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[cherry-pick] Integrate Group Manager to soccer/retrain with POCA (#5115) (#5121)
[cherry-pick] Integrate Group Manager to soccer/retrain with POCA (#5115) (#5121)
* Integrate Group Manager to soccer/retrain with POCA (#5115) * Add Soccer env to changelog Co-authored-by: andrewcoh <54679309+andrewcoh@users.noreply.github.com>/release_15_branch
GitHub
4 年前
当前提交
d2ee2e6f
共有 19 个文件被更改，包括 1509 次插入 和 1226 次删除
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139Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
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236Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab
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57Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
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12Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs
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2com.unity.ml-agents/CHANGELOG.md
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2docs/Learning-Environment-Design-Agents.md
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6docs/Learning-Environment-Examples.md
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2config/poca/SoccerTwos.yaml
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4config/poca/StrikersVsGoalie.yaml
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139Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs
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11Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs.meta
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1001Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.onnx
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14Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.onnx.meta
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13Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs.meta
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85Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs
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11Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.nn.meta
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1001Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.nn
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0/config/poca/SoccerTwos.yaml
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0/config/poca/StrikersVsGoalie.yaml
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using System.Collections; |
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using System.Collections.Generic; |
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using Unity.MLAgents; |
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using UnityEngine; |
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public class SoccerEnvController : MonoBehaviour |
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{ |
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[System.Serializable] |
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public class PlayerInfo |
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{ |
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public AgentSoccer Agent; |
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[HideInInspector] |
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public Vector3 StartingPos; |
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[HideInInspector] |
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public Quaternion StartingRot; |
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[HideInInspector] |
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public Rigidbody Rb; |
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} |
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/// <summary>
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/// Max Academy steps before this platform resets
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/// </summary>
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/// <returns></returns>
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[Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000; |
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/// <summary>
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/// The area bounds.
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/// </summary>
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/// <summary>
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/// We will be changing the ground material based on success/failue
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/// </summary>
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public GameObject ball; |
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[HideInInspector] |
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public Rigidbody ballRb; |
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Vector3 m_BallStartingPos; |
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//List of Agents On Platform
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public List<PlayerInfo> AgentsList = new List<PlayerInfo>(); |
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private SoccerSettings m_SoccerSettings; |
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private SimpleMultiAgentGroup m_BlueAgentGroup; |
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private SimpleMultiAgentGroup m_PurpleAgentGroup; |
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private int m_ResetTimer; |
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void Start() |
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{ |
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m_SoccerSettings = FindObjectOfType<SoccerSettings>(); |
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// Initialize TeamManager
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m_BlueAgentGroup = new SimpleMultiAgentGroup(); |
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m_PurpleAgentGroup = new SimpleMultiAgentGroup(); |
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ballRb = ball.GetComponent<Rigidbody>(); |
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m_BallStartingPos = new Vector3(ball.transform.position.x, ball.transform.position.y, ball.transform.position.z); |
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foreach (var item in AgentsList) |
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{ |
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item.StartingPos = item.Agent.transform.position; |
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item.StartingRot = item.Agent.transform.rotation; |
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item.Rb = item.Agent.GetComponent<Rigidbody>(); |
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if (item.Agent.team == Team.Blue) |
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{ |
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m_BlueAgentGroup.RegisterAgent(item.Agent); |
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} |
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else |
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{ |
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m_PurpleAgentGroup.RegisterAgent(item.Agent); |
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} |
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} |
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ResetScene(); |
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} |
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void FixedUpdate() |
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{ |
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m_ResetTimer += 1; |
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if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0) |
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{ |
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m_BlueAgentGroup.GroupEpisodeInterrupted(); |
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m_PurpleAgentGroup.GroupEpisodeInterrupted(); |
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ResetScene(); |
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} |
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} |
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public void ResetBall() |
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{ |
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var randomPosX = Random.Range(-2.5f, 2.5f); |
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var randomPosZ = Random.Range(-2.5f, 2.5f); |
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ball.transform.position = m_BallStartingPos + new Vector3(randomPosX, 0f, randomPosZ); ; |
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ballRb.velocity = Vector3.zero; |
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ballRb.angularVelocity = Vector3.zero; |
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} |
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public void GoalTouched(Team scoredTeam) |
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{ |
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if (scoredTeam == Team.Blue) |
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{ |
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m_BlueAgentGroup.AddGroupReward(1 - m_ResetTimer / MaxEnvironmentSteps); |
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m_PurpleAgentGroup.AddGroupReward(-1); |
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} |
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else |
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{ |
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m_PurpleAgentGroup.AddGroupReward(1 - m_ResetTimer / MaxEnvironmentSteps); |
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m_BlueAgentGroup.AddGroupReward(-1); |
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} |
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m_PurpleAgentGroup.EndGroupEpisode(); |
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m_BlueAgentGroup.EndGroupEpisode(); |
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ResetScene(); |
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} |
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public void ResetScene() |
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{ |
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m_ResetTimer = 0; |
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//Reset Agents
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foreach (var item in AgentsList) |
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{ |
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var randomPosX = Random.Range(-5f, 5f); |
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var newStartPos = item.Agent.initialPos + new Vector3(randomPosX, 0f, 0f); |
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var rot = item.Agent.rotSign * Random.Range(80.0f, 100.0f); |
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var newRot = Quaternion.Euler(0, rot, 0); |
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item.Agent.transform.SetPositionAndRotation(newStartPos, newRot); |
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item.Rb.velocity = Vector3.zero; |
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item.Rb.angularVelocity = Vector3.zero; |
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} |
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//Reset Ball
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ResetBall(); |
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} |
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} |
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fileFormatVersion: 2 |
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guid: 4e397bc3ae78c466a8d44400f5b68e38 |
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icon: {instanceID: 0} |
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userData: |
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assetBundleName: |
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assetBundleVariant: |
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1001
Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.onnx
文件差异内容过多而无法显示
查看文件
文件差异内容过多而无法显示
查看文件
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script: {fileID: 11500000, guid: 683b6cb6d0a474744822c888b46772c9, type: 3} |
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optimizeModel: 1 |
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forceArbitraryBatchSize: 1 |
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treatErrorsAsWarnings: 0 |
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importMode: 1 |
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guid: efd705d0a5b1e405eb1869b7cbe47dda |
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timeCreated: 1511497566 |
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using System.Collections; |
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using System.Collections.Generic; |
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using Unity.MLAgents; |
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using UnityEngine; |
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using UnityEngine.Serialization; |
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[System.Serializable] |
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public class PlayerState |
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{ |
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public int playerIndex; |
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[FormerlySerializedAs("agentRB")] |
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public Rigidbody agentRb; |
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public Vector3 startingPos; |
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public AgentSoccer agentScript; |
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public float ballPosReward; |
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} |
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public class SoccerFieldArea : MonoBehaviour |
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{ |
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public GameObject ball; |
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[FormerlySerializedAs("ballRB")] |
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[HideInInspector] |
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public Rigidbody ballRb; |
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public GameObject ground; |
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public GameObject centerPitch; |
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SoccerBallController m_BallController; |
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public List<PlayerState> playerStates = new List<PlayerState>(); |
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[HideInInspector] |
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public Vector3 ballStartingPos; |
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public GameObject goalTextUI; |
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[HideInInspector] |
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public bool canResetBall; |
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EnvironmentParameters m_ResetParams; |
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void Awake() |
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{ |
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canResetBall = true; |
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if (goalTextUI) { goalTextUI.SetActive(false); } |
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ballRb = ball.GetComponent<Rigidbody>(); |
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m_BallController = ball.GetComponent<SoccerBallController>(); |
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m_BallController.area = this; |
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ballStartingPos = ball.transform.position; |
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m_ResetParams = Academy.Instance.EnvironmentParameters; |
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} |
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IEnumerator ShowGoalUI() |
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{ |
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if (goalTextUI) goalTextUI.SetActive(true); |
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yield return new WaitForSeconds(.25f); |
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if (goalTextUI) goalTextUI.SetActive(false); |
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} |
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public void GoalTouched(AgentSoccer.Team scoredTeam) |
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{ |
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foreach (var ps in playerStates) |
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{ |
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if (ps.agentScript.team == scoredTeam) |
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{ |
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ps.agentScript.AddReward(1 + ps.agentScript.timePenalty); |
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} |
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else |
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{ |
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ps.agentScript.AddReward(-1); |
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} |
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ps.agentScript.EndEpisode(); //all agents need to be reset
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if (goalTextUI) |
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{ |
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StartCoroutine(ShowGoalUI()); |
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} |
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} |
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} |
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public void ResetBall() |
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{ |
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ball.transform.position = ballStartingPos; |
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ballRb.velocity = Vector3.zero; |
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ballRb.angularVelocity = Vector3.zero; |
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var ballScale = m_ResetParams.GetWithDefault("ball_scale", 0.015f); |
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ballRb.transform.localScale = new Vector3(ballScale, ballScale, ballScale); |
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} |
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} |
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fileFormatVersion: 2 |
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1001
Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.nn
文件差异内容过多而无法显示
查看文件
文件差异内容过多而无法显示
查看文件
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