TrainingArea.cs

using System;
using System.Collections;
using System.Collections.Generic;
using System.Security.Cryptography;
using UnityEngine;
using MLAgents;
using TMPro;
using Random = UnityEngine.Random;

public class TrainingArea : MonoBehaviour
{
    public MainAgent mainAgent;

    public GameObject goal;

    public TextMeshPro rewardText;

    public Pickup pickupPrefab;

    private List<GameObject> pickupList;

    private void Start()
    {
        ResetArea();
    }

    private void Update()
    {
        rewardText.text = mainAgent.GetCumulativeReward().ToString("0.00");
    }


    public void ResetArea()
    {
        RemovePickups();
        PlaceAgent();
        PlaceGoal();
        InstantiatePickup(4);
    }

    public void RemoveSpecificPickup(GameObject pickup)
    {
        pickupList.Remove(pickup);
        Destroy(pickup);
    }

    public int PickupsRemaining
    {
        get { return pickupList.Count; }
    }

    public static Vector3 RandomPosition(Vector3 topLeft, Vector3 bottomRight)
    {
        return new Vector3(Random.Range(topLeft.x, bottomRight.x), 0.5f, Random.Range(topLeft.z, bottomRight.z));
    }

    private void RemovePickups()
    {
        if (pickupList != null)
        {
            for (int i = 0; i < pickupList.Count; i++)
            {
                if (pickupList[i] != null)
                {
                    Destroy(pickupList[i]);
                }
            }
        }
        pickupList = new List<GameObject>();
    }

    private void PlaceAgent()
    {
        Rigidbody rb = mainAgent.GetComponent<Rigidbody>();
        rb.velocity = Vector3.zero;
        rb.angularVelocity = Vector3.zero;
        mainAgent.transform.position = RandomPosition(transform.position + new Vector3(-7, 0.5f, 7), transform.position + new Vector3(7, 0.5f, -7));
        mainAgent.transform.rotation = Quaternion.Euler(0f, Random.Range(0f, 360f), 0f);
    }

    private void PlaceGoal()
    {
        Rigidbody rb = goal.GetComponent<Rigidbody>();
        rb.velocity = Vector3.zero;
        rb.angularVelocity = Vector3.zero;
        goal.transform.position = RandomPosition(transform.position + new Vector3(-20f, 0.5f, 20f), transform.position + new Vector3(20f, 0.5f, -20f));
        goal.transform.rotation = Quaternion.Euler(0f, Random.Range(0f, 360f), 0f);
    }

    private void InstantiatePickup(int count)
    {
        for (int i = 0; i < count; i++)
        {
            GameObject pickupObject = Instantiate<GameObject>(pickupPrefab.gameObject);
            pickupObject.transform.position = RandomPosition(transform.position + new Vector3(-20f, 0.5f, 20f),
                transform.position + new Vector3(20f, 0.5f, -20f));
            pickupObject.transform.rotation = Quaternion.Euler(0f, Random.Range(0f, 360f), 0f);

            pickupObject.transform.SetParent(transform);

            pickupList.Add(pickupObject);
        }
    }
}