final training done. ready to go.

Project/Assets/ML-Agents/Examples/Worm/Prefabs/PlatformWormStaticTarget.prefab

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Project/Assets/ML-Agents/Examples/Worm/Scenes/WormDynamicTarget.unity

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Project/Assets/ML-Agents/Examples/Worm/Scripts/WormAgent.cs

     }
 
     
+    //Get Joint Rotation Relative to the Connected Rigidbody
+    //We want to collect this info because it is the actual rotation, not the "target rotation"
-//    public Quaternion GetJointRotation(ConfigurableJoint joint)
-//    {
-////        return(Quaternion.FromToRotation(joint.axis, joint.connectedBody.transform.rotation.eulerAngles));
-//        return(Quaternion.Inverse(joint.connectedBody.transform.rotationd) * joint.transform); joint.connectedBody.transform.rotation.eulerAngles));
-//    }
-    
     /// <summary>
     /// Add relevant information on each body part to observations.
     /// </summary>
             var localPosRelToBody = bodySegment0.InverseTransformPoint(rb.position);
             sensor.AddObservation(localPosRelToBody);
             sensor.AddObservation(GetJointRotation(bp.joint));
-
-//            sensor.AddObservation(bp.currentXNormalizedRot); // Current x rot
-//            sensor.AddObservation(bp.currentYNormalizedRot); // Current y rot
-//            sensor.AddObservation(bp.currentZNormalizedRot); // Current z rot
-//    /// <summary>
-//    /// Add relevant information on each body part to observations.
-//    /// </summary>
-//    public void CollectObservationBodyPart(BodyPart bp, VectorSensor sensor)
-//    {
-//        var rb = bp.rb;
-//        sensor.AddObservation(bp.groundContact.touchingGround ? 1 : 0); // Whether the bp touching the ground
-//
-//        var velocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.velocity);
-//        sensor.AddObservation(velocityRelativeToLookRotationToTarget);
-//
-//        var angularVelocityRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(rb.angularVelocity);
-//        sensor.AddObservation(angularVelocityRelativeToLookRotationToTarget);
-//
-//        if (bp.rb.transform != bodySegment0)
-//        {
-//            var localPosRelToBody = bodySegment0.InverseTransformPoint(rb.position);
-//            sensor.AddObservation(localPosRelToBody);
-//            sensor.AddObservation(bp.currentXNormalizedRot); // Current x rot
-//            sensor.AddObservation(bp.currentYNormalizedRot); // Current y rot
-//            sensor.AddObservation(bp.currentZNormalizedRot); // Current z rot
-//            sensor.AddObservation(bp.currentStrength / m_JdController.maxJointForceLimit);
-//        }
-//    }
-
     public override void CollectObservations(VectorSensor sensor)
     {
         m_JdController.GetCurrentJointForces();
             CollectObservationBodyPart(bodyPart, sensor);
         }
 
-//        // Forward & up to help with orientation
-//        var bodyForwardRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(bodySegment0.up);
-//        sensor.AddObservation(bodyForwardRelativeToLookRotationToTarget);
-//
-//        var bodyUpRelativeToLookRotationToTarget = m_TargetDirMatrix.inverse.MultiplyVector(-bodySegment0.forward);
-//        sensor.AddObservation(bodyUpRelativeToLookRotationToTarget);
-
-        
-        //ADD ROTATION DELTA
-        Quaternion rotDelta = Quaternion.Inverse(m_TargetDirMatrix.rotation) * bodySegment0.rotation;
-        sensor.AddObservation(rotDelta);
+        //Rotation delta between the matrix and the head
+        Quaternion headRotationDeltaFromMatrixRot = Quaternion.Inverse(m_TargetDirMatrix.rotation) * bodySegment0.rotation;
+        sensor.AddObservation(headRotationDeltaFromMatrixRot);
     }
 
     /// <summary>
     void RewardFunctionMovingTowards()
     {
         m_MovingTowardsDot = Vector3.Dot(m_JdController.bodyPartsDict[bodySegment0].rb.velocity, m_DirToTarget.normalized);
-//        AddReward(0.03f * m_MovingTowardsDot);
-
-//        AddReward(1/maxStep * m_MovingTowardsDot);
         AddReward(0.01f * m_MovingTowardsDot);
     }
 
     void RewardFunctionFacingTarget()
     {
-        //Discourage rotating away from target dir
-//        float currentFacingDir =((-1 * Quaternion.Dot(m_TargetDirMatrix.rotation, bodySegment0.rotation)) + 1) * .5f; //normalize. 0 good, 1 bad
-//        float currentFacingDir = -.01f * ((Quaternion.Dot(m_TargetDirMatrix.rotation, bodySegment0.rotation) + 1) * .5f); //normalize. 0 good, 1 bad
-
-            //PENALTY IF LOOKING AWAY
-        float notFacingPenalty = ((-1 * Quaternion.Dot(m_TargetDirMatrix.rotation, bodySegment0.rotation)) + 1) * .5f; //normalize. 0 good, 1 bad
-        AddReward(-.01f * notFacingPenalty);
-
-//        float currentFacingDot = (Quaternion.Dot(m_TargetDirMatrix.rotation, bodySegment0.rotation) + 1) * .5f; //normalize. 0 facing away, 1 facing
-//        AddReward(-.01f * currentFacingDot);
+        float bodyRotRelativeToMatrixDot = Quaternion.Dot(m_TargetDirMatrix.rotation, bodySegment0.rotation);
+        AddReward(0.01f * bodyRotRelativeToMatrixDot);
-    
-    
-//    /// <summary>
-//    /// Reward facing target & Penalize facing away from target
-//    /// </summary>
-//    void RewardFunctionFacingTarget()
-//    {
-////        m_FacingDot = Vector3.Dot(m_DirToTarget.normalized, bodySegment0.forward);
-//        m_FacingDot = Vector3.Dot(m_DirToTarget.normalized, bodySegment0.up);
-////        AddReward(0.01f * m_FacingDot);
-////        AddReward(1/maxStep * m_FacingDot);
-////        AddReward(0.01f * m_FacingDot);
-//        AddReward(0.01f * (m_FacingDot - 1));
-//    }
 
     /// <summary>
     /// Existential penalty for time-contrained tasks.
     /// </summary>
     public override void OnEpisodeBegin()
     {
+        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
+        {
+            bodyPart.Reset(bodyPart);
+        }
         if (m_DirToTarget != Vector3.zero)
         {
             transform.rotation = Quaternion.LookRotation(m_DirToTarget);
-        foreach (var bodyPart in m_JdController.bodyPartsDict.Values)
-        {
-            bodyPart.Reset(bodyPart);
-        }
         if (!targetIsStatic)
         {
             GetRandomTargetPos();

config/trainer_config.yaml

     time_horizon: 1000
     batch_size: 2024
     buffer_size: 20240
-    max_steps: 5e6
+    max_steps: 3e6
     summary_freq: 30000
     num_layers: 3
     hidden_units: 512
     time_horizon: 1000
     batch_size: 2024
     buffer_size: 20240
-    max_steps: 5e6
+    max_steps: 3e6
     summary_freq: 30000
     num_layers: 3
     hidden_units: 512