Readd mlagents 0.8.1

.gitignore

@@ -35,3 +35,71 @@ sysinfo.txt
 *.apk
 *.unitypackage
 envs/
+
+
+# Covers JetBrains IDEs: IntelliJ, RubyMine, PhpStorm, AppCode, PyCharm, CLion, Android Studio and WebStorm
+# Reference: https://intellij-support.jetbrains.com/hc/en-us/articles/206544839
+
+# User-specific stuff
+.idea/**/workspace.xml
+.idea/**/tasks.xml
+.idea/**/usage.statistics.xml
+.idea/**/dictionaries
+.idea/**/shelf
+
+# Generated files
+.idea/**/contentModel.xml
+
+# Sensitive or high-churn files
+.idea/**/dataSources/
+.idea/**/dataSources.ids
+.idea/**/dataSources.local.xml
+.idea/**/sqlDataSources.xml
+.idea/**/dynamic.xml
+.idea/**/uiDesigner.xml
+.idea/**/dbnavigator.xml
+
+# Gradle
+.idea/**/gradle.xml
+.idea/**/libraries
+
+# Gradle and Maven with auto-import
+# When using Gradle or Maven with auto-import, you should exclude module files,
+# since they will be recreated, and may cause churn.  Uncomment if using
+# auto-import.
+# .idea/modules.xml
+# .idea/*.iml
+# .idea/modules
+
+# CMake
+cmake-build-*/
+
+# Mongo Explorer plugin
+.idea/**/mongoSettings.xml
+
+# File-based project format
+*.iws
+
+# IntelliJ
+out/
+
+# mpeltonen/sbt-idea plugin
+.idea_modules/
+
+# JIRA plugin
+atlassian-ide-plugin.xml
+
+# Cursive Clojure plugin
+.idea/replstate.xml
+
+# Crashlytics plugin (for Android Studio and IntelliJ)
+com_crashlytics_export_strings.xml
+crashlytics.properties
+crashlytics-build.properties
+fabric.properties
+
+# Editor-based Rest Client
+.idea/httpRequests
+
+# Android studio 3.1+ serialized cache file
+.idea/caches/build_file_checksums.ser

Assets/Brains/CozmoLearningBrain.asset

@@ -10,19 +10,19 @@ MonoBehaviour:
   m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 8b23992c8eb17439887f5e944bf04a40, type: 3}
-  m_Name: CozmoLearning
+  m_Name: CozmoLearningBrain
   m_EditorClassIdentifier: 
   brainParameters:
     vectorObservationSize: 0
     numStackedVectorObservations: 1
-    vectorActionSize: 0300000003000000
+    vectorActionSize: 0200000002000000
     cameraResolutions:
     - width: 84
       height: 84
-      blackAndWhite: 1
+      blackAndWhite: 0
     vectorActionDescriptions:
     - forward
-    - rotate
+    - rotation
     vectorActionSpaceType: 0
   model: {fileID: 0}
   inferenceDevice: 0

Assets/Brains/CozmoLearningBrain.asset.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 94e62c225e4fe8148a7543c5fd1acfd4
+guid: 0d9d5ce547064a648b466ad7f208cf3d
 NativeFormatImporter:
   externalObjects: {}
   mainObjectFileID: 11400000

Assets/Scenes/CozmoTraining.unity

@@ -506,7 +506,7 @@ MonoBehaviour:
     agentCameras:
     - {fileID: 589453882}
     agentRenderTextures: []
-    maxStep: 1000
+    maxStep: 0
     resetOnDone: 1
     onDemandDecision: 0
     numberOfActionsBetweenDecisions: 1
@@ -560,7 +560,7 @@ MonoBehaviour:
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 7570006596986120123}
-  m_Enabled: 0
+  m_Enabled: 1
   m_EditorHideFlags: 0
   m_Script: {fileID: 11500000, guid: 4265d0764c65d26409f0f920e5293c82, type: 3}
   m_Name: 

Assets/Scripts/Movemnet/CozmoMovement.cs

@@ -24,7 +24,7 @@ public class CozmoMovement : MonoBehaviour
 
     private void OnEnable()
     {
-        // When the tank is turned on, make sure it's not kinematic.
+        // When the cozmo is turned on, make sure it's not kinematic.
         m_Rigidbody.isKinematic = false;
 
         // Also reset the input values.
@@ -35,17 +35,15 @@ public class CozmoMovement : MonoBehaviour
 
     private void OnDisable()
     {
-        // When the tank is turned off, set it to kinematic so it stops moving.
+        // When the cozmo is turned off, set it to kinematic so it stops moving.
         m_Rigidbody.isKinematic = true;
     }
 
 
     private void Start()
     {
-        // The axes names are based on player number.
         m_MovementAxisName = "Vertical";
         m_TurnAxisName = "Horizontal";
-
     }
 
 
@@ -66,7 +64,7 @@ public class CozmoMovement : MonoBehaviour
 
     public void Move(float directionValue)
     {
-        // Create a vector in the direction the tank is facing with a magnitude based on the input, speed and the time between frames.
+        // Create a vector in the direction the cozmo is facing with a magnitude based on the input, speed and the time between frames.
         Vector3 movement = directionValue * transform.forward * m_Speed * Time.deltaTime;
 
         // Apply this movement to the rigidbody's position.

Assets/Scripts/Movemnet/CozmoMovementTester.cs

@@ -4,7 +4,7 @@ using System.Collections.Generic;
 using System.Diagnostics;
 using UnityEngine;
 
-public enum TestStates { MovementSpeed, RotationSpeed }
+public enum TestStates { MovementSpeed, RotationSpeed } // enum to determine test scenarios
 
 [RequireComponent(typeof(CozmoMovement))]
 public class CozmoMovementTester : MonoBehaviour
@@ -16,7 +16,6 @@ public class CozmoMovementTester : MonoBehaviour
     private CozmoMovement movement;             // Reference to the movement script of cozmo
     private Vector3 startPositionCozmo;         // Original position of cozmo
     private float lastY;                        // Last Y of cozmo
-    private float curAngleX = 0;                // Current angle in the x axis of cozmo
     private Stopwatch movementWatch;            // Stopwatch to measure the time for the movement usecase
     private Stopwatch rotationWatch;            // Stopwatch to measure the time for the rotation usecase  
 
@@ -31,7 +30,7 @@ public class CozmoMovementTester : MonoBehaviour
 
 
         startPositionCozmo = movement.transform.position;   // Cache the starting position of Cozmo    
-        lastY = movement.transform.rotation.y;           // Cache the rotation Vector of Cozmo    
+        lastY = movement.transform.rotation.y;              // Cache the rotation Vector of Cozmo    
     }
 
     private void FixedUpdate()
@@ -58,7 +57,7 @@ public class CozmoMovementTester : MonoBehaviour
             {
                 rotationWatch.Stop();
                 UnityEngine.Debug.Log("Cozmo: " + gameObject.name +
-                    "/nElapsed time in milliseconds (Rotation): " + rotationWatch.ElapsedMilliseconds);
+                    "\nElapsed time in milliseconds (Rotation): " + rotationWatch.ElapsedMilliseconds);
             }
 
             return;

Assets/UnitySDK.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 7dc1ce4b31c63e34da34775dd888c0dc
+guid: cab51972497b97040814f06bb409e7c0
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}

Assets/UnitySDK/Assets.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 239a923e346c7564eab507004b9293df
+guid: fa7ea7fa4ff2dea4eaf717b9f695b516
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}

Assets/UnitySDK/Assets/Gizmos.meta

@@ -1,5 +1,5 @@
 fileFormatVersion: 2
-guid: 48abdf8d850ee0b4890625559ec6f520
+guid: a667ec11dafd88c4882174cec99ff9bd
 folderAsset: yes
 DefaultImporter:
   externalObjects: {}

Assets/UnitySDK/Assets/ML-Agents/Editor/AgentEditor.cs

@@ -28,9 +28,16 @@ namespace MLAgents
                 "agentParameters.onDemandDecision");
             SerializedProperty cameras = serializedAgent.FindProperty(
                 "agentParameters.agentCameras");
+            SerializedProperty renderTextures = serializedAgent.FindProperty(
+                "agentParameters.agentRenderTextures");
 
             EditorGUILayout.PropertyField(brain);
 
+            if (cameras.arraySize > 0 && renderTextures.arraySize > 0)
+            {
+                EditorGUILayout.HelpBox("Brain visual observations created by first getting all cameras then all render textures.", MessageType.Info);    
+            }
+            
             EditorGUILayout.LabelField("Agent Cameras");
             for (int i = 0; i < cameras.arraySize; i++)
             {
@@ -51,6 +58,28 @@ namespace MLAgents
             }
 
             EditorGUILayout.EndHorizontal();
+            
+            EditorGUILayout.LabelField("Agent RenderTextures");
+            for (int i = 0; i < renderTextures.arraySize; i++)
+            {
+                EditorGUILayout.PropertyField(
+                    renderTextures.GetArrayElementAtIndex(i),
+                    new GUIContent("RenderTexture " + (i + 1).ToString() + ": "));
+            }
+
+            EditorGUILayout.BeginHorizontal();
+            if (GUILayout.Button("Add RenderTextures", EditorStyles.miniButton))
+            {
+                renderTextures.arraySize++;
+            }
+
+            if (GUILayout.Button("Remove RenderTextures", EditorStyles.miniButton))
+            {
+                renderTextures.arraySize--;
+            }
+
+            EditorGUILayout.EndHorizontal();
+
 
             EditorGUILayout.PropertyField(
                 maxSteps,

Assets/UnitySDK/Assets/ML-Agents/Editor/BrainParametersDrawer.cs

@@ -97,7 +97,7 @@ namespace MLAgents
                 property.FindPropertyRelative(NumVecObsPropName),
                 new GUIContent("Stacked Vectors",
                     "Number of states that will be stacked before " +
-                    "beeing fed to the neural network."));
+                    "being fed to the neural network."));
             position.y += LineHeight;
             EditorGUI.indentLevel--; 
         }

Assets/UnitySDK/Assets/ML-Agents/Editor/Tests/RayPerceptionTests.cs

@@ -0,0 +1,37 @@
+using UnityEngine;
+using NUnit.Framework;
+
+
+namespace MLAgents.Tests
+{
+    public class RayPerceptionTests : MonoBehaviour
+    {
+        [Test]
+        public void TestPerception3D()
+        {
+            var angles = new[] {0f, 90f, 180f};
+            var tags = new[] {"test", "test_1"};
+            
+            var go = new GameObject("MyGameObject");
+            RayPerception3D rayPer3D = go.AddComponent<RayPerception3D>();
+            var result = rayPer3D.Perceive(1f, angles ,
+                tags, 0f, 0f);
+            Debug.Log(result.Count);
+            Assert.IsTrue(result.Count == angles.Length * (tags.Length + 2));
+        }
+
+        [Test]
+        public void TestPerception2D()
+        {
+            var angles = new[] {0f, 90f, 180f};
+            var tags = new[] {"test", "test_1"};
+            
+            var go = new GameObject("MyGameObject");
+            RayPerception2D rayPer2D = go.AddComponent<RayPerception2D>();
+            var result = rayPer2D.Perceive(1f, angles,
+                tags);
+            Debug.Log(result.Count);
+            Assert.IsTrue(result.Count == angles.Length * (tags.Length + 2));
+        }
+    }
+}

Assets/UnitySDK/Assets/ML-Agents/Editor/Tests/RayPerceptionTests.cs.meta

@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 29010426d01b4569830a85795f4f345b
+timeCreated: 1552498773