Add cozmomovement script; Adjust feature vectors for the brain

Assets/Brains/CozmoLearning.asset

@@ -15,13 +15,14 @@ MonoBehaviour:
   brainParameters:
     vectorObservationSize: 0
     numStackedVectorObservations: 1
-    vectorActionSize: 01000000
+    vectorActionSize: 0300000003000000
     cameraResolutions:
     - width: 84
       height: 84
       blackAndWhite: 1
     vectorActionDescriptions:
-    - 
+    - forward
+    - rotate
     vectorActionSpaceType: 0
   model: {fileID: 0}
   inferenceDevice: 0

Assets/Scenes/CozmoTraining.unity

@@ -130,7 +130,7 @@ GameObject:
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-  m_IsActive: 0
+  m_IsActive: 1
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@@ -284,7 +284,7 @@ GameObject:
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   m_Layer: 0
   m_Name: Camera
-  m_TagString: Untagged
+  m_TagString: MainCamera
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@@ -377,7 +377,8 @@ MonoBehaviour:
   broadcastHub:
     broadcastingBrains:
     - {fileID: 11400000, guid: 94e62c225e4fe8148a7543c5fd1acfd4, type: 2}
-    _brainsToControl: []
+    _brainsToControl:
+    - {fileID: 11400000, guid: 94e62c225e4fe8148a7543c5fd1acfd4, type: 2}
   maxSteps: 0
   trainingConfiguration:
     width: 80
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@@ -481,7 +482,7 @@ PrefabInstance:
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+      value: -0.199
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@@ -557,3 +558,46 @@ MonoBehaviour:
     resetOnDone: 1
     onDemandDecision: 0
     numberOfActionsBetweenDecisions: 1
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+  m_Center: {x: 0, y: 0.035, z: 0}
+--- !u!54 &7570006596986120127
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+  m_Drag: 0
+  m_AngularDrag: 0.05
+  m_UseGravity: 1
+  m_IsKinematic: 0
+  m_Interpolate: 0
+  m_Constraints: 84
+  m_CollisionDetection: 0
+--- !u!114 &7570006596986120128
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+  m_TurnSpeed: 50

Assets/Scripts/Movemnet.meta

@@ -0,0 +1,8 @@
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Assets/Scripts/Movemnet/CozmoMovement.cs

@@ -0,0 +1,90 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class CozmoMovement : MonoBehaviour
+{
+  
+    public float m_Speed = 12f;                 // How fast the tank moves forward and back.
+    public float m_TurnSpeed = 180f;            // How fast the tank turns in degrees per second.
+  
+
+    private string m_MovementAxisName;          // The name of the input axis for moving forward and back.
+    private string m_TurnAxisName;              // The name of the input axis for turning.
+    private Rigidbody m_Rigidbody;              // Reference used to move the tank.
+    private float m_MovementInputValue;         // The current value of the movement input.
+    private float m_TurnInputValue;             // The current value of the turn input.
+  
+
+    private void Awake()
+    {
+        m_Rigidbody = GetComponent<Rigidbody>();
+    }
+
+
+    private void OnEnable()
+    {
+        // When the tank is turned on, make sure it's not kinematic.
+        m_Rigidbody.isKinematic = false;
+
+        // Also reset the input values.
+        m_MovementInputValue = 0f;
+        m_TurnInputValue = 0f;
+    }
+
+
+    private void OnDisable()
+    {
+        // When the tank 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"; 
+       
+    }
+
+
+    private void Update()
+    {
+        // Store the value of both input axes.
+        m_MovementInputValue = Input.GetAxis(m_MovementAxisName);
+        m_TurnInputValue = Input.GetAxis(m_TurnAxisName);       
+    }
+    
+
+    private void FixedUpdate()
+    {
+        // Adjust the rigidbodies position and orientation in FixedUpdate.
+        Move();
+        Turn();
+    }
+
+
+    private void Move()
+    {
+        // Create a vector in the direction the tank is facing with a magnitude based on the input, speed and the time between frames.
+        Vector3 movement = transform.forward * m_MovementInputValue * m_Speed * Time.deltaTime;
+
+        // Apply this movement to the rigidbody's position.
+        m_Rigidbody.MovePosition(m_Rigidbody.position + movement);
+    }
+
+
+    private void Turn()
+    {
+        // Determine the number of degrees to be turned based on the input, speed and time between frames.
+        float turn = m_TurnInputValue * m_TurnSpeed * Time.deltaTime;
+
+        // Make this into a rotation in the y axis.
+        Quaternion turnRotation = Quaternion.Euler(0f, turn, 0f);
+
+        // Apply this rotation to the rigidbody's rotation.
+        m_Rigidbody.MoveRotation(m_Rigidbody.rotation * turnRotation);
+    }
+
+}

Assets/Scripts/Movemnet/CozmoMovement.cs.meta

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