[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>
4 年前 · d2ee2e6f
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--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Policies;

+public enum Team
+{
+    Blue = 0,
+    Purple = 1
+}
+
 public class AgentSoccer : Agent
 {
    // Note that that the detectable tags are different for the blue and purple teams. The order is
    // * wall
    // * own teammate
    // * opposing player
-    public enum Team
-    {
-        Blue = 0,
-        Purple = 1
-    }

    public enum Position
    {
    [HideInInspector]
    public Team team;
    float m_KickPower;
-    int m_PlayerIndex;
-    public SoccerFieldArea area;
    // The coefficient for the reward for colliding with a ball. Set using curriculum.
    float m_BallTouch;
    public Position position;
    float m_LateralSpeed;
    float m_ForwardSpeed;

-    [HideInInspector]
-    public float timePenalty;
-    Vector3 m_Transform;
+    public Vector3 initialPos;
+    public float rotSign;

    EnvironmentParameters m_ResetParams;

        if (m_BehaviorParameters.TeamId == (int)Team.Blue)
        {
            team = Team.Blue;
-            m_Transform = new Vector3(transform.position.x - 4f, .