ml-agents/unity-environment/Assets/ML-Agents/Examples/Tennis/Scripts/TennisAgent.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;

public class TennisAgent : Agent
{
    [Header("Specific to Tennis")]
    public GameObject ball;
    public bool invertX;
    public float invertMult;
    public int score;
    public GameObject scoreText;

    public override List<float> CollectState()
    {
        List<float> state = new List<float>();
        state.Add(invertMult * gameObject.transform.position.x / 8f);
        state.Add(gameObject.transform.position.y / 2f);
        state.Add(invertMult * gameObject.GetComponent<Rigidbody>().velocity.x / 10f);
        state.Add(gameObject.GetComponent<Rigidbody>().velocity.y / 10f);

        state.Add(invertMult * ball.transform.position.x / 8f);
        state.Add(ball.transform.position.y / 8f);
        state.Add(invertMult * ball.GetComponent<Rigidbody>().velocity.x / 10f);
        state.Add(ball.GetComponent<Rigidbody>().velocity.y / 10f);
        return state;
    }

    // to be implemented by the developer
    public override void AgentStep(float[] act)
    {
        float moveX = 0.0f;
        float moveY = 0.0f;
        if (act[0] == 0f)
        {
            moveX = invertMult * -0.25f;
        }
        if (act[0] == 1f)
        {
            moveX = invertMult * 0.25f;
        }
        if (act[0] == 2f)
        {
            moveX = 0.0f;
        }
        if (act[0] == 3f)
        {
            moveY = 0.5f;
        }

        if (gameObject.transform.position.y > -1.9f)
        {
            moveY = 0f;
        }
        else
        {
            gameObject.GetComponent<Rigidbody>().velocity = new Vector3(0f, moveY * 12f, 0f);
        }

        gameObject.transform.position = new Vector3(gameObject.transform.position.x + moveX, gameObject.transform.position.y, 5f);

        if (invertX)
        {
            if (gameObject.transform.position.x > -(invertMult) * 11f)
            {
                gameObject.transform.position = new Vector3(-(invertMult) * 11f, gameObject.transform.position.y, 5f);
            }
            if (gameObject.transform.position.x < -(invertMult) * 2f)
            {
                gameObject.transform.position = new Vector3(-(invertMult) * 2f, gameObject.transform.position.y, 5f);
            }
        }
        else
        {
            if (gameObject.transform.position.x < -(invertMult) * 11f)
            {
                gameObject.transform.position = new Vector3(-(invertMult) * 11f, gameObject.transform.position.y, 5f);
            }
            if (gameObject.transform.position.x > -(invertMult) * 2f)
            {
                gameObject.transform.position = new Vector3(-(invertMult) * 2f, gameObject.transform.position.y, 5f);
            }
        }
        if (gameObject.transform.position.y < -2f)
        {
            gameObject.transform.position = new Vector3(gameObject.transform.position.x, -2f, 5f);
        }

        scoreText.GetComponent<Text>().text = score.ToString();
    }

    // to be implemented by the developer
    public override void AgentReset()
    {
        if (invertX)
        {
            invertMult = -1f;
        }
        else
        {
            invertMult = 1f;
        }

        gameObject.transform.position = new Vector3(-(invertMult) * 7f, -1.5f, 5f);
        gameObject.GetComponent<Rigidbody>().velocity = new Vector3(0f, 0f, 0f);
    }
}