Add Dynamic Walker. Improved Ragdoll Stability/Performance (#4037)

* about to implement orientation cube

* oCube spawining works. ready to train

* working. about to try com

* ready for training

* add random rot on episode start

* feet now alternate but runs backwards

* still running with right leg in front

* increased joint strength to 40k

* removed texture example

* reduced maxAngVel, enabled enhanced determinism, cont spec

* rebuilt walker ragdoll to scale 1

* rebuilt ragdoll ready

* update walker pair prefab

* fixed bp heirarchy

* added trained model, renamed scene, usecollisioncallbacks

* updated dynamic platforms

* added dynamic walker tf file. max speed 5

* DynamicWalker working. has working nn file

* collect local rotations

* added new dynamic nn file

* hip facing reward

* Create WalkerDynamic.yaml

* fix hip rotation

* about to clean up code

* added dirIndicator and orentCubeGizmo

* clean up

* clea...

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/JointDriveController.cs

         [HideInInspector] public Dictionary<Transform, BodyPart> bodyPartsDict = new Dictionary<Transform, BodyPart>();
 
         [HideInInspector] public List<BodyPart> bodyPartsList = new List<BodyPart>();
+        const float k_MaxAngularVelocity = 50.0f;
 
         /// <summary>
         /// Create BodyPart object and add it to dictionary.
                 startingPos = t.position,
                 startingRot = t.rotation
             };
-            bp.rb.maxAngularVelocity = 100;
+            bp.rb.maxAngularVelocity = k_MaxAngularVelocity;
 
             // Add & setup the ground contact script
             bp.groundContact = t.GetComponent<GroundContact>();

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/ProjectSettingsOverrides.cs

     public class ProjectSettingsOverrides : MonoBehaviour
     {
         // Original values
-
+        bool m_OriginalReuseCollisionCallbacks;
 
         [Tooltip("Increase or decrease the scene gravity. Use ~3x to make things less floaty")]
         public float gravityMultiplier = 1.0f;
         public int solverIterations = 6;
         [Tooltip("Affects how accurately the Rigidbody joints and collision contacts are resolved. (default 1). Must be positive.")]
         public int solverVelocityIterations = 1;
+        [Tooltip("Determines whether the garbage collector should reuse only a single instance of a Collision type for all collision callbacks. Reduces Garbage.")]
+        public bool reuseCollisionCallbacks = true;
 
         public void Awake()
         {
             m_OriginalMaximumDeltaTime = Time.maximumDeltaTime;
             m_OriginalSolverIterations = Physics.defaultSolverIterations;
             m_OriginalSolverVelocityIterations = Physics.defaultSolverVelocityIterations;
+            m_OriginalReuseCollisionCallbacks = Physics.reuseCollisionCallbacks ;
 
             // Override
             Physics.gravity *= gravityMultiplier;
             Physics.defaultSolverVelocityIterations = solverVelocityIterations;
+            Physics.reuseCollisionCallbacks = reuseCollisionCallbacks;
 
             // Make sure the Academy singleton is initialized first, since it will create the SideChannels.
             Academy.Instance.EnvironmentParameters.RegisterCallback("gravity", f => { Physics.gravity = new Vector3(0, -f, 0); });
             Time.maximumDeltaTime = m_OriginalMaximumDeltaTime;
             Physics.defaultSolverIterations = m_OriginalSolverIterations;
             Physics.defaultSolverVelocityIterations = m_OriginalSolverVelocityIterations;
+            Physics.reuseCollisionCallbacks = m_OriginalReuseCollisionCallbacks;
         }
     }
 }

Project/Assets/ML-Agents/Examples/Walker/Scripts/WalkerAgent.cs

+using MLAgentsExamples;
+using BodyPart = Unity.MLAgentsExamples.BodyPart;
-    [Header("Specific to Walker")]
-    [Header("Target To Walk Towards")]
-    [Space(10)]
-    public Transform target;
+    public float maximumWalkingSpeed = 999; //The max walk velocity magnitude an agent will be rewarded for
+    Vector3 m_WalkDir; //Direction to the target
+    Quaternion m_WalkDirLookRot; //Will hold the rotation to our target
+
+    [Header("Orientation")] [Space(10)]
+    //This will be used as a stable reference point for observations
+    //Because ragdolls can move erratically, using a standalone reference point can significantly improve learning
+    public GameObject orientationCube;
+
+    [Header("Target To Walk Towards")] [Space(10)]
+    public float targetSpawnRadius; //The radius in which a target can be randomly spawned.
+
+    public Transform target; //Target the agent will walk towards.
+    public Transform ground; //Ground gameobject. The height will be used for target spawning
+    public bool detectTargets; //Should this agent detect targets
+    public bool respawnTargetWhenTouched; //Should the target respawn to a different position when touched
-    Vector3 m_DirToTarget;
-    public Transform hips;
+    [Header("Body Parts")] [Space(10)] public Transform hips;
     public Transform chest;
     public Transform spine;
     public Transform head;
     public Transform handR;
     JointDriveController m_JdController;
 
-    Rigidbody m_HipsRb;
-    Rigidbody m_ChestRb;
-    Rigidbody m_SpineRb;
-
+
+        UpdateOrientationCube();
+
         m_JdController = GetComponent<JointDriveController>();
         m_JdController.SetupBodyPart(hips);
         m_JdController.SetupBodyPart(chest);
         m_JdController.SetupBodyPart(forearmR);
         m_JdController.SetupBodyPart(handR);
 
-        m_HipsRb = hips.GetComponent<Rigidbody>();
-        m_ChestRb = chest.GetComponent<Rigidbody>();
-        m_SpineRb = spine.GetComponent<Rigidbody>();
-
         m_ResetParams = Academy.Instance.EnvironmentParameters;
 
         SetResetParameters();
     /// </summary>
     public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
     {
-        var rb = bp.rb;
+        //GROUND CHECK
-        sensor.AddObservation(rb.velocity);
-        sensor.AddObservation(rb.angularVelocity);
-        var localPosRelToHips = hips.InverseTransformPoint(rb.position);
-        sensor.AddObservation(localPosRelToHips);
+
+        //Get velocities in the context of our orientation cube's space
+        //Note: You can get these velocities in world space as well but it may not train as well.
+        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.velocity));
+        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.angularVelocity));
-        if (bp.rb.transform != hips && bp.rb.transform != handL && bp.rb.transform != handR &&
-            bp.rb.transform != footL && bp.rb.transform != footR && bp.rb.transform != head)
+        //Get position relative to hips in the context of our orientation cube's space
+        sensor.AddObservation(orientationCube.transform.InverseTransformDirection(bp.rb.position - hips.position));
+
+        if (bp.rb.transform != hips && bp.rb.transform != handL && bp.rb.transform != handR)
-            sensor.AddObservation(bp.currentXNormalizedRot);
-            sensor.AddObservation(bp.currentYNormalizedRot);
-            sensor.AddObservation(bp.currentZNormalizedRot);
+            sensor.AddObservation(bp.rb.transform.localRotation);
             sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
         }
     }
     /// </summary>
     public override void CollectObservations(VectorSensor sensor)
     {
-        m_JdController.GetCurrentJointForces();
+        sensor.AddObservation(Quaternion.FromToRotation(hips.forward, orientationCube.transform.forward));
+        sensor.AddObservation(Quaternion.FromToRotation(head.forward, orientationCube.transform.forward));
-        sensor.AddObservation(m_DirToTarget.normalized);
-        sensor.AddObservation(m_JdController.bodyPartsDict[hips].rb.position);
-        sensor.AddObservation(hips.forward);
-        sensor.AddObservation(hips.up);
+        sensor.AddObservation(orientationCube.transform.InverseTransformPoint(target.position));
-        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        foreach (var bodyPart in m_JdController.bodyPartsList)
         {
             CollectObservationBodyPart(bodyPart, sensor);
         }
         bpDict[shinR].SetJointTargetRotation(vectorAction[++i], 0, 0);
         bpDict[footR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
         bpDict[footL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], vectorAction[++i]);
-
 
         bpDict[armL].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
         bpDict[armR].SetJointTargetRotation(vectorAction[++i], vectorAction[++i], 0);
         bpDict[forearmR].SetJointStrength(vectorAction[++i]);
     }
 
+    void UpdateOrientationCube()
+    {
+        //FACING DIR
+        m_WalkDir = target.position - orientationCube.transform.position;
+        m_WalkDir.y = 0; //flatten dir on the y
+        m_WalkDirLookRot = Quaternion.LookRotation(m_WalkDir); //get our look rot to the target
+
+        //UPDATE ORIENTATION CUBE POS & ROT
+        orientationCube.transform.position = hips.position;
+        orientationCube.transform.rotation = m_WalkDirLookRot;
+    }
+
+        if (detectTargets)
+        {
+            foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+            {
+                if (bodyPart.targetContact && bodyPart.targetContact.touchingTarget)
+                {
+                    TouchedTarget();
+                }
+            }
+        }
+
+        UpdateOrientationCube();
+
+        var moveTowardsTargetReward = Vector3.Dot(orientationCube.transform.forward,
+            Vector3.ClampMagnitude(m_JdController.bodyPartsDict[hips].rb.velocity, maximumWalkingSpeed));
+        var lookAtTargetReward = Vector3.Dot(orientationCube.transform.forward, head.forward);
-        // d. Discourage head movement.
-        m_DirToTarget = target.position - m_JdController.bodyPartsDict[hips].rb.position;
+        var headHeightOverFeetReward = (head.position.y - footL.position.y) + (head.position.y - footR.position.y);
-            +0.03f * Vector3.Dot(m_DirToTarget.normalized, m_JdController.bodyPartsDict[hips].rb.velocity)
-            + 0.01f * Vector3.Dot(m_DirToTarget.normalized, hips.forward)
-            + 0.02f * (head.position.y - hips.position.y)
-            - 0.01f * Vector3.Distance(m_JdController.bodyPartsDict[head].rb.velocity,
-                m_JdController.bodyPartsDict[hips].rb.velocity)
+            +0.02f * moveTowardsTargetReward
+            + 0.01f * lookAtTargetReward
+            + 0.01f * headHeightOverFeetReward
-    /// Loop over body parts and reset them to initial conditions.
+    /// Agent touched the target
-    public override void OnEpisodeBegin()
+    public void TouchedTarget()
-        if (m_DirToTarget != Vector3.zero)
+        AddReward(1f);
+        if (respawnTargetWhenTouched)
-            transform.rotation = Quaternion.LookRotation(m_DirToTarget);
+            MoveTargetToRandomPosition();
+    }
+    /// <summary>
+    /// Moves target to a random position within specified radius.
+    /// </summary>
+    public void MoveTargetToRandomPosition()
+    {
+        var newTargetPos = Random.insideUnitSphere * targetSpawnRadius;
+        newTargetPos.y = 5;
+        target.position = newTargetPos + ground.position;
+    }
+
+    /// <summary>
+    /// Loop over body parts and reset them to initial conditions.
+    /// </summary>
+    public override void OnEpisodeBegin()
+    {
+        //Reset all of the body parts
+
+        //Random start rotation to help generalize
+        transform.rotation = Quaternion.Euler(0, Random.Range(0.0f, 360.0f), 0);
+
+        UpdateOrientationCube();
+
+        if (detectTargets && respawnTargetWhenTouched)
+        {
+            MoveTargetToRandomPosition();
+        }
+
-        m_ChestRb.mass = m_ResetParams.GetWithDefault("chest_mass", 8);
-        m_SpineRb.mass = m_ResetParams.GetWithDefault("spine_mass", 10);
-        m_HipsRb.mass = m_ResetParams.GetWithDefault("hip_mass", 15);
+        m_JdController.bodyPartsDict[chest].rb.mass = m_ResetParams.GetWithDefault("chest_mass", 8);
+        m_JdController.bodyPartsDict[spine].rb.mass = m_ResetParams.GetWithDefault("spine_mass", 8);
+        m_JdController.bodyPartsDict[hips].rb.mass = m_ResetParams.GetWithDefault("hip_mass", 8);
+    }
+
+    private void OnDrawGizmosSelected()
+    {
+        if (Application.isPlaying)
+        {
+            Gizmos.color = Color.green;
+            Gizmos.matrix = orientationCube.transform.localToWorldMatrix;
+            Gizmos.DrawWireCube(Vector3.zero, orientationCube.transform.localScale);
+            Gizmos.DrawRay(Vector3.zero, Vector3.forward);
+        }
     }
 }

Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic.nn.meta

 fileFormatVersion: 2
-guid: 4e86a19e012da43bfa5ab97ae8089b98
+guid: 2cb15010f7cbe4dc59418a5858c87819
 ScriptedImporter:
   fileIDToRecycleName:
     11400000: main obj

Project/Assets/ML-Agents/Examples/WallJump/Materials/TransparentWall.mat

 Material:
   serializedVersion: 6
   m_ObjectHideFlags: 0
-  m_PrefabParentObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 0}
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
   m_Name: TransparentWall
   m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0}
   m_ShaderKeywords: _ALPHABLEND_ON

Project/ProjectSettings/DynamicsManager.asset

   m_LayerCollisionMatrix: ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffebffffffddffffffeffffffff5fffffffbffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff
   m_AutoSimulation: 1
   m_AutoSyncTransforms: 1
-  m_ReuseCollisionCallbacks: 0
+  m_ReuseCollisionCallbacks: 1
   m_ClothInterCollisionSettingsToggle: 0
   m_ContactPairsMode: 0
   m_BroadphaseType: 0

com.unity.ml-agents/CHANGELOG.md

 ### Major Changes
 #### com.unity.ml-agents (C#)
 #### ml-agents / ml-agents-envs / gym-unity (Python)
+- Added new Walker environments. Improved ragdoll stability/performance. (#4037)
 - `max_step` in the `TerminalStep` and `TerminalSteps` objects was renamed `interrupted`.
 - `beta` and `epsilon` in `PPO` are no longer decayed by default but follow the same schedule as learning rate. (#3940)
 - `get_behavior_names()` and `get_behavior_spec()` on UnityEnvironment were replaced by the `behavior_specs` property. (#3946)

config/ppo/WalkerStatic.yaml

 behaviors:
-  Walker:
+  WalkerStatic:
     trainer_type: ppo
     hyperparameters:
       batch_size: 2048

config/sac/WalkerDynamic.yaml

 behaviors:
-  Walker:
+  WalkerDynamic:
     trainer_type: sac
     hyperparameters:
       learning_rate: 0.0003

docs/Learning-Environment-Examples.md

 
 ![Walker](images/walker.png)
 
-- Set-up: Physics-based Humanoids agents with 26 degrees of freedom. These DOFs
+- Set-up: Physics-based Humanoid agents with 26 degrees of freedom. These DOFs
-- Agents: The environment contains 11 independent agents with same Behavior
+  - `WalkerStatic` - Goal direction is always forward.
+  - `WalkerDynamic`- Goal direction is randomized.
+- Agents: The environment contains 10 independent agents with same Behavior
-  - +0.03 times body velocity in the goal direction.
-  - +0.01 times head y position.
-  - +0.01 times body direction alignment with goal direction.
-  - -0.01 times head velocity difference from body velocity.
+  - +0.02 times body velocity in the goal direction. (run towards target)
+  - +0.01 times head direction alignment with goal direction. (face towards target)
+  - +0.005 times head y position - left foot y position. (encourage head height)
+  - +0.005 times head y position - right foot y position. (encourage head height)
-  - Vector Observation space: 215 variables corresponding to position, rotation,
+  - Vector Observation space: 236 variables corresponding to position, rotation,
-    rotations applicable to the joints.
+    rotations and strength applicable to the joints.
   - Visual Observations: None
 - Float Properties: Four
   - gravity: Magnitude of gravity
     - Default: 10
     - Recommended Minimum: 3
     - Recommended Maximum: 20
-- Benchmark Mean Reward: 1000
+- Benchmark Mean Reward for `WalkerStatic`: 1500
+- Benchmark Mean Reward for `WalkerDynamic`: 700
 
 ## Pyramids
 

Project/Assets/ExpertWalkerDyn.demo.meta

+fileFormatVersion: 2
+guid: 48304968c270e4e998199f64b2a18b4e
+ScriptedImporter:
+  fileIDToRecycleName:
+    11400000: Assets/ExpertWalkerDyn.demo
+  externalObjects: {}
+  userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 7bd65ce151aaa4a41a45312543c56be1, type: 3}

Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/OrientationCube.prefab

+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!1 &2591864625898824423
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 2591864625898824440}
+  - component: {fileID: 2591864625898824442}
+  - component: {fileID: 2591864625898824441}
+  m_Layer: 0
+  m_Name: Cube
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 0
+--- !u!4 &2591864625898824440
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2591864625898824423}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children:
+  - {fileID: 2591864627374185741}
+  m_Father: {fileID: 2591864627249999504}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &2591864625898824442
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2591864625898824423}
+  m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!23 &2591864625898824441
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2591864625898824423}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: 5c59bd36def9a4684be49a21cf201a2d, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!1 &2591864627249999519
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 2591864627249999504}
+  m_Layer: 0
+  m_Name: OrientationCube
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &2591864627249999504
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2591864627249999519}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: -498.349, y: -0.45, z: -250.09256}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children:
+  - {fileID: 2591864625898824440}
+  m_Father: {fileID: 0}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &2591864627374185740
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 2591864627374185741}
+  m_Layer: 0
+  m_Name: Arrow
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &2591864627374185741
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 2591864627374185740}
+  m_LocalRotation: {x: -0, y: -0.7071066, z: -0, w: 0.707107}
+  m_LocalPosition: {x: 0, y: 0.119, z: 0}
+  m_LocalScale: {x: 0.7764428, y: 0.7764428, z: 0.7764428}
+  m_Children:
+  - {fileID: 3256674261123397973}
+  - {fileID: 3257148088533667597}
+  m_Father: {fileID: 2591864625898824440}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: -90.00001, z: 0}
+--- !u!1 &3258603775602446353
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 3256674261123397973}
+  - component: {fileID: 3263562959519547143}
+  - component: {fileID: 3273629389920486807}
+  m_Layer: 0
+  m_Name: symbol_tri
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &3256674261123397973
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 3258603775602446353}
+  m_LocalRotation: {x: -0.5000024, y: -0.49999765, z: 0.4999684, w: -0.5000316}
+  m_LocalPosition: {x: 0.22598267, y: 0.5, z: 0}
+  m_LocalScale: {x: 0.39859864, y: 0.4054339, z: 0.25}
+  m_Children: []
+  m_Father: {fileID: 2591864627374185741}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &3263562959519547143
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 3258603775602446353}
+  m_Mesh: {fileID: 4300000, guid: 09e2da39770c24cc9a71e5dbf05a1e85, type: 3}
+--- !u!23 &3273629389920486807
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 3258603775602446353}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: 69fefdd39d2b34b169e921910bed9c0d, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!1 &3259145720179606813
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 3257148088533667597}
+  - component: {fileID: 3263743565359806181}
+  - component: {fileID: 3272323263339836425}
+  m_Layer: 0
+  m_Name: Symbol_Triangle
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &3257148088533667597
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 3259145720179606813}
+  m_LocalRotation: {x: -0.5000024, y: -0.49999765, z: 0.4999684, w: -0.5000316}
+  m_LocalPosition: {x: -0.20300293, y: 0.5, z: 0}
+  m_LocalScale: {x: 0.31112, y: 0.4054339, z: 0.085725}
+  m_Children: []
+  m_Father: {fileID: 2591864627374185741}
+  m_RootOrder: 1
+  m_LocalEulerAnglesHint: {x: 90.00001, y: 0, z: 270.007}
+--- !u!33 &3263743565359806181
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 3259145720179606813}
+  m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!23 &3272323263339836425
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 3259145720179606813}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: 69fefdd39d2b34b169e921910bed9c0d, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 1
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0

Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/OrientationCube.prefab.meta

+fileFormatVersion: 2
+guid: 41960beaa3d8041e19d82b5160042e55
+PrefabImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/DirectionIndicator.cs

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Unity.MLAgentsExamples
+{
+    public class DirectionIndicator : MonoBehaviour
+    {
+        public Transform transformToFollow; //ex: hips or body
+        public Transform targetToLookAt; //target in the scene the indicator will point to
+        public float heightOffset;
+        private float m_StartingYPos;
+        
+        void OnEnable()
+        {
+            m_StartingYPos = transform.position.y;
+        }
+
+        void Update()
+        {
+            transform.position = new Vector3(transformToFollow.position.x, m_StartingYPos + heightOffset, transformToFollow.position.z);
+            Vector3 walkDir = targetToLookAt.position - transform.position;
+            walkDir.y = 0; //flatten dir on the y
+            transform.rotation = Quaternion.LookRotation(walkDir);
+        }
+    }
+}

Project/Assets/ML-Agents/Examples/SharedAssets/Scripts/DirectionIndicator.cs.meta

+fileFormatVersion: 2
+guid: 1513f8a85fedd47efba089213b7c5bde
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalkerDyna.demo.meta

+fileFormatVersion: 2
+guid: 1ea82869060c54bb48fed5b95baaf53c
+ScriptedImporter:
+  fileIDToRecycleName:
+    11400002: Assets/ML-Agents/Examples/Walker/Demos/ExpertWalkerDyna.demo
+  externalObjects: {}
+  userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 7bd65ce151aaa4a41a45312543c56be1, type: 3}

Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalkerStat.demo.meta

+fileFormatVersion: 2
+guid: 720007cd6923e410abaa4ba800400cb0
+ScriptedImporter:
+  fileIDToRecycleName:
+    11400002: Assets/ML-Agents/Examples/Walker/Demos/ExpertWalkerStat.demo
+  externalObjects: {}
+  userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 7bd65ce151aaa4a41a45312543c56be1, type: 3}

Project/Assets/ML-Agents/Examples/Walker/Prefabs/DynamicPlatformWalker.prefab

+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!114 &693499830
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 555702846}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 1513f8a85fedd47efba089213b7c5bde, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  transformToFollow: {fileID: 6065910099080495282}
+  targetToLookAt: {fileID: 4714470935848893865}
+  heightOffset: 0
+--- !u!1 &4711180330649187171
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4715888959257483687}
+  - component: {fileID: 4689817008254918419}
+  - component: {fileID: 4699090859598286087}
+  - component: {fileID: 4722926153423559969}
+  m_Layer: 0
+  m_Name: Wall (1)
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 4294967295
+  m_IsActive: 1
+--- !u!4 &4715888959257483687
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4711180330649187171}
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: -50, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 5, z: 101}
+  m_Children: []
+  m_Father: {fileID: 4715987710462317849}
+  m_RootOrder: 1
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &4689817008254918419
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4711180330649187171}
+  m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!23 &4699090859598286087
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4711180330649187171}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: 66163cf35956a4be08e801b750c26f33, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!65 &4722926153423559969
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4711180330649187171}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 1, y: 1, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!1 &4712483598851193171
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4716331283668561151}
+  - component: {fileID: 4690387153836166353}
+  - component: {fileID: 4699141086941009411}
+  - component: {fileID: 4722802889468949457}
+  m_Layer: 0
+  m_Name: Wall (2)
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 4294967295
+  m_IsActive: 1
+--- !u!4 &4716331283668561151
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712483598851193171}
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 50}
+  m_LocalScale: {x: 100, y: 5, z: 1}
+  m_Children: []
+  m_Father: {fileID: 4715987710462317849}
+  m_RootOrder: 2
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &4690387153836166353
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712483598851193171}
+  m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!23 &4699141086941009411
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712483598851193171}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: 66163cf35956a4be08e801b750c26f33, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!65 &4722802889468949457
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712483598851193171}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 1, y: 1, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!1 &4712494856961735751
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4714470935848893865}
+  - component: {fileID: 4689783609468392267}
+  - component: {fileID: 4721366003033637715}
+  - component: {fileID: 4699049336072019207}
+  - component: {fileID: 4729272029965882557}
+  m_Layer: 0
+  m_Name: Target
+  m_TagString: target
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4714470935848893865
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712494856961735751}
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: 6.2, y: 1.15, z: 3.824}
+  m_LocalScale: {x: 1.2356956, y: 1.2356961, z: 1.2356961}
+  m_Children: []
+  m_Father: {fileID: 4715983678655513245}
+  m_RootOrder: 2
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &4689783609468392267
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712494856961735751}
+  m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!65 &4721366003033637715
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712494856961735751}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 1, y: 1, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!23 &4699049336072019207
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712494856961735751}
+  m_Enabled: 1
+  m_CastShadows: 0
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: c67450f290f3e4897bc40276a619e78d, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 1
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!54 &4729272029965882557
+Rigidbody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712494856961735751}
+  serializedVersion: 2
+  m_Mass: 5
+  m_Drag: 0
+  m_AngularDrag: 0.05
+  m_UseGravity: 1
+  m_IsKinematic: 0
+  m_Interpolate: 0
+  m_Constraints: 0
+  m_CollisionDetection: 0
+--- !u!1 &4712512458067701539
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4714538461102743099}
+  - component: {fileID: 4689850458464308353}
+  - component: {fileID: 4697337419570596237}
+  - component: {fileID: 4723009745833965809}
+  m_Layer: 0
+  m_Name: Wall (3)
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 4294967295
+  m_IsActive: 1
+--- !u!4 &4714538461102743099
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712512458067701539}
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: -50}
+  m_LocalScale: {x: 100, y: 5, z: 1}
+  m_Children: []
+  m_Father: {fileID: 4715987710462317849}
+  m_RootOrder: 3
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &4689850458464308353
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712512458067701539}
+  m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!23 &4697337419570596237
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712512458067701539}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: 66163cf35956a4be08e801b750c26f33, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!65 &4723009745833965809
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712512458067701539}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 1, y: 1, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!1 &4712600297668500197
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4715983678655513245}
+  m_Layer: 0
+  m_Name: DynamicPlatformWalker
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4715983678655513245
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712600297668500197}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children:
+  - {fileID: 4715987710462317849}
+  - {fileID: 4715966284166353839}
+  - {fileID: 4714470935848893865}
+  - {fileID: 6065910098925129092}
+  m_Father: {fileID: 0}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &4712663958317066515
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4716356389860452953}
+  - component: {fileID: 4689697903279525105}
+  - component: {fileID: 4697349331983048585}
+  - component: {fileID: 4721393739556148669}
+  m_Layer: 0
+  m_Name: Wall
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 4294967295
+  m_IsActive: 1
+--- !u!4 &4716356389860452953
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712663958317066515}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 50, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 5, z: 101}
+  m_Children: []
+  m_Father: {fileID: 4715987710462317849}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &4689697903279525105
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712663958317066515}
+  m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!23 &4697349331983048585
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712663958317066515}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: 66163cf35956a4be08e801b750c26f33, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!65 &4721393739556148669
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712663958317066515}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 1, y: 1, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!1 &4712817259802602059
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4715987710462317849}
+  m_Layer: 0
+  m_Name: Walls
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 4294967295
+  m_IsActive: 1
+--- !u!4 &4715987710462317849
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712817259802602059}
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: 0, y: 2, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children:
+  - {fileID: 4716356389860452953}
+  - {fileID: 4715888959257483687}
+  - {fileID: 4716331283668561151}
+  - {fileID: 4714538461102743099}
+  m_Father: {fileID: 4715983678655513245}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!1 &4712938778375712263
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4715966284166353839}
+  - component: {fileID: 4691180017100794059}
+  - component: {fileID: 4723023959055362909}
+  - component: {fileID: 4697514370720743845}
+  m_Layer: 14
+  m_Name: Ground
+  m_TagString: ground
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 4294967295
+  m_IsActive: 1
+--- !u!4 &4715966284166353839
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712938778375712263}
+  m_LocalRotation: {x: 0, y: 0.7071068, z: 0, w: 0.7071068}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 100, y: 1, z: 100}
+  m_Children: []
+  m_Father: {fileID: 4715983678655513245}
+  m_RootOrder: 1
+  m_LocalEulerAnglesHint: {x: 0, y: 90, z: 0}
+--- !u!33 &4691180017100794059
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712938778375712263}
+  m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!65 &4723023959055362909
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712938778375712263}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 1, y: 1, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!23 &4697514370720743845
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 4712938778375712263}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: acba6bf2a290a496bb8989b42bf8698d, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 1
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!1001 &758428436173755182
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 6065910098925129092}
+    m_Modifications:
+    - target: {fileID: 2591864625898824423, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_IsActive
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_RootOrder
+      value: 2
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999519, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_Name
+      value: OrientationCube
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: 41960beaa3d8041e19d82b5160042e55, type: 3}
+--- !u!1 &2989930013812587953 stripped
+GameObject:
+  m_CorrespondingSourceObject: {fileID: 2591864627249999519, guid: 41960beaa3d8041e19d82b5160042e55,
+    type: 3}
+  m_PrefabInstance: {fileID: 758428436173755182}
+  m_PrefabAsset: {fileID: 0}
+--- !u!1001 &6359877978260855390
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 4715983678655513245}
+    m_Modifications:
+    - target: {fileID: 895268871377934275, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_Name
+      value: WalkerRagdoll
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934297, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_Model
+      value: 
+      objectReference: {fileID: 11400000, guid: 2cb15010f7cbe4dc59418a5858c87819,
+        type: 3}
+    - target: {fileID: 895268871377934297, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_BrainParameters.VectorObservationSize
+      value: 236
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 3.07
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalRotation.x
+      value: -0
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0.7071068
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalRotation.z
+      value: -0
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 0.7071068
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_RootOrder
+      value: 3
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 90
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 7408209125961349353, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: target
+      value: 
+      objectReference: {fileID: 4714470935848893865}
+    - target: {fileID: 7408209125961349353, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: ground
+      value: 
+      objectReference: {fileID: 4715966284166353839}
+    - target: {fileID: 7408209125961349353, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: orientationCube
+      value: 
+      objectReference: {fileID: 2989930013812587953}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: 765582efd9dda46ed98564603316353f, type: 3}
+--- !u!4 &6065910098925129092 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+    type: 3}
+  m_PrefabInstance: {fileID: 6359877978260855390}
+  m_PrefabAsset: {fileID: 0}
+--- !u!4 &6065910099080495282 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 895268871264836332, guid: 765582efd9dda46ed98564603316353f,
+    type: 3}
+  m_PrefabInstance: {fileID: 6359877978260855390}
+  m_PrefabAsset: {fileID: 0}
+--- !u!1 &555702846 stripped
+GameObject:
+  m_CorrespondingSourceObject: {fileID: 6359877977706987616, guid: 765582efd9dda46ed98564603316353f,
+    type: 3}
+  m_PrefabInstance: {fileID: 6359877978260855390}
+  m_PrefabAsset: {fileID: 0}

Project/Assets/ML-Agents/Examples/Walker/Prefabs/DynamicPlatformWalker.prefab.meta

+fileFormatVersion: 2
+guid: f51e8260728fd4c8fa87bcda9d0e2027
+PrefabImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerRagdoll.prefab.meta

+fileFormatVersion: 2
+guid: 765582efd9dda46ed98564603316353f
+PrefabImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Walker/Prefabs/WalkerWithTargetPair.prefab

+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!1 &1707482909815496
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4878380427462518}
+  m_Layer: 0
+  m_Name: WalkerWithTargetPair
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4878380427462518
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1707482909815496}
+  m_LocalRotation: {x: 0, y: 0.7071068, z: 0, w: 0.70710677}
+  m_LocalPosition: {x: -500, y: 2.45, z: -250}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children:
+  - {fileID: 4085853164035250}
+  - {fileID: 2610895078227559678}
+  m_Father: {fileID: 0}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 90.00001, z: 0}
+--- !u!1 &1711420055118728
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 4085853164035250}
+  - component: {fileID: 33406676668336024}
+  - component: {fileID: 65728406221657384}
+  - component: {fileID: 23891878356976108}
+  - component: {fileID: 54470051767281394}
+  m_Layer: 0
+  m_Name: Target
+  m_TagString: target
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &4085853164035250
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1711420055118728}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalPosition: {x: 0, y: 1.7899997, z: 1800}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_Children: []
+  m_Father: {fileID: 4878380427462518}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &33406676668336024
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1711420055118728}
+  m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!65 &65728406221657384
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1711420055118728}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 1, y: 1, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
+--- !u!23 &23891878356976108
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1711420055118728}
+  m_Enabled: 1
+  m_CastShadows: 0
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: c67450f290f3e4897bc40276a619e78d, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_PreserveUVs: 1
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 0
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!54 &54470051767281394
+Rigidbody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1711420055118728}
+  serializedVersion: 2
+  m_Mass: 5
+  m_Drag: 0
+  m_AngularDrag: 0.05
+  m_UseGravity: 1
+  m_IsKinematic: 0
+  m_Interpolate: 0
+  m_Constraints: 0
+  m_CollisionDetection: 0
+--- !u!114 &928625103
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 8076557379269661508}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 1513f8a85fedd47efba089213b7c5bde, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  transformToFollow: {fileID: 2610895078055938504}
+  targetToLookAt: {fileID: 4085853164035250}
+  heightOffset: 0
+--- !u!1001 &2906899243981837092
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 4878380427462518}
+    m_Modifications:
+    - target: {fileID: 895268871377934275, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_Name
+      value: WalkerRagdoll
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934297, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_BehaviorName
+      value: WalkerStatic
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934297, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_BrainParameters.VectorObservationSize
+      value: 236
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934297, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_Model
+      value: 
+      objectReference: {fileID: 11400000, guid: 1cb7f6cc571fb4376b972bc090627b6d,
+        type: 3}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalRotation.x
+      value: -0
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalRotation.y
+      value: -0
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalRotation.z
+      value: -0
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_RootOrder
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 90
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalScale.x
+      value: 1.0000005
+      objectReference: {fileID: 0}
+    - target: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_LocalScale.z
+      value: 1.0000005
+      objectReference: {fileID: 0}
+    - target: {fileID: 7408209125961349353, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: target
+      value: 
+      objectReference: {fileID: 4085853164035250}
+    - target: {fileID: 7408209125961349353, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: targetIsStatic
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 7408209125961349353, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: respawnTargetWhenTouched
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 7408209125961349353, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: orientationCube
+      value: 
+      objectReference: {fileID: 5269189931577362882}
+    - target: {fileID: 7933235353030744139, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.x
+      value: -0.6999967
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353030744139, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.z
+      value: -0.00000005960462
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353041637847, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.x
+      value: -0.6999959
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353041637847, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.z
+      value: -0.00000023841848
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353195701979, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.x
+      value: 0.4999994
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353195701979, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.z
+      value: 0.00000023841848
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353228551180, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.x
+      value: -0.39999378
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353228551180, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.z
+      value: -0.00000005960462
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353240438170, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.x
+      value: -0.4999994
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353240438170, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.z
+      value: -0.00000023841848
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353272702555, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.x
+      value: 0.00000017881393
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353272702555, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.z
+      value: -0.00000005960462
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353655703554, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.x
+      value: -0.00000017881393
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353655703554, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.z
+      value: 0.00000005960462
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353711811619, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.x
+      value: -0.00000017881393
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353711811619, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.z
+      value: 0.00000005960462
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353713167636, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.x
+      value: 0.39999378
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235353713167636, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.z
+      value: 0.00000005960462
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235354616748522, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.x
+      value: 0.6999959
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235354616748522, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.z
+      value: 0.00000023841848
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235354882597209, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.x
+      value: 0.00000017881393
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235354882597209, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.z
+      value: -0.00000005960462
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235355057813929, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.x
+      value: 0.6999967
+      objectReference: {fileID: 0}
+    - target: {fileID: 7933235355057813929, guid: 765582efd9dda46ed98564603316353f,
+        type: 3}
+      propertyPath: m_ConnectedAnchor.z
+      value: 0.00000005960462
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: 765582efd9dda46ed98564603316353f, type: 3}
+--- !u!4 &2610895078227559678 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 895268871377934298, guid: 765582efd9dda46ed98564603316353f,
+    type: 3}
+  m_PrefabInstance: {fileID: 2906899243981837092}
+  m_PrefabAsset: {fileID: 0}
+--- !u!4 &2610895078055938504 stripped
+Transform:
+  m_CorrespondingSourceObject: {fileID: 895268871264836332, guid: 765582efd9dda46ed98564603316353f,
+    type: 3}
+  m_PrefabInstance: {fileID: 2906899243981837092}
+  m_PrefabAsset: {fileID: 0}
+--- !u!1 &8076557379269661508 stripped
+GameObject:
+  m_CorrespondingSourceObject: {fileID: 6359877977706987616, guid: 765582efd9dda46ed98564603316353f,
+    type: 3}
+  m_PrefabInstance: {fileID: 2906899243981837092}
+  m_PrefabAsset: {fileID: 0}
+--- !u!1001 &7703349395854010205
+PrefabInstance:
+  m_ObjectHideFlags: 0
+  serializedVersion: 2
+  m_Modification:
+    m_TransformParent: {fileID: 2610895078227559678}
+    m_Modifications:
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalPosition.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalPosition.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalRotation.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalRotation.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalRotation.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_RootOrder
+      value: 2
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.x
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.y
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999504, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_LocalEulerAnglesHint.z
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 2591864627249999519, guid: 41960beaa3d8041e19d82b5160042e55,
+        type: 3}
+      propertyPath: m_Name
+      value: OrientationCube
+      objectReference: {fileID: 0}
+    m_RemovedComponents: []
+  m_SourcePrefab: {fileID: 100100000, guid: 41960beaa3d8041e19d82b5160042e55, type: 3}
+--- !u!1 &5269189931577362882 stripped
+GameObject:
+  m_CorrespondingSourceObject: {fileID: 2591864627249999519, guid: 41960beaa3d8041e19d82b5160042e55,
+    type: 3}
+  m_PrefabInstance: {fileID: 7703349395854010205}
+  m_PrefabAsset: {fileID: 0}

Project/Assets/ML-Agents/Examples/Walker/Scenes/WalkerDynamic.unity.meta

+fileFormatVersion: 2
+guid: 79d5d2687bfbe45f5b78bd6c04992e0d
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerStatic.nn.meta

+fileFormatVersion: 2
+guid: 1cb7f6cc571fb4376b972bc090627b6d
+ScriptedImporter:
+  fileIDToRecycleName:
+    11400000: main obj
+    11400002: model data
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 19ed1486aa27d4903b34839f37b8f69f, type: 3}

config/ppo/WalkerDynamic.yaml

+behaviors:
+  WalkerDynamic:
+    trainer_type: ppo
+    hyperparameters:
+      batch_size: 2048
+      buffer_size: 20480
+      learning_rate: 0.0003
+      beta: 0.005
+      epsilon: 0.2
+      lambd: 0.95
+      num_epoch: 3
+      learning_rate_schedule: linear
+    network_settings:
+      normalize: true
+      hidden_units: 512
+      num_layers: 3
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.995
+        strength: 1.0
+    output_path: default
+    keep_checkpoints: 5
+    max_steps: 25000000
+    time_horizon: 1000
+    summary_freq: 30000
+    threaded: true

config/sac/WalkerStatic.yaml

+behaviors:
+  WalkerStatic:
+    trainer_type: sac
+    hyperparameters:
+      learning_rate: 0.0003
+      learning_rate_schedule: constant
+      batch_size: 256
+      buffer_size: 500000
+      buffer_init_steps: 0
+      tau: 0.005
+      steps_per_update: 30.0
+      save_replay_buffer: false
+      init_entcoef: 1.0
+      reward_signal_steps_per_update: 30.0
+    network_settings:
+      normalize: true
+      hidden_units: 512
+      num_layers: 4
+      vis_encode_type: simple
+    reward_signals:
+      extrinsic:
+        gamma: 0.995
+        strength: 1.0
+    output_path: default
+    keep_checkpoints: 5
+    max_steps: 20000000
+    time_horizon: 1000
+    summary_freq: 30000
+    threaded: true

Project/Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo.meta

-fileFormatVersion: 2
-guid: d75254c9e8cb8402d98eede161c74a60
-ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: Assets/ML-Agents/Examples/Walker/Demos/ExpertWalker.demo
-  externalObjects: {}
-  userData: ' (Unity.MLAgents.Demonstrations.DemonstrationSummary)'
-  assetBundleName: 
-  assetBundleVariant: 
-  script: {fileID: 11500000, guid: 7bd65ce151aaa4a41a45312543c56be1, type: 3}