soccerfives curricula

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

   m_BehaviorType: 0
   m_BehaviorName: Soccer
   m_TeamID: 1
-  m_useChildSensors: 1
+  m_UseChildSensors: 1
 --- !u!114 &114492261207303438
 MonoBehaviour:
   m_ObjectHideFlags: 0
     vectorActionSpaceType: 0
   m_Model: {fileID: 11400000, guid: 9d26b71f04a2d4680a68d8de4f6b62e9, type: 3}
   m_InferenceDevice: 0
-  m_BehaviorType: 0
+  m_BehaviorType: 1
-  m_useChildSensors: 1
+  m_UseChildSensors: 1
 --- !u!114 &114850431417842684
 MonoBehaviour:
   m_ObjectHideFlags: 0
   m_BehaviorType: 0
   m_BehaviorName: Soccer
   m_TeamID: 1
-  m_useChildSensors: 1
+  m_UseChildSensors: 1
 --- !u!114 &5320024511406682322
 MonoBehaviour:
   m_ObjectHideFlags: 0
   m_BehaviorType: 0
   m_BehaviorName: Soccer
   m_TeamID: 0
-  m_useChildSensors: 1
+  m_UseChildSensors: 1
 --- !u!114 &5379409612883756837
 MonoBehaviour:
   m_ObjectHideFlags: 0

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

     float m_KickPower;
     int m_PlayerIndex;
     public SoccerFieldArea area;
+    float m_BallTouch;
 
     [HideInInspector]
     public Rigidbody agentRb;
     public override void InitializeAgent()
     {
         base.InitializeAgent();
+
+        m_BallTouch = Academy.Instance.FloatProperties.GetPropertyWithDefault("ball_touch", 0);
         m_BehaviorParameters = gameObject.GetComponent<BehaviorParameters>();
         if (m_BehaviorParameters.m_TeamID == (int)Team.Blue)
         {
         var force = 2000f * m_KickPower;
         if (c.gameObject.CompareTag("ball"))
         {
+            AddReward(.2f * m_BallTouch);
             var dir = c.contacts[0].point - transform.position;
             dir = dir.normalized;
             c.gameObject.GetComponent<Rigidbody>().AddForce(dir * force);
     public override void AgentReset()
     {
+
+        m_BallTouch = Academy.Instance.FloatProperties.GetPropertyWithDefault("ball_touch", 0);
         if (team == Team.Purple)
         {
             transform.rotation = Quaternion.Euler(0f, -90f, 0f);

config/curricula/soccer_fives.yaml

+SoccerFives:
+  measure: progress
+  thresholds: [0.05, 0.1]
+  min_lesson_length: 100
+  signal_smoothing: true
+  parameters:
+    ball_touch: [1.0, 0.5, 0.0]
+