質問編集履歴
1
全体のコードを打ちました
test
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File without changes
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test
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@@ -15,9 +15,82 @@
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そうではなく、エピソード中に石は動かず、初期位置を学習してうまく乗る部分を探し出してほしいです。
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```ここに言語名を入力
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public class RockAgent : Agent
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{
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public GameObject rock;
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public GameObject rockB;
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Rigidbody m_Rb_rock;
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Rigidbody m_Rb_rockB;
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public override void
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public override void Initialize()
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{
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m_Rb_rock = rock.GetComponent<Rigidbody>();
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m_Rb_rockB = rockB.GetComponent<Rigidbody>();
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-
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}
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public override void OnEpisodeBegin()
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{
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rock.transform.localPosition = new Vector3(0f, 5f, 0f);
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rock.transform.rotation = Quaternion.Euler(0f, 0f, 0f);
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m_Rb_rock.velocity = Vector3.zero;
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m_Rb_rock.angularVelocity = Vector3.zero;
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rockB.transform.localPosition = new Vector3(0f, 0.1f, 0f);
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rockB.transform.rotation = Quaternion.Euler(0f, 0f, 0f);
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m_Rb_rockB.velocity = Vector3.zero;
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m_Rb_rockB.angularVelocity = Vector3.zero;
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}
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public override void CollectObservations(VectorSensor sensor)
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{
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sensor.AddObservation(rock.transform.localPosition);
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sensor.AddObservation(rock.transform.localEulerAngles);
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}
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public override void OnActionReceived(ActionBuffers actionBuffers)
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{
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float turnX = 0f;
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if (actionBuffers.DiscreteActions[0] == 1f)
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{
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turnX = -1f;
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}
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else if (actionBuffers.DiscreteActions[0] == 2f)
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{
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turnX = 1f;
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}
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rock.transform.Rotate(200f * turnX * Time.deltaTime, 0, 0, Space.World);
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float turnY = 0f;
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if (actionBuffers.DiscreteActions[1] == 1f)
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{
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turnY = -1f;
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}
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else if (actionBuffers.DiscreteActions[1] == 2f)
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{
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turnY = 1f;
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}
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rock.transform.Rotate(0, 200f * turnY * Time.deltaTime, 0, Space.World);
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float turnZ = 0f;
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if (actionBuffers.DiscreteActions[2] == 1f)
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{
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turnZ = -1f;
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}
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else if (actionBuffers.DiscreteActions[2] == 2f)
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{
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turnZ = 1f;
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}
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rock.transform.Rotate(0, 0, 200f * turnZ * Time.deltaTime, Space.World);
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if (MaxStep > 0) AddReward(1f / MaxStep);
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if (rock.transform.position.y < 0f)
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{
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SetReward(-1.0f);
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EndEpisode();
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}
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}
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```
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