using UnityEngine; using MLAgents; public class Ball3DHardAgent : Agent { [Header("Specific to Ball3DHard")] public GameObject ball; Rigidbody m_BallRb; IFloatProperties m_ResetParams; public override void InitializeAgent() { m_BallRb = ball.GetComponent(); m_ResetParams = Academy.Instance.FloatProperties; SetResetParameters(); } public override void CollectObservations(VectorSensor sensor) { sensor.AddObservation(gameObject.transform.rotation.z); sensor.AddObservation(gameObject.transform.rotation.x); sensor.AddObservation((ball.transform.position - gameObject.transform.position)); } public override void AgentAction(float[] vectorAction) { var actionZ = 2f * Mathf.Clamp(vectorAction[0], -1f, 1f); var actionX = 2f * Mathf.Clamp(vectorAction[1], -1f, 1f); if ((gameObject.transform.rotation.z < 0.25f && actionZ > 0f) || (gameObject.transform.rotation.z > -0.25f && actionZ < 0f)) { gameObject.transform.Rotate(new Vector3(0, 0, 1), actionZ); } if ((gameObject.transform.rotation.x < 0.25f && actionX > 0f) || (gameObject.transform.rotation.x > -0.25f && actionX < 0f)) { gameObject.transform.Rotate(new Vector3(1, 0, 0), actionX); } if ((ball.transform.position.y - gameObject.transform.position.y) < -2f || Mathf.Abs(ball.transform.position.x - gameObject.transform.position.x) > 3f || Mathf.Abs(ball.transform.position.z - gameObject.transform.position.z) > 3f) { SetReward(-1f); Done(); } else { SetReward(0.1f); } } public override void AgentReset() { gameObject.transform.rotation = new Quaternion(0f, 0f, 0f, 0f); gameObject.transform.Rotate(new Vector3(1, 0, 0), Random.Range(-10f, 10f)); gameObject.transform.Rotate(new Vector3(0, 0, 1), Random.Range(-10f, 10f)); m_BallRb.velocity = new Vector3(0f, 0f, 0f); ball.transform.position = new Vector3(Random.Range(-1.5f, 1.5f), 4f, Random.Range(-1.5f, 1.5f)) + gameObject.transform.position; } public void SetBall() { //Set the attributes of the ball by fetching the information from the academy m_BallRb.mass = m_ResetParams.GetPropertyWithDefault("mass", 1.0f); var scale = m_ResetParams.GetPropertyWithDefault("scale", 1.0f); ball.transform.localScale = new Vector3(scale, scale, scale); } public void SetResetParameters() { SetBall(); } }