add bpVel pen

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

     rewardThisStep: 0
     cumulativeThisEpisode: 0
     cumulativeThisSession: 0
-    maxRewardThisSession: 0
+    lastNaNStep: 0
   - rewardKey: lookAtTarget
     rawVal: 0
     rewardScalar: 0.01
-    maxRewardThisSession: 0
+    lastNaNStep: 0
   - rewardKey: headHeightOverFeet
     rawVal: 0
     rewardScalar: 0.001
-    maxRewardThisSession: 0
+    lastNaNStep: 0
   - rewardKey: hurryUp
     rawVal: 0
     rewardScalar: 0
-    maxRewardThisSession: 0
+    lastNaNStep: 0
+  - rewardKey: bpVel
+    rawVal: 0
+    rewardScalar: -0.001
+    rewardThisStep: 0
+    cumulativeThisEpisode: 0
+    cumulativeThisSession: 0
+    lastNaNStep: 0
   maxSteps: 0
 --- !u!1001 &6359877978260855390
 PrefabInstance:
         type: 3}
       propertyPath: m_Model
       value: 
-      objectReference: {fileID: 11400000, guid: 64eac2876e94e44d2b7905bd6e361343,
+      objectReference: {fileID: 11400000, guid: 9cdb96bd3846b477cbf9c5ad7ac2d87e,
         type: 3}
     - target: {fileID: 895268871377934297, guid: 765582efd9dda46ed98564603316353f,
         type: 3}

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

     m_Modifications:
     - target: {fileID: 758428434940870733, guid: f51e8260728fd4c8fa87bcda9d0e2027,
         type: 3}
-      propertyPath: rewardsList.Array.data[2].rewardScalar
-      value: 0.001
+      propertyPath: rewardsList.Array.data[4].rewardScalar
+      value: -0.001
       objectReference: {fileID: 0}
     - target: {fileID: 4712600297668500197, guid: f51e8260728fd4c8fa87bcda9d0e2027,
         type: 3}

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

+using System;
 using MLAgentsExamples;
 using UnityEngine;
 using Unity.MLAgents;
+using Random = UnityEngine.Random;
 
 public class WalkerAgent : Agent
 {
 
         rewardManager.ResetEpisodeRewards();
         
-        walkingSpeed = Random.Range(0.0f, 10.0f); //Random Walk Speed
+        walkingSpeed = Random.Range(0.0f, 15f); //Random Walk Speed
 
         SetResetParameters();
     }
         bpVelPenaltyThisStep = 0;
         foreach (var item in m_JdController.bodyPartsList)
         {
-            bpVelPenaltyThisStep += item.rb.velocity.magnitude;
+            var velDelta = Mathf.Clamp(item.rb.velocity.magnitude - walkingSpeed, 0, 1);
+            bpVelPenaltyThisStep += velDelta;
+        rewardManager.UpdateReward("bpVel", bpVelPenaltyThisStep);
+        
     }
     
 //    void FixedUpdate()

Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic Max Speed 10 small hh.nn.meta

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+    11400000: main obj
+    11400002: model data
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
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