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Project/Assets/ML-Agents/Examples/Soccer/Prefabs/BlueStriker.prefab

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Project/Assets/ML-Agents/Examples/Soccer/Prefabs/PurpleStriker.prefab

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Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab

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   m_Modification:
     m_TransformParent: {fileID: 4558743310993102}
     m_Modifications:
+    - target: {fileID: 870745635885946275, guid: 57db73bb516494aa6ab66ac13e987d44,
+        type: 3}
+      propertyPath: m_IsActive
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 8274065550969517594, guid: 57db73bb516494aa6ab66ac13e987d44,
         type: 3}
       propertyPath: m_RootOrder
   m_Modification:
     m_TransformParent: {fileID: 4558743310993102}
     m_Modifications:
-    - target: {fileID: 5918526098337498759, guid: 772fee460e5734c5aac30b4e2a9f6b3c,
+    - target: {fileID: 5918399385278882223, guid: 772fee460e5734c5aac30b4e2a9f6b3c,
-      propertyPath: m_MaxRayDegrees
-      value: 75
-      objectReference: {fileID: 0}
-    - target: {fileID: 5918526098337498759, guid: 772fee460e5734c5aac30b4e2a9f6b3c,
-        type: 3}
-      propertyPath: m_RaysPerDirection
-      value: 12
+      propertyPath: m_UseChildSensors
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 6030327595305340077, guid: 772fee460e5734c5aac30b4e2a9f6b3c,
         type: 3}
       propertyPath: m_LocalEulerAnglesHint.z
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 6166895040598452978, guid: 772fee460e5734c5aac30b4e2a9f6b3c,
-        type: 3}
-      propertyPath: m_SensorName
-      value: AgentBlueRayPerceptionSensor
-      objectReference: {fileID: 0}
     m_RemovedComponents: []
   m_SourcePrefab: {fileID: 100100000, guid: 772fee460e5734c5aac30b4e2a9f6b3c, type: 3}
 --- !u!114 &114850431417842684 stripped
       propertyPath: m_Name
       value: BlueStriker (3)
       objectReference: {fileID: 0}
+    - target: {fileID: 6030327595305340077, guid: 772fee460e5734c5aac30b4e2a9f6b3c,
+        type: 3}
+      propertyPath: m_IsActive
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 6033637986218926083, guid: 772fee460e5734c5aac30b4e2a9f6b3c,
         type: 3}
       propertyPath: m_RootOrder
   m_Modification:
     m_TransformParent: {fileID: 4558743310993102}
     m_Modifications:
+    - target: {fileID: 4520953910130910384, guid: 57db73bb516494aa6ab66ac13e987d44,
+        type: 3}
+      propertyPath: m_SensorName
+      value: OpponentAgentPurpleRayPerceptionSensor
+      objectReference: {fileID: 0}
     - target: {fileID: 8274065550969517594, guid: 57db73bb516494aa6ab66ac13e987d44,
         type: 3}
       propertyPath: m_RootOrder

Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs

     float m_BallTouch;
     public Position position;
 
-    const float k_Power = 2000f;
+    const float k_Power = 3000f;
+    float m_RotateSpeed = 1.5f;
 
 
     [HideInInspector]
         }
         else
         {
-            m_LateralSpeed = 0.3f;
-            m_ForwardSpeed = 1.0f;
+            m_LateralSpeed = 1.0f;
+            m_ForwardSpeed = 1.5f;
         }
         m_SoccerSettings = FindObjectOfType<SoccerSettings>();
         agentRb = GetComponent<Rigidbody>();
     }
 
-    public void MoveAgent(ActionSegment<int> act)
+    public void MoveAgent(ActionSegment<float> act)
+        var forward = Mathf.Clamp(act[0], -1f, 1f);
+        var right = Mathf.Clamp(act[1], -1f, 1f);
+        var rotate = Mathf.Clamp(act[2], -1f, 1f);
-        var forwardAxis = act[0];
-        var rightAxis = act[1];
-        var rotateAxis = act[2];
-
-        switch (forwardAxis)
+        if (forward > 0)
-            case 1:
-                dirToGo = transform.forward * m_ForwardSpeed;
-                m_KickPower = 1f;
-                break;
-            case 2:
-                dirToGo = transform.forward * -m_ForwardSpeed;
-                break;
+            m_KickPower = forward;
-        switch (rightAxis)
-        {
-            case 1:
-                dirToGo = transform.right * m_LateralSpeed;
-                break;
-            case 2:
-                dirToGo = transform.right * -m_LateralSpeed;
-                break;
-        }
+        dirToGo = transform.forward * forward * m_ForwardSpeed;
+        dirToGo += transform.right * right * m_LateralSpeed;
+        rotateDir = -transform.up * rotate * m_RotateSpeed;
-        switch (rotateAxis)
-        {
-            case 1:
-                rotateDir = transform.up * -1f;
-                break;
-            case 2:
-                rotateDir = transform.up * 1f;
-                break;
-        }
-
+        
         transform.Rotate(rotateDir, Time.deltaTime * 100f);
         agentRb.AddForce(dirToGo * m_SoccerSettings.agentRunSpeed,
             ForceMode.VelocityChange);
             // Existential penalty for Strikers
             AddReward(-m_Existential);
         }
-        MoveAgent(actionBuffers.DiscreteActions);
+        MoveAgent(actionBuffers.ContinuousActions);
     }
 
     public override void Heuristic(in ActionBuffers actionsOut)

Project/ProjectSettings/TagManager.asset

   - 
   - 
   - invisible
-  - soccerAgents
-  - 
+  - blueSoccerAgent
+  - purpleSoccerAgent
   - 
   - 
   -