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

Assets/Materials/GroundMaterial.mat

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Assets/Scenes/CozmoTraining.unity

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Assets/Scripts/CannyEdgeDetection/ImageProcessor.cs

         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

 
 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

     }
 
 
+    private void OnTriggerEnter(Collider other)
+    {
+        if (other.transform.CompareTag("Goal"))
+        {
+            print("Collission");
+            Done();
+        }
+    }
+
     private void WaitTimeInference()
     {
         if (renderCamera != null)

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Assets/UnitySDK/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs

     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;
     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)
 
             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()
     {
 
     private void WaitTimeInference()
     {
-        if(renderCamera != null)
+        if (renderCamera != null)
         {
             renderCamera.Render();
         }

ProjectSettings/TagManager.asset

 --- !u!78 &1
 TagManager:
   serializedVersion: 2
-  tags: []
+  tags:
+  - Goal
   layers:
   - Default
   - TransparentFX