added trained 6 leg creature

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

     //The walking speed to try and achieve
     private float m_TargetWalkingSpeed = m_maxWalkingSpeed;
 
-    const float m_minWalkingSpeed = 5; //The max walking speed
+    const float m_minWalkingSpeed = .01f; //The max walking speed
     const float m_maxWalkingSpeed = 15; //The max walking speed
 
     //The current target walking speed. Clamped because a value of zero will cause NaNs
     public Transform m_Target; //Target the agent will walk towards during training.
 
     [Header("Body Parts")] [Space(10)] public Transform body;
+    public Transform bodyMiddle;
+    public Transform body1;
     public Transform leg0Upper;
     public Transform leg0Lower;
     public Transform leg1Upper;
     public Transform leg3Upper;
     public Transform leg3Lower;
+    public Transform leg4Upper;
+    public Transform leg4Lower;
+    public Transform leg5Upper;
+    public Transform leg5Lower;
 
     //This will be used as a stabilized model space reference point for observations
     //Because ragdolls can move erratically during training, using a stabilized reference transform improves learning
 
         //Setup each body part
         m_JdController.SetupBodyPart(body);
+        m_JdController.SetupBodyPart(bodyMiddle, false);
+        m_JdController.SetupBodyPart(body1, false);
         m_JdController.SetupBodyPart(leg0Upper);
         m_JdController.SetupBodyPart(leg0Lower);
         m_JdController.SetupBodyPart(leg1Upper);
         m_JdController.SetupBodyPart(leg3Upper);
         m_JdController.SetupBodyPart(leg3Lower);
+        m_JdController.SetupBodyPart(leg4Upper);
+        m_JdController.SetupBodyPart(leg4Lower);
+        m_JdController.SetupBodyPart(leg5Upper);
+        m_JdController.SetupBodyPart(leg5Lower);
     }
 
     /// <summary>
         //Add pos of target relative to orientation cube
         sensor.AddObservation(m_OrientationCube.transform.InverseTransformPoint(m_Target.transform.position));
 
-        //        RaycastHit hit;
-        //        float maxRaycastDist = 10;
-        ////        if (Physics.Raycast(body.position, Vector3.down, out hit, maxRaycastDist))
-        //        if (Physics.Raycast(body.position, -body.up, out hit, maxRaycastDist))
-        //        {
-        //            sensor.AddObservation(hit.distance / maxRaycastDist);
-        //        }
-        //        else
-        //            sensor.AddObservation(1);
+        RaycastHit hit;
+        float maxRaycastDist = 10;
+        //        if (Physics.Raycast(body.position, Vector3.down, out hit, maxRaycastDist))
+        if (Physics.Raycast(body.position, -body.up, out hit, maxRaycastDist))
+        {
+            sensor.AddObservation(hit.distance / maxRaycastDist);
+        }
+        else
+            sensor.AddObservation(1);
 
         foreach (var bodyPart in m_JdController.bodyPartsList)
         {
         bpDict[leg1Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
         bpDict[leg2Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
         bpDict[leg3Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[leg4Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[leg5Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+        bpDict[leg4Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+        bpDict[leg5Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
 
         // Update joint strength
         bpDict[leg0Upper].SetJointStrength(continuousActions[++i]);
+        bpDict[leg4Upper].SetJointStrength(continuousActions[++i]);
+        bpDict[leg5Upper].SetJointStrength(continuousActions[++i]);
+        bpDict[leg4Lower].SetJointStrength(continuousActions[++i]);
+        bpDict[leg5Lower].SetJointStrength(continuousActions[++i]);
 
         //Reset if Worm fell through floor;
         if (body.position.y < m_StartingPos.y - 5)
     }
+    //    public override void OnActionReceived(ActionBuffers actionBuffers)
+    //    {
+    //        // The dictionary with all the body parts in it are in the jdController
+    //        var bpDict = m_JdController.bodyPartsDict;
+    //
+    //        var continuousActions = actionBuffers.ContinuousActions;
+    //        var i = -1;
+    //        // Pick a new target joint rotation
+    //        bpDict[leg0Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+    //        bpDict[leg1Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+    //        bpDict[leg2Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+    //        bpDict[leg3Upper].SetJointTargetRotation(continuousActions[++i], continuousActions[++i], 0);
+    //        bpDict[leg0Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+    //        bpDict[leg1Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+    //        bpDict[leg2Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+    //        bpDict[leg3Lower].SetJointTargetRotation(continuousActions[++i], 0, 0);
+    //
+    //        // Update joint strength
+    //        bpDict[leg0Upper].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg1Upper].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg2Upper].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg3Upper].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg0Lower].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg1Lower].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg2Lower].SetJointStrength(continuousActions[++i]);
+    //        bpDict[leg3Lower].SetJointStrength(continuousActions[++i]);
+    //
+    //        //Reset if Worm fell through floor;
+    //        if (body.position.y < m_StartingPos.y - 5)
+    //        {
+    //            EndEpisode();
+    //        }
+    //    }
+
     //    public override void OnActionReceived(ActionBuffers actionBuffers)
     //    {
     //        // The dictionary with all the body parts in it are in the jdController

Project/Assets/ML-Agents/Examples/SharedAssets/Prefabs/Targets/DynamicTarget.prefab

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   - component: {fileID: 3858402326794362026}
   - component: {fileID: 3631016866778687563}
+  - component: {fileID: 114455976044412662}
   m_Layer: 0
   m_Name: DynamicTarget
   m_TagString: target
   onCollisionExitEvent:
     m_PersistentCalls:
       m_Calls: []
+--- !u!114 &114455976044412662
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+  maxTorque: {x: 111, y: 111, z: 0}
+  randomizeTorqueEveryXSec: 10
+  forceMode: 0

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

                 // avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
                 float avgCOMRadius = 0.5f; //radius of gizmo
                 Gizmos.color = avgCOMColor;
-                Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMRadius);
+                Gizmos.DrawWireSphere(avgCOMWorldSpace, avgCOMRadius);
             }
         }
         else
                 // avgCOMWorldSpace /= rbList.Count; //divide by num of rb's to get avg in WORLD space
                 float avgCOMGizmoRadius = 0.5f; //radius of gizmo
                 Gizmos.color = avgCOMColor;
-                Gizmos.DrawSphere(avgCOMWorldSpace, avgCOMGizmoRadius);
+                Gizmos.DrawWireSphere(avgCOMWorldSpace, avgCOMGizmoRadius);
 
 
 

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

         /// <summary>
         /// Create BodyPart object and add it to dictionary.
         /// </summary>
-        public void SetupBodyPart(Transform t)
+//        public void SetupBodyPart(Transform t)
+        public void SetupBodyPart(Transform t, bool includeJoint = true)
         {
             var bp = new BodyPart
             {
                 startingRot = t.rotation
             };
+            if (!includeJoint)
+            {
+                bp.joint = null;
+            }
             bp.rb.maxAngularVelocity = k_MaxAngularVelocity;
 
             // Add & setup the ground contact script

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

 Material:
   serializedVersion: 6
   m_ObjectHideFlags: 0
-  m_PrefabParentObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 0}
+  m_CorrespondingSourceObject: {fileID: 0}
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+  m_PrefabAsset: {fileID: 0}
   m_Name: spawnVolumeMaterial
   m_Shader: {fileID: 46, guid: 0000000000000000f000000000000000, type: 0}
   m_ShaderKeywords: _ALPHABLEND_ON
     - _UVSec: 0
     - _ZWrite: 0
     m_Colors:
-    - _Color: {r: 0, g: 0.83448315, b: 1, a: 0.303}
+    - _Color: {r: 0, g: 0.568055, b: 0.77254903, a: 0.303}
     - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}

Project/Assets/ML-Agents/Examples/Crawler/TFModels/CrawlerDynamicVariableSpeedUpsideDownPenGroundPen.nn.meta

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

+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class RandomTorqueEveryXSec : MonoBehaviour
+{
+    public Vector3 maxTorque;
+    private Vector3 torqueToUse;
+    public float randomizeTorqueEveryXSec = 10;
+    public ForceMode forceMode;
+
+    private Rigidbody rb;
+
+    // Start is called before the first frame update
+    void OnEnable()
+    {
+        rb = GetComponent<Rigidbody>();
+        InvokeRepeating("SetRandomTorque", 0, randomizeTorqueEveryXSec);
+    }
+
+    void SetRandomTorque()
+    {
+        torqueToUse = new Vector3(Random.Range(-maxTorque.x, maxTorque.x), Random.Range(-maxTorque.y, maxTorque.y),
+            Random.Range(-maxTorque.z, maxTorque.z));
+    }
+
+    // Update is called once per frame
+    void FixedUpdate()
+    {
+        rb.AddRelativeTorque(torqueToUse, forceMode);
+    }
+}

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