Implemented Academy / Set GoalPoint / Bug: Training does not move agents

Assets/Materials/GroundMaterial.mat

@@ -40,7 +40,7 @@ Material:
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
     - _MainTex:
-        m_Texture: {fileID: 2800000, guid: 199bbc3b06fa73149b6e1ad35ae6d936, type: 3}
+        m_Texture: {fileID: 2800000, guid: e2f202a27eca89449af658ee823922fb, type: 3}
         m_Scale: {x: 1, y: 1}
         m_Offset: {x: 0, y: 0}
     - _MetallicGlossMap:

Assets/Scenes/CozmoTraining.unity

@@ -143,6 +143,8 @@ Transform:
   - {fileID: 1159195261}
   - {fileID: 1863707381}
   - {fileID: 380448017}
+  - {fileID: 2078653368}
+  - {fileID: 435986020}
   m_Father: {fileID: 0}
   m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
@@ -437,6 +439,50 @@ Transform:
   m_Father: {fileID: 99578049}
   m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 90, y: 0, z: 0}
+--- !u!1 &435986019
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 435986020}
+  - component: {fileID: 435986021}
+  m_Layer: 0
+  m_Name: GoalPoint
+  m_TagString: Goal
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &435986020
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 435986019}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0.314, y: 0, z: 0.52}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 99578049}
+  m_RootOrder: 5
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!65 &435986021
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 435986019}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 1
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 0.1, y: 0.1, z: 0.1}
+  m_Center: {x: 0, y: 0, z: 0.030643802}
 --- !u!1 &589453881
 GameObject:
   m_ObjectHideFlags: 0
@@ -960,7 +1006,8 @@ MonoBehaviour:
     - {fileID: 11400000, guid: 0d9d5ce547064a648b466ad7f208cf3d, type: 2}
     _brainsToControl:
     - {fileID: 0}
-  maxSteps: 0
+    - {fileID: 11400000, guid: 0d9d5ce547064a648b466ad7f208cf3d, type: 2}
+  maxSteps: 1000
   trainingConfiguration:
     width: 84
     height: 84
@@ -975,6 +1022,8 @@ MonoBehaviour:
     targetFrameRate: 60
   resetParameters:
     resetParameters: []
+  cozmo: {fileID: 7570006596986120123}
+  startPoint: {fileID: 2078653368}
 --- !u!4 &998256474
 Transform:
   m_ObjectHideFlags: 0
@@ -1540,6 +1589,36 @@ MeshFilter:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1863707380}
   m_Mesh: {fileID: 10210, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!1 &2078653367
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 2078653368}
+  m_Layer: 0
+  m_Name: StartPoint
+  m_TagString: Untagged
+  m_Icon: {fileID: 3936346786652291628, guid: 0000000000000000d000000000000000, type: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &2078653368
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2078653367}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: -0.52}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 99578049}
+  m_RootOrder: 4
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1001 &7570006596986120122
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -1566,7 +1645,7 @@ PrefabInstance:
     - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
         type: 3}
       propertyPath: m_LocalPosition.x
-      value: 0.42
+      value: 0
       objectReference: {fileID: 0}
     - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
         type: 3}
@@ -1576,7 +1655,7 @@ PrefabInstance:
     - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
         type: 3}
       propertyPath: m_LocalPosition.z
-      value: -0.529
+      value: -0.52
       objectReference: {fileID: 0}
     - target: {fileID: 7570006595835424293, guid: 0f97dac5215d69a4795763340d82925d,
         type: 3}
@@ -1659,7 +1738,6 @@ MonoBehaviour:
     onDemandDecision: 1
     numberOfActionsBetweenDecisions: 1
   renderCamera: {fileID: 891713640}
-  academy: {fileID: 998256473}
   movement: {fileID: 7570006596986120128}
   timeBetweenDecisionsAtInference: 0.15
 --- !u!65 &7570006596986120126

Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs

@@ -134,10 +134,12 @@ public class ImageProcessor : MonoBehaviour
         Moments m = new Moments(processedImage, true);
         CenterOfGravity = new Point(m.M10 / m.M00, m.M01 / m.M00);
 
+#if UNITY_EDITOR
         // show the image with a point mark at the centroid
         Cv2.Circle(processedImage, CenterOfGravity, 5, new Scalar(128, 0, 0), -1);
         Cv2.Flip(processedImage, processedImage, FlipMode.X);
         Cv2.ImShow("Image with center", processedImage);
-        //Cv2.WaitKey(0);
+#endif
     }
+
 }

Assets/Scripts/ML Cozmo/CozmoAcademy.cs

@@ -5,5 +5,21 @@ using UnityEngine;
 
 public class CozmoAcademy : Academy
 {
-  
+    public GameObject cozmo;
+    public Transform startPoint;
+    //public bool testAcademyReset = false;
+
+    public override void AcademyReset()
+    {
+        cozmo.transform.position = startPoint.position;
+    }
+
+    //private void Update()
+    //{
+    //    if (testAcademyReset)
+    //    {
+    //        AcademyReset();
+    //        testAcademyReset = !testAcademyReset;
+    //    }
+    //}
 }

Assets/Scripts/ML Cozmo/CozmoAgent.cs

@@ -112,6 +112,15 @@ public class CozmoAgent : Agent
     }
 
 
+    private void OnTriggerEnter(Collider other)
+    {
+        if (other.transform.CompareTag("Goal"))
+        {
+            print("Collission");
+            Done();
+        }
+    }
+
     private void WaitTimeInference()
     {
         if (renderCamera != null)

Assets/Textures/Ground/SimpleWay.png.meta

@@ -0,0 +1,88 @@
+fileFormatVersion: 2
+guid: e2f202a27eca89449af658ee823922fb
+TextureImporter:
+  fileIDToRecycleName: {}
+  externalObjects: {}
+  serializedVersion: 9
+  mipmaps:
+    mipMapMode: 0
+    enableMipMap: 1
+    sRGBTexture: 1
+    linearTexture: 0
+    fadeOut: 0
+    borderMipMap: 0
+    mipMapsPreserveCoverage: 0
+    alphaTestReferenceValue: 0.5
+    mipMapFadeDistanceStart: 1
+    mipMapFadeDistanceEnd: 3
+  bumpmap:
+    convertToNormalMap: 0
+    externalNormalMap: 0
+    heightScale: 0.25
+    normalMapFilter: 0
+  isReadable: 0
+  streamingMipmaps: 0
+  streamingMipmapsPriority: 0
+  grayScaleToAlpha: 0
+  generateCubemap: 6
+  cubemapConvolution: 0
+  seamlessCubemap: 0
+  textureFormat: 1
+  maxTextureSize: 2048
+  textureSettings:
+    serializedVersion: 2
+    filterMode: -1
+    aniso: -1
+    mipBias: -100
+    wrapU: -1
+    wrapV: -1
+    wrapW: -1
+  nPOTScale: 1
+  lightmap: 0
+  compressionQuality: 50
+  spriteMode: 0
+  spriteExtrude: 1
+  spriteMeshType: 1
+  alignment: 0
+  spritePivot: {x: 0.5, y: 0.5}
+  spritePixelsToUnits: 100
+  spriteBorder: {x: 0, y: 0, z: 0, w: 0}
+  spriteGenerateFallbackPhysicsShape: 1
+  alphaUsage: 1
+  alphaIsTransparency: 0
+  spriteTessellationDetail: -1
+  textureType: 0
+  textureShape: 1
+  singleChannelComponent: 0
+  maxTextureSizeSet: 0
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+  platformSettings:
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+    maxTextureSize: 2048
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+    crunchedCompression: 0
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+  spriteSheet:
+    serializedVersion: 2
+    sprites: []
+    outline: []
+    physicsShape: []
+    bones: []
+    spriteID: 
+    vertices: []
+    indices: 
+    edges: []
+    weights: []
+  spritePackingTag: 
+  pSDRemoveMatte: 0
+  pSDShowRemoveMatteOption: 0
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Assets/UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs

@@ -10,7 +10,7 @@ public class GridAgent : Agent
     public float timeBetweenDecisionsAtInference;
     private float timeSinceDecision;
 
-    [Tooltip("Because we want an observation right before making a decision, we can force " + 
+    [Tooltip("Because we want an observation right before making a decision, we can force " +
              "a camera to render before making a decision. Place the agentCam here if using " +
              "RenderTexture as observations.")]
     public Camera renderCamera;
@@ -48,8 +48,8 @@ public class GridAgent : Agent
     private void SetMask()
     {
         // Prevents the agent from picking an action that would make it collide with a wall
-        var positionX = (int) transform.position.x;
-        var positionZ = (int) transform.position.z;
+        var positionX = (int)transform.position.x;
+        var positionZ = (int)transform.position.z;
         var maxPosition = academy.gridSize - 1;
 
         if (positionX == 0)
@@ -108,17 +108,17 @@ public class GridAgent : Agent
 
             if (blockTest.Where(col => col.gameObject.CompareTag("goal")).ToArray().Length == 1)
             {
-                Done();
                 SetReward(1f);
             }
             if (blockTest.Where(col => col.gameObject.CompareTag("pit")).ToArray().Length == 1)
             {
-                Done();
                 SetReward(-1f);
             }
         }
     }
 
+   
+
     // to be implemented by the developer
     public override void AgentReset()
     {
@@ -132,7 +132,7 @@ public class GridAgent : Agent
 
     private void WaitTimeInference()
     {
-        if(renderCamera != null)
+        if (renderCamera != null)
         {
             renderCamera.Render();
         }

ProjectSettings/TagManager.asset

@@ -3,7 +3,8 @@
 --- !u!78 &1
 TagManager:
   serializedVersion: 2
-  tags: []
+  tags:
+  - Goal
   layers:
   - Default
   - TransparentFX