preparing to rebase

config/ppo/SoccerTwos.yaml

     network_settings:
       normalize: false
       hidden_units: 512
-      num_layers: 2
+      num_layers: 3
       vis_encode_type: simple
     reward_signals:
       extrinsic:
-    max_steps: 50000000
+    max_steps: 100000000
     time_horizon: 1000
     summary_freq: 10000
     threaded: false
       window: 10
       play_against_latest_model_ratio: 0.5
       initial_elo: 1200.0
+environment_parameters:
+  ball_touch:
+    curriculum:
+      - name: Lesson0
+        completion_criteria:
+          measure: progress
+          behavior: SoccerTwos
+          signal_smoothing: true
+          min_lesson_length: 100
+          threshold: 0.0005
+        value: 1.0
+      - name: Lesson1
+        completion_criteria:
+          measure: progress
+          behavior: SoccerTwos
+          signal_smoothing: true
+          min_lesson_length: 100
+          threshold: 0.001
+        value: 0.5
+      - name: Lesson2
+        completion_criteria:
+          measure: progress
+          behavior: SoccerTwos
+          signal_smoothing: true
+          min_lesson_length: 100
+          threshold: 0.0015
+        value: 0.1
+      - name: Lesson3
+        completion_criteria:
+          measure: progress
+          behavior: SoccerTwos
+          signal_smoothing: true
+          min_lesson_length: 100
+          threshold: 0.002
+        value: 0.0
+env_settings:
+  num_envs: 2

ml-agents/mlagents/trainers/trainer_controller.py

     def reset_env_if_ready(self, env: EnvManager) -> None:
         # Get the sizes of the reward buffers.
         reward_buff = {k: list(t.reward_buffer) for (k, t) in self.trainers.items()}
-        curr_step = {k: int(t.step) for (k, t) in self.trainers.items()}
+        curr_step = {k: int(t.get_step) for (k, t) in self.trainers.items()}
         max_step = {k: int(t.get_max_steps) for (k, t) in self.trainers.items()}
         # Attempt to increment the lessons of the brains who
         # were ready.

Project/Packages/manifest.json

 {
   "dependencies": {
+    "com.unity.2d.sprite": "1.0.0",
+    "com.unity.2d.tilemap": "1.0.0",
-    "com.unity.analytics": "3.2.3",
-    "com.unity.collab-proxy": "1.2.15",
+    "com.unity.analytics": "3.3.2",
+    "com.unity.collab-proxy": "1.2.16",
+    "com.unity.ext.nunit": "1.0.0",
+    "com.unity.ide.rider": "1.1.0",
+    "com.unity.ide.vscode": "1.0.7",
-    "com.unity.package-manager-ui": "2.0.8",
-    "com.unity.purchasing": "2.0.3",
-    "com.unity.textmeshpro": "1.4.1",
+    "com.unity.multiplayer-hlapi": "1.0.2",
+    "com.unity.package-manager-ui": "2.2.0",
+    "com.unity.purchasing": "2.0.6",
+    "com.unity.test-framework": "1.0.13",
+    "com.unity.textmeshpro": "2.0.1",
+    "com.unity.timeline": "1.1.0",
+    "com.unity.ugui": "1.0.0",
+    "com.unity.xr.legacyinputhelpers": "2.0.2",
+    "com.unity.modules.androidjni": "1.0.0",
     "com.unity.modules.animation": "1.0.0",
     "com.unity.modules.assetbundle": "1.0.0",
     "com.unity.modules.audio": "1.0.0",

Project/ProjectSettings/DynamicsManager.asset

 --- !u!55 &1
 PhysicsManager:
   m_ObjectHideFlags: 0
-  serializedVersion: 10
+  serializedVersion: 13
   m_Gravity: {x: 0, y: -9.81, z: 0}
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   m_BounceThreshold: 2
   m_ClothInterCollisionDistance: 0
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   m_ContactsGeneration: 1
-  m_LayerCollisionMatrix: ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffebffffffddffffffeffffffff5fffffffbffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
+  m_LayerCollisionMatrix: ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffefffffffdfffffffeffffffff5fffffffbffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
+  m_ClothGravity: {x: 0, y: -9.81, z: 0}
   m_ContactPairsMode: 0
   m_BroadphaseType: 0
   m_WorldBounds:
   m_FrictionType: 0
   m_EnableEnhancedDeterminism: 1
   m_EnableUnifiedHeightmaps: 1
+  m_DefaultMaxAngularSpeed: 7

Project/ProjectSettings/ProjectVersion.txt

-m_EditorVersion: 2018.4.24f1
+m_EditorVersion: 2019.2.2f1
+m_EditorVersionWithRevision: 2019.2.2f1 (ab112815d860)

Project/ProjectSettings/TagManager.asset

   - 
   - 
   - invisible
-  - 
-  - 
+  - soccerball
+  - wallgoal
   - 
   - 
   - 

Project/Assets/ML-Agents/Examples/Soccer/Scenes/SoccerTwos.unity

     m_EnableBakedLightmaps: 1
     m_EnableRealtimeLightmaps: 1
   m_LightmapEditorSettings:
-    serializedVersion: 10
+    serializedVersion: 12
     m_Resolution: 2
     m_BakeResolution: 40
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+    m_ExtractAmbientOcclusion: 0
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+    m_PVREnvironmentSampleCount: 500
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+    m_PVRFilteringMode: 2
+    m_PVRDenoiserTypeDirect: 0
+    m_PVRDenoiserTypeIndirect: 0
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     m_PVRFilteringGaussRadiusDirect: 1
     m_PVRFilteringGaussRadiusIndirect: 5
     m_PVRFilteringAtrousPositionSigmaAO: 1
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+    m_ExportTrainingData: 0
+    m_TrainingDataDestination: TrainingData
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+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 224194346362733190, guid: 3ce107b4a79bc4eef83afde434932a68,
         type: 3}
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       propertyPath: m_RootOrder
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+  m_FOVAxisMode: 0
-  m_GateFitMode: 2
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+  reuseCollisionCallbacks: 1
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   agentRunSpeed: 2
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-  strikerReward: 1
-  goaliePunish: -1
-  goalieReward: 0.1
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Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs

 
     public void ResetBall()
     {
-        ball.transform.position = ballStartingPos;
+        var randomX = Random.Range(-2.0f, 2.0f);
+        var randomZ = Random.Range(-2.0f, 2.0f);
+        ball.transform.position = ballStartingPos + new Vector3(randomX, 0f, randomZ);
         ballRb.velocity = Vector3.zero;
         ballRb.angularVelocity = Vector3.zero;
 

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

-using System;
+using Unity.MLAgents.Sensors;
 
 public class AgentSoccer : Agent
 {
     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;
         if (m_BehaviorParameters.TeamId == (int)Team.Blue)
         {
             team = Team.Blue;
-            m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z);
+            m_Transform = new Vector3(transform.position.x - 3f, .5f, transform.position.z);
-            m_Transform = new Vector3(transform.position.x + 4f, .5f, transform.position.z);
+            m_Transform = new Vector3(transform.position.x + 3f, .5f, transform.position.z);
         }
         if (position == Position.Goalie)
         {
         }
         else
         {
-            m_LateralSpeed = 0.3f;
-            m_ForwardSpeed = 1.0f;
+            m_LateralSpeed = 0.6f;
+            m_ForwardSpeed = 1.5f;
         }
         m_SoccerSettings = FindObjectOfType<SoccerSettings>();
         agentRb = GetComponent<Rigidbody>();
         m_ResetParams = Academy.Instance.EnvironmentParameters;
     }
 
-    public void MoveAgent(ActionSegment<int> act)
+    public void MoveAgent(ActionSegment<float> act)
     {
         var dirToGo = Vector3.zero;
         var rotateDir = Vector3.zero;
-        var forwardAxis = act[0];
-        var rightAxis = act[1];
-        var rotateAxis = act[2];
-        switch (forwardAxis)
+        var forward = Mathf.Clamp(act[0], -1f, 1f);
+        var right = Mathf.Clamp(act[1], -1f, 1f);
+        var rotate = Mathf.Clamp(act[2], -1f, 1f);
+
+        dirToGo = transform.forward * forward * m_ForwardSpeed;
+        dirToGo += transform.right * right * m_LateralSpeed;
+        rotateDir = -transform.up * rotate;
+        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;
-        }
+        //m_KickPower = 0f;
+        //var forwardAxis = act[0];
+        //var rightAxis = act[1];
+        //var rotateAxis = act[2];
+
+        //switch (forwardAxis)
+        //{
+        //    case 1:
+        //        dirToGo = transform.forward * m_ForwardSpeed;
+        //        m_KickPower = 1f;
+        //        break;
+        //    case 2:
+        //        dirToGo = transform.forward * -m_ForwardSpeed;
+        //        break;
+        //}
+
+        //switch (rightAxis)
+        //{
+        //    case 1:
+        //        dirToGo = transform.right * m_LateralSpeed;
+        //        break;
+        //    case 2:
+        //        dirToGo = transform.right * -m_LateralSpeed;
+        //        break;
+        //}
-        switch (rotateAxis)
-        {
-            case 1:
-                rotateDir = transform.up * -1f;
-                break;
-            case 2:
-                rotateDir = transform.up * 1f;
-                break;
-        }
+        //switch (rotateAxis)
+        //{
+        //    case 1:
+        //        rotateDir = transform.up * -1f;
+        //        break;
+        //    case 2:
+        //        rotateDir = transform.up * 1f;
+        //        break;
+        //}
-        transform.Rotate(rotateDir, Time.deltaTime * 100f);
+        transform.Rotate(rotateDir, Time.deltaTime * 200f);
         agentRb.AddForce(dirToGo * m_SoccerSettings.agentRunSpeed,
             ForceMode.VelocityChange);
     }
             // Existential penalty cumulant for Generic
             timePenalty -= m_Existential;
         }
-        MoveAgent(actionBuffers.DiscreteActions);
+        //MoveAgent(actionBuffers.DiscreteActions);
+        MoveAgent(actionBuffers.ContinuousActions);
+
-        var discreteActionsOut = actionsOut.DiscreteActions;
-        discreteActionsOut.Clear();
+        var contOut = actionsOut.ContinuousActions;
+        contOut.Clear();
-            discreteActionsOut[0] = 1;
+            contOut[0] = 1f;
-            discreteActionsOut[0] = 2;
+            contOut[0] = -1f;
-        if (Input.GetKey(KeyCode.A))
+        if (Input.GetKey(KeyCode.Q))
-            discreteActionsOut[2] = 1;
+            contOut[1] = -1f;
-        if (Input.GetKey(KeyCode.D))
+        if (Input.GetKey(KeyCode.E))
-            discreteActionsOut[2] = 2;
+            contOut[1] = 1f;
-        if (Input.GetKey(KeyCode.E))
+        if (Input.GetKey(KeyCode.D))
-            discreteActionsOut[1] = 1;
+            contOut[2] = 1f;
-        if (Input.GetKey(KeyCode.Q))
+        if (Input.GetKey(KeyCode.A))
-            discreteActionsOut[1] = 2;
+            contOut[2] = -1f;
+
+        //var discreteActionsOut = actionsOut.DiscreteActions;
+        //discreteActionsOut.Clear();
+        ////forward
+        //if (Input.GetKey(KeyCode.W))
+        //{
+        //    discreteActionsOut[0] = 1;
+        //}
+        //if (Input.GetKey(KeyCode.S))
+        //{
+        //    discreteActionsOut[0] = 2;
+        //}
+        ////rotate
+        //if (Input.GetKey(KeyCode.A))
+        //{
+        //    discreteActionsOut[2] = 1;
+        //}
+        //if (Input.GetKey(KeyCode.D))
+        //{
+        //    discreteActionsOut[2] = 2;
+        //}
+        ////right
+        //if (Input.GetKey(KeyCode.E))
+        //{
+        //    discreteActionsOut[1] = 1;
+        //}
+        //if (Input.GetKey(KeyCode.Q))
+        //{
+        //    discreteActionsOut[1] = 2;
+        //}
     }
     /// <summary>
     /// Used to provide a "kick" to the ball.
         {
             transform.rotation = Quaternion.Euler(0f, 90f, 0f);
         }
-        transform.position = m_Transform;
+        var randomX = Random.Range(-3.0f, 3.0f);
+        var randomZ = Random.Range(-0.5f, 0.5f);
+        transform.position = m_Transform + new Vector3(randomX, 0f, randomZ);
         agentRb.velocity = Vector3.zero;
         agentRb.angularVelocity = Vector3.zero;
         SetResetParameters();

Project/ProjectSettings/BurstAotSettings_StandaloneLinux64.json

+{
+  "MonoBehaviour": {
+    "Version": 3,
+    "EnableBurstCompilation": true,
+    "EnableOptimisations": true,
+    "EnableSafetyChecks": false,
+    "EnableDebugInAllBuilds": false,
+    "UsePlatformSDKLinker": false,
+    "CpuMinTargetX32": 0,
+    "CpuMaxTargetX32": 0,
+    "CpuMinTargetX64": 0,
+    "CpuMaxTargetX64": 0,
+    "CpuTargetsX64": 72
+  }
+}

Project/ProjectSettings/BurstAotSettings_StandaloneOSX.json

+{
+  "MonoBehaviour": {
+    "Version": 3,
+    "EnableBurstCompilation": true,
+    "EnableOptimisations": true,
+    "EnableSafetyChecks": false,
+    "EnableDebugInAllBuilds": false,
+    "UsePlatformSDKLinker": false,
+    "CpuMinTargetX32": 0,
+    "CpuMaxTargetX32": 0,
+    "CpuMinTargetX64": 0,
+    "CpuMaxTargetX64": 0,
+    "CpuTargetsX64": 72
+  }
+}

Project/ProjectSettings/XRSettings.asset

+{
+    "m_SettingKeys": [
+        "VR Device Disabled",
+        "VR Device User Alert"
+    ],
+    "m_SettingValues": [
+        "False",
+        "False"
+    ]
+}

Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccerCollab.cs.meta

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+  userData: 
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Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccerCollab.cs

+using UnityEngine;
+using Unity.MLAgents;
+using Unity.MLAgents.Actuators;
+using Unity.MLAgents.Policies;
+using Unity.MLAgents.Sensors;
+
+public class AgentSoccerCollab : AgentSoccer
+{
+    public int tester = 0;
+    int m_Previous = 0;
+
+
+    float[] m_Message = new float[2];
+    public GameObject teammate_gb;
+    AgentSoccerCollab teammate;
+
+    public override void Initialize()
+    {
+        base.Initialize();
+        teammate = teammate_gb.GetComponent<AgentSoccerCollab>();
+    }
+
+    public override void OnActionReceived(ActionBuffers actionBuffers)
+
+    {
+        base.OnActionReceived(actionBuffers);
+        //if (team == Team.Blue && tester == 0)
+        //{
+        //    Debug.Log("cont");
+        //    Debug.Log(actionBuffers.ContinuousActions[2]);
+        //}
+        //else if (team == Team.Blue && tester == 1)
+        //{
+        //    Debug.Log("mess");
+        //    Debug.Log(actionBuffers.DiscreteActions[0]);
+        //}
+        teammate.tellAgent(actionBuffers.DiscreteActions[0]);
+    }
+
+    public override void CollectObservations(VectorSensor sensor)
+    {
+
+        sensor.AddObservation(m_Message);
+    }
+
+    public void tellAgent(int message)
+    {
+        m_Message[m_Previous] = 0f;
+        //if (team == Team.Purple)
+        //{
+        //    message = Random.Range(0, 2);
+        //}
+        m_Message[message] = 1f;
+        m_Previous = message;
+    }
+
+    public override void OnEpisodeBegin()
+    {
+        base.OnEpisodeBegin();
+        System.Array.Clear(m_Message, 0, m_Message.Length);
+    }
+
+    public override void Heuristic(in ActionBuffers actionsOut)
+    {
+        var discreteActionsOut = actionsOut.DiscreteActions;
+        discreteActionsOut.Clear();
+        if (Input.GetKey(KeyCode.Alpha0))
+        {
+            discreteActionsOut[0] = 0;
+        }
+        if (Input.GetKey(KeyCode.Alpha1))
+        {
+            discreteActionsOut[0] = 1;
+        }
+        if (Input.GetKey(KeyCode.Alpha2))
+        {
+            discreteActionsOut[0] = 2;
+        }
+        if (Input.GetKey(KeyCode.Alpha3))
+        {
+            discreteActionsOut[0] = 3;
+        }
+        if (Input.GetKey(KeyCode.Alpha4))
+        {
+            discreteActionsOut[0] = 4;
+        }
+        if (Input.GetKey(KeyCode.Alpha5))
+        {
+            discreteActionsOut[0] = 5;
+        }
+        if (Input.GetKey(KeyCode.Alpha6))
+        {
+            discreteActionsOut[0] = 6;
+        }
+        if (Input.GetKey(KeyCode.Alpha7))
+        {
+            discreteActionsOut[0] = 7;
+        }
+        if (Input.GetKey(KeyCode.Alpha8))
+        {
+            discreteActionsOut[0] = 8;
+        }
+        if (Input.GetKey(KeyCode.Alpha9))
+        {
+            discreteActionsOut[0] = 9;
+        }
+
+        var contOut = actionsOut.ContinuousActions;
+        contOut.Clear();
+        //forward
+        if (Input.GetKey(KeyCode.W))
+        {
+            contOut[0] = 1f;
+        }
+        if (Input.GetKey(KeyCode.S))
+        {
+            contOut[0] = -1f;
+        }
+        //rotate
+        if (Input.GetKey(KeyCode.Q))
+        {
+            contOut[1] = -1f;
+        }
+        if (Input.GetKey(KeyCode.E))
+        {
+            contOut[1] = 1f;
+        }
+        //right
+        if (Input.GetKey(KeyCode.D))
+        {
+            contOut[2] = 1f;
+        }
+        if (Input.GetKey(KeyCode.A))
+        {
+            contOut[2] = -1f;
+        }
+
+        ////forward
+        //if (Input.GetKey(KeyCode.W))
+        //{
+        //    discreteActionsOut[0] = 1;
+        //}
+        //if (Input.GetKey(KeyCode.S))
+        //{
+        //    discreteActionsOut[0] = 2;
+        //}
+        ////rotate
+        //if (Input.GetKey(KeyCode.A))
+        //{
+        //    discreteActionsOut[2] = 1;
+        //}
+        //if (Input.GetKey(KeyCode.D))
+        //{
+        //    discreteActionsOut[2] = 2;
+        //}
+        ////right
+        //if (Input.GetKey(KeyCode.E))
+        //{
+        //    discreteActionsOut[1] = 1;
+        //}
+        //if (Input.GetKey(KeyCode.Q))
+        //{
+        //    discreteActionsOut[1] = 2;
+        //}
+    }
+}

Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos-10999921.onnx.meta

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