cleanup

Project/Assets/ML-Agents/Examples/Crawler/Prefabs/Ragdoll/CrawlerBase.prefab

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   m_TargetWalkingSpeed: 15
   randomizeWalkSpeedEachEpisode: 0
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+    type: 3}
+  staticTargetPrefab: {fileID: 3839136118347789758, guid: 2173d15c0b5fc49e5870c9d1c7f7ee8e,
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   body: {fileID: 4845971001588102148}
   leg0Upper: {fileID: 4845971001327157979}
   leg0Lower: {fileID: 4845971000000621467}

Project/Assets/ML-Agents/Examples/Crawler/Scenes/CrawlerStaticVariableSpeed.unity

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Project/Assets/ML-Agents/Examples/Crawler/Scripts/CrawlerAgent.cs

     //The direction an agent will walk during training.
     private Vector3 m_WorldDirToWalk = Vector3.right;
     [Header("Target To Walk Towards")]
-    public Transform targetPrefab; //Target prefab
-    public Transform target; //Target the agent will walk towards during training.
+    public Transform dynamicTargetPrefab; //Target prefab
+    public Transform staticTargetPrefab; //Target prefab
+    private Transform m_Target; //Target the agent will walk towards during training.
 
     [Header("Body Parts")] [Space(10)] public Transform body;
     public Transform leg0Upper;
                 if(crawlerDyBrain)
                     m_BehaviorParams.Model = crawlerDyBrain;
                 randomizeWalkSpeedEachEpisode = false;
-                target = Instantiate(targetPrefab, transform.position, Quaternion.identity, transform);
+                m_Target = Instantiate(dynamicTargetPrefab, transform.position, Quaternion.identity, transform);
                 break;
             }
             case CrawlerAgentBehaviorType.CrawlerDynamicVariableSpeed :
                     m_BehaviorParams.Model = crawlerDyVSBrain;
-//                    SetModel("CrawlerDynamicVariableSpeed", crawlerDyVSBrain);
-                target = Instantiate(targetPrefab, transform.position, Quaternion.identity, transform);
+                m_Target = Instantiate(dynamicTargetPrefab, transform.position, Quaternion.identity, transform);
                 randomizeWalkSpeedEachEpisode = true;
                 break;
             }
                 if(crawlerStBrain)
                     m_BehaviorParams.Model = crawlerStBrain;
                 var targetSpawnPos = transform.TransformPoint(new Vector3(0, 0, 1000));
-                target = Instantiate(targetPrefab, targetSpawnPos, Quaternion.identity, transform);
+                m_Target = Instantiate(staticTargetPrefab, targetSpawnPos, Quaternion.identity, transform);
                 randomizeWalkSpeedEachEpisode = false;
                 break;
             }
                 if(crawlerStVSBrain)
                     m_BehaviorParams.Model = crawlerStVSBrain;
                 var targetSpawnPos = transform.TransformPoint(new Vector3(0, 0, 1000));
-                target = Instantiate(targetPrefab, targetSpawnPos, Quaternion.identity, transform);
+                m_Target = Instantiate(staticTargetPrefab, targetSpawnPos, Quaternion.identity, transform);
                 randomizeWalkSpeedEachEpisode = true;
                 break;
             }
         sensor.AddObservation(Quaternion.FromToRotation(body.forward, cubeForward));
 
         //Add pos of target relative to orientation cube
-        sensor.AddObservation(m_OrientationCube.transform.InverseTransformPoint(target.transform.position));
+        sensor.AddObservation(m_OrientationCube.transform.InverseTransformPoint(m_Target.transform.position));
 
         RaycastHit hit;
         float maxRaycastDist = 10;
         }
     }
 
-
-//    /// <summary>
-//    /// Loop over body parts to add them to observation.
-//    /// </summary>
-//    public override void CollectObservations(VectorSensor sensor)
-//    {
-//        //Add pos of target relative to orientation cube
-//        sensor.AddObservation(m_OrientationCube.transform.InverseTransformPoint(target.transform.position));
-//
-//        RaycastHit hit;
-//        float maxRaycastDist = 10;
-//        if (Physics.Raycast(body.position, Vector3.down, out hit, maxRaycastDist))
-//        {
-//            sensor.AddObservation(hit.distance / maxRaycastDist);
-//        }
-//        else
-//            sensor.AddObservation(1);
-//
-//        foreach (var bodyPart in m_JdController.bodyPartsList)
-//        {
-//            CollectObservationBodyPart(bodyPart, sensor);
-//        }
-//    }
-
     public override void OnActionReceived(ActionBuffers actionBuffers)
     {
         // The dictionary with all the body parts in it are in the jdController
     //Update OrientationCube and DirectionIndicator
     void UpdateOrientationObjects()
     {
-        m_WorldDirToWalk = target.position - body.position;
-        m_OrientationCube.UpdateOrientation(body, target);
+        m_WorldDirToWalk = m_Target.position - body.position;
+        m_OrientationCube.UpdateOrientation(body, m_Target);
         if (m_DirectionIndicator)
         {
             m_DirectionIndicator.MatchOrientation(m_OrientationCube.transform);