about to clean up code

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

   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 3916531708190007741}
   serializedVersion: 2
-  m_Mass: 3
+  m_Mass: 5
   m_Drag: 0.05
   m_AngularDrag: 0.05
   m_UseGravity: 1
   m_Name: 
   m_EditorClassIdentifier: 
   m_BrainParameters:
-    VectorObservationSize: 223
+    VectorObservationSize: 233
-  m_Model: {fileID: 11400000, guid: e1adbf3a9d04441259d6327d42fcce3d, type: 3}
+  m_Model: {fileID: 11400000, guid: b0c510a5ce7f1453fa3a3607a94c1fbb, type: 3}
   m_InferenceDevice: 0
   m_BehaviorType: 0
   m_BehaviorName: WalkerDynamic
   armR: {fileID: 3916531709307986932}
   forearmR: {fileID: 3916531709090053250}
   handR: {fileID: 3916531709806445448}
+  cubeRotation: {x: 0, y: 0, z: 0, w: 0}
+  hipsRotation: {x: 0, y: 0, z: 0, w: 0}
 --- !u!114 &6065910098925129089
 MonoBehaviour:
   m_ObjectHideFlags: 0

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

 
 //        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)
-        if (bp.rb.transform != hips && bp.rb.transform != handL && bp.rb.transform != handR &&
-            bp.rb.transform != footL && bp.rb.transform != footR)
+//        if (bp.rb.transform != hips && bp.rb.transform != handL && bp.rb.transform != handR &&
+//            bp.rb.transform != footL && bp.rb.transform != footR)
+        if (bp.rb.transform != hips && bp.rb.transform != handL && bp.rb.transform != handR)
         {
             sensor.AddObservation(bp.rb.transform.localRotation);
 //            sensor.AddObservation(RagdollHelpers.GetJointRotation(bp.joint));
 //        m_WalkDir = target.position - hips.position;
 //        m_WalkDir = target.position - m_OrientationCube.transform.position;
         
+//        print($"fromTo: {Quaternion.FromToRotation(m_OrientationCube.transform.forward, hips.forward)} rotDelta {RagdollHelpers.GetRotationDelta(m_WalkDirLookRot, hips.rotation)}");
-        sensor.AddObservation(RagdollHelpers.GetRotationDelta(m_WalkDirLookRot, hips.rotation));
+//        sensor.AddObservation(RagdollHelpers.GetRotationDelta(m_WalkDirLookRot, hips.rotation));
+//        sensor.AddObservation(Quaternion.FromToRotation(m_OrientationCube.transform.forward, hips.forward));
+//        sensor.AddObservation(Quaternion.FromToRotation(m_OrientationCube.transform.forward, head.forward));
+        sensor.AddObservation(Quaternion.FromToRotation(hips.forward, m_OrientationCube.transform.forward));
+        sensor.AddObservation(Quaternion.FromToRotation(head.forward, m_OrientationCube.transform.forward));
-        sensor.AddObservation(RagdollHelpers.GetRotationDelta(m_WalkDirLookRot, head.rotation));
+//        sensor.AddObservation(RagdollHelpers.GetRotationDelta(m_WalkDirLookRot, head.rotation));
 //        m_TargetDirMatrix = Matrix4x4.TRS(Vector3.zero, m_LookRotation, Vector3.one);
 
 
             +0.02f * Vector3.Dot(m_OrientationCube.transform.forward,
                 Vector3.ClampMagnitude(m_JdController.bodyPartsDict[hips].rb.velocity, 999))
 //            + 0.01f * Vector3.Dot(m_OrientationCube.transform.forward, hips.forward)
-//            + 0.01f * Vector3.Dot(m_OrientationCube.transform.forward, head.forward)
+            + 0.01f * Vector3.Dot(m_OrientationCube.transform.forward, head.forward)
-            + 0.01f * Quaternion.Dot(m_OrientationCube.transform.rotation, hips.rotation) //reward looking at
+//            + 0.01f * Quaternion.Dot(m_OrientationCube.transform.rotation, hips.rotation) //reward looking at
 //            + 0.01f * Quaternion.Dot(m_OrientationCube.transform.rotation, head.rotation) //reward looking at
 //            + 0.015f * (Quaternion.Dot(m_OrientationCube.transform.rotation, hips.rotation) - 1) *
 //            .5f //penalize not looking at
-            + 0.005f * (head.position.y - shinL.position.y)
-            + 0.005f * (head.position.y - shinR.position.y)
+//            + 0.005f * (head.position.y - shinL.position.y)
+//            + 0.005f * (head.position.y - shinR.position.y)
+            + 0.005f * (head.position.y - footL.position.y)
+            + 0.005f * (head.position.y - footR.position.y)
 //            + 0.01f * (head.position.y - shinL.position.y)
 //            + 0.01f * (head.position.y - shinR.position.y)
 //            - 0.005f * Mathf.Clamp(m_JdController.bodyPartsDict[handL].rb.velocity.magnitude,

Project/Assets/ML-Agents/Examples/Walker/TFModels/WalkerDynamic 1.nn.meta

+fileFormatVersion: 2
+guid: d3aa2ba6adaf54fd0aea9aeb2dc2e766
+ScriptedImporter:
+  fileIDToRecycleName:
+    11400000: main obj
+    11400002: model data
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 19ed1486aa27d4903b34839f37b8f69f, type: 3}

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

+fileFormatVersion: 2
+guid: b0c510a5ce7f1453fa3a3607a94c1fbb
+ScriptedImporter:
+  fileIDToRecycleName:
+    11400000: main obj
+    11400002: model data
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 19ed1486aa27d4903b34839f37b8f69f, type: 3}