@ -20,10 +20,10 @@ var upper_limit: float = 0.0
 var lower_limit: float = 0.0
 var mass: float = 1.0
 var center_of_mass: Vector3 = Vector3.ZERO
+var actuator: HFActuator
 
 
 func import(state: GLTFState, json: Dictionary, extensions: Dictionary):
-	print("Importing an articulation body.")
 	var articulation_body: Dictionary = state.json["extensions"]["HF_articulation_bodies"]["objects"][extensions["HF_articulation_bodies"]["object_id"]]
 	name = extensions["HF_articulation_bodies"]["name"]
 	
diff --git a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_collider.gd b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_collider.gd
index f40a1fa7..ea7a5bca 100644
--- a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_collider.gd
+++ b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_collider.gd
@@ -1,5 +1,5 @@
-extends StaticBody3D
 class_name HFCollider
+extends StaticBody3D
 
 
 var type: GLTFEnums.ColliderType = GLTFEnums.ColliderType.box
@@ -8,10 +8,10 @@ var offset: Vector3 = Vector3.ZERO
 var intangible: bool = false
 var convex: bool = false
 var physic_material: HFPhysicMaterial
+var actuator: HFActuator
 
 
 func import(state: GLTFState, json: Dictionary, extensions: Dictionary):
-	print("Importing a collider.")
 	var collider: Dictionary = state.json["extensions"]["HF_colliders"]["objects"][extensions["HF_colliders"]["object_id"]]
 	name = extensions["HF_colliders"]["name"]
 	
diff --git a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_extensions.gd b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_extensions.gd
index e73940ca..8fa52f8c 100644
--- a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_extensions.gd
+++ b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_extensions.gd
@@ -1,5 +1,5 @@
-extends GLTFDocumentExtension
 class_name HFExtensions
+extends GLTFDocumentExtension
 
 
 func _import_node(state: GLTFState, _gltf_node: GLTFNode, json: Dictionary, node: Node):
@@ -7,33 +7,26 @@ func _import_node(state: GLTFState, _gltf_node: GLTFNode, json: Dictionary, node
 	if not json.has("extensions"):
 		return OK
 	
-	if extensions.has("HF_actuators"):
-		var actuator = HFActuator.new()
-		actuator.import(state, json, extensions)
-		node.replace_by(actuator)
+	var new_node
+	if extensions.has("HF_rigid_bodies"):
+		new_node = HFRigidBody.new()
 	if extensions.has("HF_articulation_bodies"):
-		var articulation_body = HFArticulationBody.new()
-		articulation_body.import(state, json, extensions)
-		node.replace_by(articulation_body)
+		new_node = HFArticulationBody.new()
 	if extensions.has("HF_colliders"):
-		var collider = HFCollider.new()
-		collider.import(state, json, extensions)
-		node.replace_by(collider)
+		new_node = HFCollider.new()
 	if extensions.has("HF_raycast_sensors"):
-		var raycast_sensor = HFRaycastSensor.new()
-		raycast_sensor.import(state, json, extensions)
-		node.replace_by(raycast_sensor)
+		new_node = HFRaycastSensor.new()
 	if extensions.has("HF_reward_functions"):
-		var reward_function = HFRewardFunction.new()
-		reward_function.import(state, json, extensions)
-		node.replace_by(reward_function)
-	if extensions.has("HF_rigid_bodies"):
-		var rigid_body = HFRigidBody.new()
-		rigid_body.import(state, json, extensions)
-		node.replace_by(rigid_body)
+		new_node = HFRewardFunction.new()
 	if extensions.has("HF_state_sensors"):
-		var state_sensor = HFStateSensor.new()
-		state_sensor.import(state, json, extensions)
-		node.replace_by(state_sensor)
+		new_node = HFStateSensor.new()
 	
+	if new_node:
+		new_node.import(state, json, extensions)
+		if extensions.has("HF_actuators") and "actuator" in new_node:
+			new_node.actuator = HFActuator.new()
+			new_node.actuator.import(state, json, extensions)
+		node.replace_by(new_node)
+	else:
+		print("Extension not implemented.")
 	return OK
diff --git a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_physic_material.gd b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_physic_material.gd
index c483a6ff..93470289 100644
--- a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_physic_material.gd
+++ b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_physic_material.gd
@@ -1,15 +1,15 @@
-extends PhysicsMaterial
 class_name HFPhysicMaterial
+extends PhysicsMaterial
 
 
 var material_name: String = ""
 var dynamic_friction: float = 0.6
 var friction_combine: GLTFEnums.PhysicMaterialCombine
 var bounce_combine: GLTFEnums.PhysicMaterialCombine
+var actuator: HFActuator
 
 
 func import(state: GLTFState, extensions: Dictionary, id: int):
-	print("Importing a physic material.")
 	var physic_material: Dictionary = state.json["extensions"]["HF_physic_materials"]["objects"][id]
 	material_name = extensions["HF_physic_materials"]["name"]
 	friction = 0.6
diff --git a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_raycast_sensor.gd b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_raycast_sensor.gd
index 8e7ceb8f..304fa857 100644
--- a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_raycast_sensor.gd
+++ b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_raycast_sensor.gd
@@ -1,5 +1,5 @@
-extends Node3D
 class_name HFRaycastSensor
+extends Node3D
 
 
 var n_horizontal_rays: int
@@ -11,7 +11,6 @@ var sensor_tag: String
 
 
 func import(state: GLTFState, json: Dictionary, extensions: Dictionary):
-	print("Importing a raycast sensor.")
 	var raycast_sensor: Dictionary = state.json["extensions"]["HF_raycast_sensors"]["objects"][extensions["HF_raycast_sensors"]["object_id"]]
 	name = extensions["HF_raycast_sensors"]["name"]
 	
diff --git a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_reward_function.gd b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_reward_function.gd
index b7c651fe..91cd3723 100644
--- a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_reward_function.gd
+++ b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_reward_function.gd
@@ -1,5 +1,5 @@
-extends Node3D
 class_name HFRewardFunction
+extends Node3D
 
 
 var type: String
@@ -12,10 +12,10 @@ var threshold: float
 var is_terminal: bool
 var is_collectable: bool
 var trigger_once: bool
+var actuator: HFActuator
 
 
 func import(state: GLTFState, json: Dictionary, extensions: Dictionary):
-	print("Importing a reward function.")
 	var reward_function: Dictionary = state.json["extensions"]["HF_reward_functions"]["objects"][extensions["HF_reward_functions"]["object_id"]]
 	name = extensions["HF_reward_functions"]["name"]
 	
diff --git a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_rigid_body.gd b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_rigid_body.gd
index 23827449..69f876c9 100644
--- a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_rigid_body.gd
+++ b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_rigid_body.gd
@@ -1,14 +1,19 @@
-extends RigidBody3D
 class_name HFRigidBody
+extends RigidBody3D
 
 
 var constraints: Array
+var actuator: HFActuator
 
 
 func import(state: GLTFState, json: Dictionary, extensions: Dictionary):
-	print("Importing a rigid body.")
 	var rigid_body: Dictionary = state.json["extensions"]["HF_rigid_bodies"]["objects"][extensions["HF_rigid_bodies"]["object_id"]]
-	name = extensions["HF_rigid_bodies"]["name"]
+	name = json["name"]
+
+	var mesh = MeshInstance3D.new()
+	mesh.mesh = state.meshes[json["mesh"]].mesh.get_mesh()
+	mesh.name = json["name"] + "_mesh"
+	add_child(mesh)
 	
 	position = Vector3(
 		json["translation"][0], 
diff --git a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_state_sensor.gd b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_state_sensor.gd
index 01f2629b..2d19ec0f 100644
--- a/integrations/Godot/simulate_godot/Simulate/GLTF/hf_state_sensor.gd
+++ b/integrations/Godot/simulate_godot/Simulate/GLTF/hf_state_sensor.gd
@@ -1,5 +1,5 @@
-extends Node3D
 class_name HFStateSensor
+extends Node3D
 
 
 var reference_entity: String
@@ -9,7 +9,6 @@ var sensor_tag: String
 
 
 func import(state: GLTFState, json: Dictionary, extensions: Dictionary):
-	print("Importing a state sensor.")
 	var state_sensor: Dictionary = state.json["extensions"]["HF_state_sensors"]["objects"][extensions["HF_state_sensors"]["object_id"]]
 	name = extensions["HF_state_sensors"]["name"]
 	
diff --git a/integrations/Godot/simulate_godot/Simulate/RLActors/Sensors/camera_sensor.gd b/integrations/Godot/simulate_godot/Simulate/RLActors/Sensors/camera_sensor.gd
new file mode 100644
index 00000000..0e9db831
--- /dev/null
+++ b/integrations/Godot/simulate_godot/Simulate/RLActors/Sensors/camera_sensor.gd
@@ -0,0 +1,11 @@
+extends Camera3D
+
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+	pass # Replace with function body.
+
+
+# Called every frame. 'delta' is the elapsed time since the previous frame.
+func _process(delta):
+	pass
diff --git a/integrations/Godot/simulate_godot/Simulate/RLActors/Sensors/raycast_sensor.gd b/integrations/Godot/simulate_godot/Simulate/RLActors/Sensors/raycast_sensor.gd
new file mode 100644
index 00000000..dbce4dbd
--- /dev/null
+++ b/integrations/Godot/simulate_godot/Simulate/RLActors/Sensors/raycast_sensor.gd
@@ -0,0 +1,9 @@
+extends Sensor
+
+
+func _ready():
+	pass # Replace with function body.
+
+
+func _process(delta):
+	pass
diff --git a/integrations/Godot/simulate_godot/Simulate/RLActors/Sensors/sensor.gd b/integrations/Godot/simulate_godot/Simulate/RLActors/Sensors/sensor.gd
new file mode 100644
index 00000000..dd7c60c0
--- /dev/null
+++ b/integrations/Godot/simulate_godot/Simulate/RLActors/Sensors/sensor.gd
@@ -0,0 +1,2 @@
+class_name Sensor
+extends Node3D
diff --git a/integrations/Godot/simulate_godot/Simulate/RLActors/Sensors/state_sensor.gd b/integrations/Godot/simulate_godot/Simulate/RLActors/Sensors/state_sensor.gd
new file mode 100644
index 00000000..d2497676
--- /dev/null
+++ b/integrations/Godot/simulate_godot/Simulate/RLActors/Sensors/state_sensor.gd
@@ -0,0 +1,11 @@
+extends Sensor
+
+
+# Called when the node enters the scene tree for the first time.
+func _ready():
+	pass # Replace with function body.
+
+
+# Called every frame. 'delta' is the elapsed time since the previous frame.
+func _process(delta):
+	pass
diff --git a/integrations/Godot/simulate_godot/Simulate/RLActors/actions.gd b/integrations/Godot/simulate_godot/Simulate/RLActors/actions.gd
new file mode 100644
index 00000000..89a858a0
--- /dev/null
+++ b/integrations/Godot/simulate_godot/Simulate/RLActors/actions.gd
@@ -0,0 +1,33 @@
+class_name Actions
+extends Node
+
+
+func execute_action(actor, action) -> void:
+	pass
+
+func add_force(actor, value, mapping) -> void:
+	pass
+
+func add_relative_force(actor, value, mapping) -> void:
+	pass
+
+func add_torque(actor, value, mapping) -> void:
+	pass
+
+func add_relative_torque(actor, value, mapping) -> void:
+	pass
+
+func add_force_at_position(actor, value, mapping) -> void:
+	pass
+
+func move_position(actor, value, mapping) -> void:
+	pass
+
+func move_relative_position(actor, value, mapping) -> void:
+	pass
+
+func move_rotation(actor, value, mapping) -> void:
+	pass
+
+func move_relative_rotation(actor, value, mapping) -> void:
+	pass
diff --git a/integrations/Godot/simulate_godot/Simulate/RLActors/actor.gd b/integrations/Godot/simulate_godot/Simulate/RLActors/actor.gd
new file mode 100644
index 00000000..287c419a
--- /dev/null
+++ b/integrations/Godot/simulate_godot/Simulate/RLActors/actor.gd
@@ -0,0 +1,81 @@
+class_name Actor
+extends Node3D
+
+
+var node: Node3D
+var sensors: Array
+var observations: Dictionary
+var actuators: Dictionary
+var reward_functions: Array
+var accum_reward: float
+var current_action: Dictionary
+
+
+func _init(actor_node: Node):
+	node = actor_node
+	initialize()
+
+
+func initialize() -> void:
+	for child in Simulator.get_all_children(node):
+		if child is HFActuator:
+			actuators[child.actuator_tag] = child
+		if child is Camera3D or child is HFStateSensor or child is HFRaycastSensor:
+			sensors.append(child)
+		if child is HFRewardFunction:
+			reward_functions.append(child)
+
+
+func step(action: Dictionary) -> void:
+	current_action = action
+	var action_value = current_action.get("actuator")
+
+
+func enable_sensors():
+	for sensor in sensors:
+		sensor.enable()
+
+
+func disable_sensors():
+	for sensor in sensors:
+		sensor.disable()
+
+
+func get_sensor_observations() -> Dictionary:
+	return {}
+
+
+func update_reward() -> void:
+	accum_reward += calculate_reward()
+
+
+func reset() -> void:
+	accum_reward = 0.0
+	for reward_function in reward_functions:
+		reward_function.reset()
+
+
+func calculate_reward() -> float:
+	var reward = 0.0
+	for reward_function in reward_functions:
+		reward += reward_function.calculate_reward()
+	return reward
+
+
+func get_reward() -> float:
+	return accum_reward
+
+
+func zero_reward() -> void:
+	accum_reward = 0.0
+
+
+func is_done() -> bool:
+	var done = false
+	return done
+
+
+class Data:
+	var done: bool
+	var reward: float
+	var frames: Dictionary
diff --git a/integrations/Godot/simulate_godot/Simulate/RLActors/map.gd b/integrations/Godot/simulate_godot/Simulate/RLActors/map.gd
new file mode 100644
index 00000000..5f1f40ae
--- /dev/null
+++ b/integrations/Godot/simulate_godot/Simulate/RLActors/map.gd
@@ -0,0 +1,20 @@
+class_name Map
+extends Node3D
+
+
+var bounds
+var active: bool
+var root: Node
+var actors: Dictionary
+
+
+func _init():
+	pass
+
+
+func init_map_sensors():
+	pass
+
+
+func reset():
+	pass
diff --git a/integrations/Godot/simulate_godot/Simulate/RLAgents/reward_function.gd b/integrations/Godot/simulate_godot/Simulate/RLActors/reward_function.gd
similarity index 91%
rename from integrations/Godot/simulate_godot/Simulate/RLAgents/reward_function.gd
rename to integrations/Godot/simulate_godot/Simulate/RLActors/reward_function.gd
index 5540abbf..de4faa22 100644
--- a/integrations/Godot/simulate_godot/Simulate/RLAgents/reward_function.gd
+++ b/integrations/Godot/simulate_godot/Simulate/RLActors/reward_function.gd
@@ -2,8 +2,8 @@ class_name RewardFunction
 extends Node
 
 
-var entity_a: SimulationNode
-var entity_b: SimulationNode
+var entity_a: Node3D
+var entity_b: Node3D
 var reward_scalar: float = 1.0
 var distance_metric: DistanceMetric
 
@@ -11,26 +11,27 @@ var distance_metric: DistanceMetric
 func reset() -> void:
 	pass
 
+
 func calculate_reward() -> float:
 	return 0.0
 
 
 class DistanceMetric:
-	func Calculate(e1: SimulationNode, e2: SimulationNode) -> float:
+	func Calculate(e1: Node3D, e2: Node3D) -> float:
 		return 0.0
 
 
 class EuclideanDistance:
 	extends DistanceMetric
 	
-	func Calculate(e1: SimulationNode, e2: SimulationNode) -> float:
+	func Calculate(e1: Node3D, e2: Node3D) -> float:
 		return e1.position.distance_to(e2.position)
 
 
 class CosineDistance:
 	extends DistanceMetric
 	
-	func Calculate(e1: SimulationNode, e2: SimulationNode) -> float:
+	func Calculate(e1: Node3D, e2: Node3D) -> float:
 		return e1.position.distance_to(e2.position)
 
 
diff --git a/integrations/Godot/simulate_godot/Simulate/RLAgents/agent.gd b/integrations/Godot/simulate_godot/Simulate/RLAgents/agent.gd
deleted file mode 100644
index 0a7bbc23..00000000
--- a/integrations/Godot/simulate_godot/Simulate/RLAgents/agent.gd
+++ /dev/null
@@ -1,59 +0,0 @@
-class_name Agent
-extends Node
-
-
-var node: SimulationNode
-var action_space
-var observations
-var reward_functions
-var accum_reward: float
-var current_action
-
-
-func _init(node: SimulationNode):
-	self.node = node
-
-func initialize() -> void:
-	pass
-
-func handle_intermediate_frame() -> void:
-	pass
-
-func step(action) -> void:
-	pass
-
-func get_event_data() -> Data:
-	return Data.new()
-
-func agent_update() -> void:
-	pass
-
-func get_camera_observations() -> Dictionary:
-	return {}
-
-func update_reward() -> void:
-	pass
-
-func reset() -> void:
-	pass
-
-func calculate_reward() -> float:
-	return 0.0
-
-func get_reward() -> float:
-	return 0.0
-
-func zero_reward() -> float:
-	return 0.0
-
-func is_done() -> bool:
-	return false
-
-func try_get_reward_function(reward, reward_function) -> bool:
-	return true
-
-
-class Data:
-	var done: bool
-	var reward: float
-	var frames: Dictionary
diff --git a/integrations/Godot/simulate_godot/Simulate/RLAgents/agent_manager.gd b/integrations/Godot/simulate_godot/Simulate/RLAgents/agent_manager.gd
deleted file mode 100644
index 9b571ec3..00000000
--- a/integrations/Godot/simulate_godot/Simulate/RLAgents/agent_manager.gd
+++ /dev/null
@@ -1,25 +0,0 @@
-class_name AgentManager
-extends Node
-
-
-var instance: AgentManager
-var agents: Dictionary
-
-
-func _init():
-	pass
-
-func on_scene_initialized(kwargs: Dictionary) -> void:
-	pass
-
-func on_before_step(event_data) -> void:
-	pass
-
-func on_step(event_data) -> void:
-	pass
-
-func on_reset() -> void:
-	pass
-
-func on_before_scene_unloaded() -> void:
-	pass
diff --git a/integrations/Godot/simulate_godot/Simulate/RLAgents/rl_action.gd b/integrations/Godot/simulate_godot/Simulate/RLAgents/rl_action.gd
deleted file mode 100644
index b28e5b34..00000000
--- a/integrations/Godot/simulate_godot/Simulate/RLAgents/rl_action.gd
+++ /dev/null
@@ -1,33 +0,0 @@
-class_name RLAction
-extends Node
-
-
-func execute_action(agent, action) -> void:
-	pass
-
-func add_force(agent, value, mapping) -> void:
-	pass
-
-func add_relative_force(agent, value, mapping) -> void:
-	pass
-
-func add_torque(agent, value, mapping) -> void:
-	pass
-
-func add_relative_torque(agent, value, mapping) -> void:
-	pass
-
-func add_force_at_position(agent, value, mapping) -> void:
-	pass
-
-func move_position(agent, value, mapping) -> void:
-	pass
-
-func move_relative_position(agent, value, mapping) -> void:
-	pass
-
-func move_rotation(agent, value, mapping) -> void:
-	pass
-
-func move_relative_rotation(agent, value, mapping) -> void:
-	pass
diff --git a/integrations/Godot/simulate_godot/Simulate/config.gd b/integrations/Godot/simulate_godot/Simulate/config.gd
new file mode 100644
index 00000000..801c405a
--- /dev/null
+++ b/integrations/Godot/simulate_godot/Simulate/config.gd
@@ -0,0 +1,30 @@
+extends Node
+
+
+var time_step: float = 0.02
+var frame_skip: int = 1
+var return_nodes: bool = true
+var return_frames: bool = true
+var node_filter: Array
+var camera_filter: Array
+var ambient_color: Color = Color.GRAY
+var gravity: Vector3 = Vector3.DOWN * 9.81
+
+
+func parse(config: Dictionary):
+	time_step = config.get("time_step", 0.02)
+	frame_skip = config.get("frame_skip", 1)
+	return_nodes = config.get("return_nodes", true)
+	return_frames = config.get("return_frames", true)
+	node_filter = config.get("node_filter", [])
+	camera_filter = config.get("camera_filter", [])
+	var color_array = config.get("ambient_color")
+	if color_array:
+		ambient_color = Color(color_array[0], color_array[1], color_array[2])
+	else:
+		ambient_color = Color.GRAY
+	var gravity_array = config.get("gravity")
+	if gravity_array:
+		gravity = Vector3(gravity_array[0], gravity[1], gravity[2])
+	else:
+		gravity = Vector3.DOWN * 9.81
diff --git a/integrations/Godot/simulate_godot/Simulate/rl_manager.gd b/integrations/Godot/simulate_godot/Simulate/rl_manager.gd
new file mode 100644
index 00000000..a527bef8
--- /dev/null
+++ b/integrations/Godot/simulate_godot/Simulate/rl_manager.gd
@@ -0,0 +1,13 @@
+class_name RLManager
+extends Node
+
+
+var root
+var actors
+
+
+func load_nodes():
+	root = Simulator.get_node("Scene/scene_00")
+	for child in Simulator.get_all_children(root):
+		if "is_actor" in child and child.is_actor:
+			actors.append(Actor.new(child))
diff --git a/integrations/Godot/simulate_godot/Simulate/simulation_node.gd b/integrations/Godot/simulate_godot/Simulate/simulation_node.gd
deleted file mode 100644
index 0a25bcc8..00000000
--- a/integrations/Godot/simulate_godot/Simulate/simulation_node.gd
+++ /dev/null
@@ -1,48 +0,0 @@
-class_name SimulationNode
-extends Node3D
-
-
-var camera_data
-var light_data
-var collider_data
-var rigidbody_data
-var joint_data
-var agent_data
-
-var camera
-var light
-var collider
-var rigidbody
-var joint
-var data
-
-
-func initialize() -> void:
-	pass
-
-func reset_state() -> void:
-	pass
-
-func initialize_camera() -> void:
-	pass
-
-func initiliaze_light() -> void:
-	pass
-
-func initialize_collider() -> void:
-	pass
-
-func initialize_rigidbody() -> void:
-	pass
-
-func initialize_joint() -> void:
-	pass
-
-func get_data():
-	pass
-
-
-class Data:
-	var name: String
-	var position: Vector3
-	var rotation: Quaternion
diff --git a/integrations/Godot/simulate_godot/Simulate/simulator.gd b/integrations/Godot/simulate_godot/Simulate/simulator.gd
index 463effaa..a54b3e82 100644
--- a/integrations/Godot/simulate_godot/Simulate/simulator.gd
+++ b/integrations/Godot/simulate_godot/Simulate/simulator.gd
@@ -1,4 +1,4 @@
-extends Node
+extends Node3D
 # Core of the integration and base of the scene
 # Handles data received from the client and call commands
 
@@ -10,7 +10,8 @@ const RECONNECT_TIMEOUT: float = 3.0
 var _client : Client = Client.new()
 var _command : Command = Command.new()
 
-var agent
+var rl_manager: RLManager
+var map_pool: Array
 
 
 func _ready() -> void:
@@ -19,22 +20,31 @@ func _ready() -> void:
 	_client.connect("disconnected", _handle_client_disconnected)
 	_client.connect("error", _handle_client_error)
 	_client.connect("data", _handle_client_data)
-	_command.connect("callback", _handle_callback)
-
+	
+	_client.name = "Client"
 	add_child(_client)
-	add_child(_command)
 	
 	_command.load_commands()
 	_client.connect_to_host(HOST, PORT)
 
+
+func get_all_children(node: Node, arr: Array = []):
+	arr.push_back(node)
+	for child in node.get_children():
+		arr = get_all_children(child,arr)
+	return arr
+
+
 func _connect_after_timeout(timeout: float) -> void:
 	# Retry connection after given timeout
 	await get_tree().create_timer(timeout).timeout
 	_client.connect_to_host(HOST, PORT)
 
+
 func _handle_client_connected() -> void:
 	print("Client connected to server.")
 
+
 func _handle_client_data(data: PackedByteArray) -> void:
 	# Parse data and sends content for command execution
 	var str_data : String = data.get_string_from_utf8()
@@ -52,17 +62,21 @@ func _handle_client_data(data: PackedByteArray) -> void:
 	else:
 		print("Error parsing data.")
 
+
 func _handle_client_disconnected() -> void:
 	# Reconnect client if it gets disconnected
 	print("Client disconnected from server.")
 	_connect_after_timeout(RECONNECT_TIMEOUT)
 
+
 func _handle_client_error() -> void:
 	# Reconnect client if there is an error
 	print("Client error.")
 	_connect_after_timeout(RECONNECT_TIMEOUT)
 
-func _handle_callback(callback_data: PackedByteArray) -> void:
-	# Send callback to python-side API
-	print("Sending callback.")
-	_client.send(callback_data)
+
+func send_callback(callback: String) -> void:
+	var callback_bytes = Marshalls.base64_to_raw(Marshalls.utf8_to_base64(callback))
+	print("Callback length: ", len(callback_bytes))
+	_client.send(callback_bytes)
+	print("Callback sent.")
diff --git a/integrations/Godot/simulate_godot/project.godot b/integrations/Godot/simulate_godot/project.godot
index 7f762ae6..4d84f083 100644
--- a/integrations/Godot/simulate_godot/project.godot
+++ b/integrations/Godot/simulate_godot/project.godot
@@ -10,14 +10,14 @@ config_version=5
 
 _global_script_classes=[{
 "base": "Node",
-"class": &"Agent",
+"class": &"Actions",
 "language": &"GDScript",
-"path": "res://Simulate/RLAgents/agent.gd"
+"path": "res://Simulate/RLActors/actions.gd"
 }, {
-"base": "Node",
-"class": &"AgentManager",
+"base": "Node3D",
+"class": &"Actor",
 "language": &"GDScript",
-"path": "res://Simulate/RLAgents/agent_manager.gd"
+"path": "res://Simulate/RLActors/actor.gd"
 }, {
 "base": "Node",
 "class": &"Client",
@@ -79,10 +79,15 @@ _global_script_classes=[{
 "language": &"GDScript",
 "path": "res://Simulate/GLTF/hf_state_sensor.gd"
 }, {
+"base": "Node3D",
+"class": &"Map",
+"language": &"GDScript",
+"path": "res://Simulate/RLActors/map.gd"
+}, {
 "base": "Node",
-"class": &"RLAction",
+"class": &"RLManager",
 "language": &"GDScript",
-"path": "res://Simulate/RLAgents/rl_action.gd"
+"path": "res://Simulate/rl_manager.gd"
 }, {
 "base": "Node",
 "class": &"RenderCamera",
@@ -92,16 +97,16 @@ _global_script_classes=[{
 "base": "Node",
 "class": &"RewardFunction",
 "language": &"GDScript",
-"path": "res://Simulate/RLAgents/reward_function.gd"
+"path": "res://Simulate/RLActors/reward_function.gd"
 }, {
 "base": "Node3D",
-"class": &"SimulationNode",
+"class": &"Sensor",
 "language": &"GDScript",
-"path": "res://Simulate/simulation_node.gd"
+"path": "res://Simulate/RLActors/Sensors/sensor.gd"
 }]
 _global_script_class_icons={
-"Agent": "",
-"AgentManager": "",
+"Actions": "",
+"Actor": "",
 "Client": "",
 "Command": "",
 "GLTFEnums": "",
@@ -114,10 +119,11 @@ _global_script_class_icons={
 "HFRewardFunction": "",
 "HFRigidBody": "",
 "HFStateSensor": "",
-"RLAction": "",
+"Map": "",
+"RLManager": "",
 "RenderCamera": "",
 "RewardFunction": "",
-"SimulationNode": ""
+"Sensor": ""
 }
 
 [application]
@@ -130,3 +136,8 @@ config/icon="res://icon.png"
 [autoload]
 
 Simulator="*res://Simulate/simulator.gd"
+Config="*res://Simulate/config.gd"
+
+[rendering]
+
+renderer/rendering_method="gl_compatibility"
diff --git a/src/simulate/engine/godot_engine.py b/src/simulate/engine/godot_engine.py
index 6dd6fdc6..da89c8fb 100644
--- a/src/simulate/engine/godot_engine.py
+++ b/src/simulate/engine/godot_engine.py
@@ -201,6 +201,14 @@ def step(self, action: Optional[Dict] = None, **kwargs: Any) -> Union[Dict, str]
             kwargs.update({"action": action})
         return self.run_command("step", **kwargs)
 
+    def step_send_async(self, **kwargs: Any):
+        """Send the Step command asynchronously."""
+        self.run_command_async("step", **kwargs)
+
+    def step_recv_async(self) -> str:
+        """Receive the response from the Step command asynchronously."""
+        return self.get_response_async()
+
     def reset(self) -> Union[Dict, str]:
         """
         Reset the environment.